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  • Conference paper
    Bowyer SA, Rodriguez y Baena F, 2013,

    Dynamic Frictional Constraints for Robot Assisted Surgery

    , IEEE World Haptics Conference (WHC), Publisher: IEEE, Pages: 319-324
  • Journal article
    Liu F, Burrows C, Rodriguez y Baena F, 2013,

    Deformation-as-Control for A Biologically Inspired Steerable Needle

  • 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
  • Journal article
    Petersen JG, Rodriguez Baena F, 2013,

    A dynamic active constraints approach for hands-on robotic surgery

    , Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, Pages: 1966-1971, ISSN: 2153-0858
  • Journal article
    Oldfield M, Dini D, Rodriguez y Baena F, 2012,

    Predicting failure in soft tissue phantoms via modeling of non-predetermined tear progression.

    , Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Pages: 6305-6308, ISSN: 1557-170X

    The advantageous, curved trajectory of bevel-tipped devices in soft tissue is a function of the interplay between material deformation, contact interactions and material failure. Highly detailed modeling of tool-tissue interactions is therefore vital in optimising performance and design. At high resolution, discontinuous failure of soft tissue phantoms has not been demonstrated. An iterative procedure, making incremental additions to the failure path in an otherwise continuous finite element mesh, is presented to achieve this goal. The procedure's efficacy was demonstrated in two materials including a soft tissue phantom. Failure path is shown to respond well to different and evolving shear and normal stress states. The iterative procedure would thus be ideal for analysing and optimising complex tool-tissue interactions, for instance in needle steering systems, where the path taken by the needle also depends on the progression of a tear which develops ahead of the tip during the insertion process. With the method presented here, this behaviour could be modeled and analysed at an unprecedented resolution.

  • Conference paper
    Oldfield M, Dini D, Rodriguez y Baena F, 2012,

    Predicting Failure in Soft Tissue Phantoms via Modeling of Non-Predetermined Tear Progression

    , 34th Annual International Conference of the IEEE Engineering-in-Medicine-and-Biology-Society (EMBS), Publisher: IEEE, Pages: 6305-6308, ISSN: 1557-170X
  • Conference paper
    Caborni C, Ko SY, De Momi E, Ferrigno G, Rodriguez y Baena Fet al., 2012,

    Risk-Based Path Planning for a Steerable Flexible Probe for Neurosurgical Intervention

    , 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) / Symposium on Surgical Robotics, Publisher: IEEE, Pages: 866-871, ISSN: 2155-1782
  • Conference paper
    Bano S, Ko SY, Rodriguez y Baena F, 2012,

    Smooth Path Planning for a Biologically-Inspired Neurosurgical Probe

    , 34th Annual International Conference of the IEEE Engineering-in-Medicine-and-Biology-Society (EMBS), Publisher: IEEE, Pages: 920-923, ISSN: 1557-170X
  • Journal article
    Ko SK, Rodriguez y Baena F, 2012,

    Towards a Miniaturized Needle Steering System with Path Planning for Obstacle Avoidance

    , IEEE Transactions on Biomedical Engineering, Vol: N/A
  • Journal article
    Oldfield M, Dini D, Giordano G, Rodriguez y Baena Fet al., 2012,

    Detailed finite element modelling of deep needle insertions into a soft tissue phantom using a cohesive approach

    , ISSN: 1476-8259

    Detailed finite element modelling of needle insertions into soft tissue phantoms encounters difficulties of large deformations, high friction, contact loading and material failure. This paper demonstrates the use of cohesive elements in high-resolution finite element models to overcome some of the issues associated with these factors. Experiments are presented enabling extraction of the strain energy release rate during crack formation. Using data from these experiments, cohesive elements are calibrated and then implemented in models for validation of the needle insertion process. Successful modelling enables direct comparison of finite element and experimental force-displacement plots and energy distributions. Regions of crack creation, relaxation, cutting and full penetration are identified. By closing the loop between experiments and detailed finite element modelling, a methodology is established which will enable design modifications of a soft tissue probe that steers through complex mechanical interactions with the surrounding material.

