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Mechatronics in Medicine

The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.

Head of Group

B415C Bessemer Building
South Kensington Campus

+44 (0)20 7594 7046

What we do

The Mechatronics in Medicine Laboratory develops robotic and mechatronics surgical systems for a variety of procedures including neuro, cardiovascular, orthopaedic surgeries, and colonoscopies. Examples include bio-inspired catheters that can navigate along complex paths within the brain (such as EDEN2020), soft robots to explore endoluminal anatomies (such as the colon), and virtual reality solutions to support surgeons during knee replacement surgeries.

Meet the team

Mr Ayhan Aktas
Casual - Student demonstrator - lower rate

Dr Daniel Bautista Salinas
Research Associate

Dr Kaiwen Chen
Research Associate

Mr Zejian Cui
Research Assistant

Mr Connor Daly
Research Postgraduate

Emeritus Professor Brian L Davies FREng
Emeritus Professor

Mr Zhaoyang Jacopo Hu
Research Postgraduate

Dr Hisham M Iqbal
Research Associate

Mr Alex Ranne
Research Postgraduate

Professor Ferdinando M Rodriguez y Baena
Co-Director of Hamlyn Centre, Professor of Medical Robotics

Dr Jialei Shi
Research Associate

Mr Spyridon Souipas
Casual - Other work

Ms Emilia Zari
Research Postgraduate

Citation

BibTex format

@inproceedings{Secoli:2018:10.1109/ISMR.2018.8333302,
author = {Secoli, R and Rodriguez, y Baena F},
doi = {10.1109/ISMR.2018.8333302},
publisher = {IEEE},
title = {Experimental validation of curvature tracking with a programmable bevel-tip steerable needle},
url = {http://dx.doi.org/10.1109/ISMR.2018.8333302},
year = {2018}
}

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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - Needle steering systems are a topic of increasing research interest due to the many potential advantages associated with the ability to reach deep-seated targets while avoiding obstacles. Existing embodiments, such as those designed around a fixed bevel tip, are necessarily disruptive to the substrate, with the potential to cause a target to move away from the insertion trajectory, as well as potentially increasing the extent of tissue trauma at the needle interface, when compared to straight needles. To alleviate these issues, we proposed a biologically inspired design, which can steer without the need for duty-cycle spinning along the insertion axis or any active mechanisms at the tip. In this work, we demonstrate for the first time that our needle is able to steer within a deformable substrate, along with a user-defined trajectory in three-dimensional space. A simplified kinematic model is reported, which is subsequently used to design an adaptive strategy enabling the tracking of arbitrary curvatures along any given reference plane. Experimental results in gelatin are used to validate our model, as well as the performance of the controller under laboratory conditions.
AU  - Secoli,R
AU  - Rodriguez,y Baena F
DO  - 10.1109/ISMR.2018.8333302
PB  - IEEE
PY  - 2018///
TI  - Experimental validation of curvature tracking with a programmable bevel-tip steerable needle
UR  - http://dx.doi.org/10.1109/ISMR.2018.8333302
UR  - http://hdl.handle.net/10044/1/57162
ER  -

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