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  • JOURNAL ARTICLE
    Leibinger A, Forte AE, Tan Z, Oldfield MJ, Beyrau F, Dini D, Rodriguez Y Baena Fet al., 2016,

    Soft Tissue Phantoms for Realistic Needle Insertion: A Comparative Study

    , ANNALS OF BIOMEDICAL ENGINEERING, Vol: 44, Pages: 2442-2452, ISSN: 0090-6964
  • JOURNAL ARTICLE
    Petersen JG, Bowyer SA, Baena FRY, 2016,

    Mass and Friction Optimization for Natural Motion in Hands-On Robotic Surgery

    , IEEE TRANSACTIONS ON ROBOTICS, Vol: 32, Pages: 201-213, ISSN: 1552-3098
  • JOURNAL ARTICLE
    Bowyer SA, Rodriguez y Baena F, 2015,

    Dissipative Control for Physical Human-Robot Interaction

    , IEEE TRANSACTIONS ON ROBOTICS, Vol: 31, Pages: 1281-1293, ISSN: 1552-3098
  • JOURNAL ARTICLE
    Oldfield MJ, Leibinger A, Seah TET, Rodriguez y Baena Fet al., 2015,

    Method to Reduce Target Motion Through Needle-Tissue Interactions

    , ANNALS OF BIOMEDICAL ENGINEERING, Vol: 43, Pages: 2794-2803, ISSN: 0090-6964
  • JOURNAL ARTICLE
    Beretta E, De Momi E, Rodriguez y Baena F, Ferrigno Get al., 2015,

    Adaptive Hands-On Control for Reaching and Targeting Tasks in Surgery

    , INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, Vol: 12, ISSN: 1729-8806
  • JOURNAL ARTICLE
    Secoli R, Robinson M, Brugnoli M, Rodriguez y Baena Fet al., 2015,

    A low-cost, high-field-strength magnetic resonance imaging-compatible actuator

    , PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE, Vol: 229, Pages: 215-224, ISSN: 0954-4119
  • CONFERENCE PAPER
    Leibinger A, Burrows C, Oldfield MJ, Rodriguez y Baena Fet al., 2015,

    Tissue Motion Due to Needle Deflection

    , 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Publisher: IEEE, Pages: 1873-1876, ISSN: 1557-170X
  • JOURNAL ARTICLE
    Bowyer SA, Rodriguez y Baena F, 2014,

    Deformation invariant bounding spheres for dynamic active constraints in surgery

    , PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE, Vol: 228, Pages: 350-361, ISSN: 0954-4119
  • JOURNAL ARTICLE
    Merican AM, Ghosh KM, Baena FRY, Deehan DJ, Amis AAet al., 2014,

    Patellar thickness and lateral retinacular release affects patellofemoral kinematics in total knee arthroplasty

    , KNEE SURGERY SPORTS TRAUMATOLOGY ARTHROSCOPY, Vol: 22, Pages: 526-533, ISSN: 0942-2056
  • JOURNAL ARTICLE
    Bowyer SA, Davies BL, Rodriguez y Baena F, 2014,

    Active Constraints/Virtual Fixtures: A Survey

    , IEEE TRANSACTIONS ON ROBOTICS, Vol: 30, Pages: 138-157, ISSN: 1552-3098
  • JOURNAL ARTICLE
    Oldfield MJ, Burrows C, Kerl J, Frasson L, Parittotokkaporn T, Beyrau F, Rodriguez y Baena Fet al., 2014,

    Highly resolved strain imaging during needle insertion: Results with a novel biologically inspired device

    , JOURNAL OF THE MECHANICAL BEHAVIOR OF BIOMEDICAL MATERIALS, Vol: 30, Pages: 50-60, ISSN: 1751-6161
  • CONFERENCE PAPER
    Oldfield M, Leibinger A, Kaufmann P-A, Bertucchi M, Beyrau F, Rodriguez y Baena Fet al., 2014,

    Needle Geometry, Target Migration and Substrate Interactions in High Resolution

    , 36th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC), Publisher: IEEE, Pages: 852-855, ISSN: 1557-170X
  • CONFERENCE PAPER
    Blyth WA, Barr DRW, Hankinson N, Baena FRYet al., 2014,