  • Journal article
    Kerl J, Parittotokkaporn T, Frasson L, Oldfield M, Rodriguez y Baena F, Beyrau Fet al., 2012,

    Tissue deformation analysis using a laser based digital image correlation technique

    , Vol: 6, Pages: 159-165, ISSN: 1751-6161

    A laser based technique for planar time-resolved measurements of tissue deformation in transparent biomedical materials with high spatial resolution is developed. The approach is based on monitoring the displacement of micrometer particles previously embedded into a semi-transparent sample as it is deformed by some form of external loading. The particles are illuminated in a plane inside the tissue material by a thin laser light sheet, and the pattern is continuously recorded by a digital camera. Image analysis yields the locally and temporally resolved sample deformation in the measurement plane without the need for any in situ measurement hardware. The applicability of the method for determination of tissue deformation and material strain during the insertion of a needle probe into a soft material sample is demonstrated by means of an in vitro trial on gelatin. (C) 2011 Elsevier Ltd. All rights reserved.

  • Journal article
    Ko SY, Rodriguez y Baena F, 2012,

    Trajectory following for a flexible probe with state/input constraints: An approach based on model predictive control

    , Robotics and Autonomous Systems, Vol: 60, Pages: 509-521, ISSN: 0921-8890
  • Journal article
    Frasson L, Ferroni F, Ko S, Dogangil G, Rodriguez y Baena Fet al., 2012,

    Experimental evaluation of a novel steerable probe with a programmable bevel tip inspired by nature

    , Pages: 1-9, ISSN: 1863-2483
  • Journal article
    Parittotokkaporn T, Thomas DG, Schneider A, Huq E, Davies BL, Degenaar P, Rodriguez y Baena Fet al., 2011,

    Microtextured Surfaces for Deep-Brain Stimulation Electrodes: A Biologically Inspired Design to Reduce Lead Migration

    , World Neurosurgery, Vol: 77, Pages: 569-576, ISSN: 1878-8750

    OBJECTIVE: Hardware-related complications of deep brain stimulation (DBS) surgery have been reported with adverse effects in postoperative electrode migration. We report that the addition of microtextured features to the surface of a DBS-like probe can minimize the extent of electrode migration in ex vivo porcine brain. METHODS: A DBS lead and microtextured strips, mounted with a fiberoptic displacement sensor, were embedded 15-mm deep inside a cadaveric porcine brain through holes on the skull. The local displacement of brain tissue surrounding each strip was detected along the direction of insertion by the optical sensor while the porcine head simulated brain shift during rotation between supine and upright postures. RESULTS: The triangular toothed strip with protruding height of 250 mum enabled a better grip of the surrounding brain tissue than standard DBS lead, minimizing local brain displacement to 77 mum versus 326 mum respectively, when the porcine head was shifted from the supine to the upright position as the result of gravity. In addition, brain tissue damage resulting from the removal of toothed strips exhibited less-extensive tissue disruption, attributable to the microtextured surface. CONCLUSIONS: These preliminary results show that microtextured strips embedded into cadaveric porcine brain produce an anchoring effect on local tissue during brain shift, suggesting a way to reduce DBS lead migration without additional tissue damage beyond the strip geometry.

  • Conference paper
    Manoharan V, Tenzer Y, Rodriguez Y Baena F, 2011,

    Experimental evaluation of a 2DOF haptic device with four-state rotary programmable brakes

    , Pages: 125-130

    Safety is an important factor for human-machine interface devices. Brake actuated devices are potentially safer than those that rely on motors for force-feedback generation. However, manipulators using conventional frictional brakes do have limitations. This paper presents the experimental evaluation of a newly developed four-state rotary programmable brake in a 2DOF manipulator. The experimental results show improved performance compared to the results obtained when manipulators with conventional frictional brakes are used. © 2011 IEEE.