    An assessment of mecanum wheels for non-destructive testing (NDT) applications

    We present a study into the suitability of mecanum wheels for obtaining holonomic motion on complex geometries, such as those encountered within NDT. There are a number of industrial inspections with challenging requirements for sensors positioning, such as ultrasonic inspection of nozzle welds in pressure vessels. These challenging trajectories necessitate additional degrees of control over conventional two-axis approaches, for example crawlers or X-Y frame systems, which are restrictive. Mecanum wheels in principle offer an excellent advantage for NDT crawlers, enabling unlimited motion within the plane, however the accurate and controllable behaviour of these wheels on non-planar and non-horizontal surfaces is not well understood. In this paper we illustrate the interactions between a mecanum wheel based crawler and complex geometries and construct a model to assess the performance of the mecanum wheels with respect to the requirements of NDT, to smoothly and precisely follow complex trajectories. The potential of mecanum wheel systems is then contrasted against other wheeled systems in terms of NDT demands, and we conclude that the applicability of mecanum wheels to some tasks offers potential gains yet presents additional challenges in others.
  • CONFERENCE PAPER
    Petersen JG, Rodriguez y Baena F, 2014,

    Mass and Inertia Optimization for Natural Motion in Hands-On Robotic Surgery

    , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 4284-4289, ISSN: 2153-0858
  • CONFERENCE PAPER
    Leibinger A, Oldfield M, Rodriguez y Baena F, 2014,

    Multi-objective design optimization for a steerable needle for soft tissue surgery

    , Pages: 420-423, ISSN: 1680-0737

    © Springer International Publishing Switzerland 2014. A novel steerable probe is being developed to access deep seated targets within soft tissue, with the aim of improving the accuracy of minimally invasive percutaneous needle insertions. Consisting of multiple axially interlocked segments that independently slide along each other, miniaturization of the design is required in order for the needle to be used in surgery. Within this study, a set of parameters which minimizes the risk of both buckling and separation is identified and a design optimization procedure based on finite element models is developed for the needle geometry. Four significant design variables are defined for a genetic multi-objective optimization algorithm. Loads and interactions between the four parts due to curved paths taken inside the soft tissue are modeled using generalized plane strain elements. The optimized set of non-dominated solutions is analyzed. By applying a decision- making process based on the value path method, the nondominated solutions are compared across the four objectives. It is found that smaller and less pronounced interlock features reduce contact forces and improve the sliding performance between needle segments. This results in a trade-off relationship between sliding performance and interlock strength and the most feasible design showing the best performance across all objectives is selected. The outcome is a new optimized design for the needle, which will be manufactured and tested with a suitable controller both in vitro and ex vivo.
  • CONFERENCE PAPER
    Bowyer SA, Rodriguez y Baena F, 2014,

    Dynamic Frictional Constraints in Translation and Rotation

    , IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE, Pages: 2685-2692, ISSN: 1050-4729
  • CONFERENCE PAPER
    Secoli R, Rodriguez y Baena F, 2014,

    Rate Dependency during Needle Insertions with a Biologically Inspired Steering System: an Experimental Study

    , 36th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC), Publisher: IEEE, Pages: 856-859, ISSN: 1557-170X
  • JOURNAL ARTICLE
    Ko SY, Rodriguez y Baena F, 2013,

    Toward a Miniaturized Needle Steering System With Path Planning for Obstacle Avoidance

    , IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, Vol: 60, Pages: 910-917, ISSN: 0018-9294
  • JOURNAL ARTICLE
    Liu F, Burrows C, Rodriguez y Baena F, 2013,

    Deformation-as-Control for A Biologically Inspired Steerable Needle

    , 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), Pages: 848-853
  • CONFERENCE PAPER
    Burrows C, Secoli R, Rodriguez y Baena F, 2013,

    Experimental Characterisation of a Biologically Inspired 3D Steering Needle

    , 13th International Conference on Control, Automation and Systems (ICCAS), Publisher: IEEE, Pages: 1252-1257

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