  • Conference paper
    Tenzer Y, Bowyer S, Davies BL, Rodriguez Y Baena Fet al., 2011,

    "Sticking" aspects of a haptic device with part-locking programmable brakes

    , Pages: 269-274

    This paper outlines work on the development of a novel programmable rotary brake which can restrict motion of a mechanism moving in one direction whilst allowing free motion in other directions. The design, implementation and performance of a fully functional prototype are described along the work on incorporating the prototype into a 3 Degrees-Of-Freedom (DOF) haptic device. The ability of the haptic device to constrain the motion of the end-effector to point-constraint was investigated and the experiments have shown that the haptic device can implement virtual constraints without the need for a force sensor. The experiments also show that when an advanced control scheme is used the virtual wall is not felt as "sticky". © 2011 IEEE.

  • Journal article
    Tenzer Y, Davies BL, Rodriguez y Baena F, 2011,

    Four-State Rotary Joint Control: Results With a Novel Programmable Brake

    , Mechatronics, IEEE/ASME Transactions on, Vol: 17, Pages: 915-923, ISSN: 1083-4435
  • Journal article
    Ko SY, Frasson L, Rodriguez y Baena F, 2011,

    Closed-Loop Planar Motion Control of a Steerable Probe With a "Programmable Bevel" Inspired by Nature

    , Ieee T Robot, Vol: 27, Pages: 970-983, ISSN: 1552-3098

    Percutaneous intervention has attracted significant interest in recent years, but many of today's needles and catheters can only provide limited control of the trajectory between an entry site and soft tissue target. In order to address this fundamental shortcoming in minimally invasive surgery, we describe the first prototype of a bioinspired multipart probe that can steer along planar trajectories within a compliant medium by means of a novel "programmable bevel," where the steering angle becomes a function of the offset between interlocked probe segments. A kinematic model of the flexible probe and programmable bevel arrangement is derived. Several parameters of the kinematic model are then calibrated experimentally with a fully functional scaled-up prototype, which is 12mm in diameter. A closed-loop control strategy with feed-forward and feedback components is then derived and implemented in vitro using an approximate linearization strategy that was first developed for car-like robots. Experimental results demonstrate satisfactory 2-D trajectory following of the prototype (0.68 mm tracking error, with 1.45 mm standard deviation) using an electromagnetic position sensor that is embedded at the tip of the probe.

  • Journal article
    Frasson L, Neubert J, Reina S, Oldfield M, Davies BL, Rodriguez Y Baena Fet al., 2010,

    Development and validation of a numerical model for cross-section optimization of a multi-part probe for soft tissue intervention.

    , Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Pages: 3202-3205, ISSN: 1557-170X

    The popularity of minimally invasive surgical procedures is driving the development of novel, safer and more accurate surgical tools. In this context a multi-part probe for soft tissue surgery is being developed in the Mechatronics in Medicine Laboratory at Imperial College, London. This study reports an optimization procedure using finite element methods, for the identification of an interlock geometry able to limit the separation of the segments composing the multi-part probe. An optimal geometry was obtained and the corresponding three-dimensional finite element model validated experimentally. Simulation results are shown to be consistent with the physical experiments. The outcome of this study is an important step in the provision of a novel miniature steerable probe for surgery.

  • Journal article
    Oldfield M, Dini D, Rodriguez Y Baena F, 2010,

    Detailed finite element simulations of probe insertion into solid elastic material using a cohesive zone approach.

    , Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Pages: 3198-3201, ISSN: 1557-170X

    In this paper a method is presented for detailed finite element modelling of probe insertion into an elastic material. This is part of an ongoing investigation into the mechanics of a novel, biomimetic, soft-tissue probe currently under development at Imperial College, London. Analysis is performed using a 'cohesive zone' approach by integrating multiple cohesive elements into a finite element mesh using Abaqus software. Cohesive zones with variable crack paths, generated by both remote tensile and contact loading, and substantial probe penetration along an arbitrarily curved crack path are demonstrated. These advances are critical to understanding probe interactions for the development of an existing prototype and control strategy.

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