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  • 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
  • JOURNAL ARTICLE
    Oldfield M, Dini D, Giordano G, Rodriguez y Baena Fet al., 2013,

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

    , COMPUTER METHODS IN BIOMECHANICS AND BIOMEDICAL ENGINEERING, Vol: 16, Pages: 530-543, ISSN: 1025-5842
  • CONFERENCE PAPER
    Oldfield MJ, Dini D, Jaiswal T, Rodriguez y Baena Fet al., 2013,

    The significance of rate dependency in blade insertions into a gelatin soft tissue phantom

    , 1st International Conference on Biotribology (ICoBT), Publisher: ELSEVIER SCI LTD, Pages: 226-234, ISSN: 0301-679X
  • JOURNAL ARTICLE
    Petersen JG, Rodriguez y Baena F, 2013,

    A Dynamic Active Constraints Approach for Hands-On Robotic Surgery

    , 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), Pages: 1966-1971, ISSN: 2153-0858
  • JOURNAL ARTICLE
    Rodriguez y Baena F, Hawke T, Jakopec M, 2013,

    A bounded iterative closest point method for minimally invasive registration of the femur

    , PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE, Vol: 227, Pages: 1135-1144, ISSN: 0954-4119
  • CONFERENCE PAPER
    Secoli R, Rodriguez y Baena F, 2013,

    Closed-loop 3D Motion Modeling and Control of a Steerable Needle for Soft Tissue Surgery

    , IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE, Pages: 5831-5836, ISSN: 1050-4729
  • 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
  • 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
  • JOURNAL ARTICLE
    Frasson L, Ferroni F, Ko SY, Dogangil G, Rodriguez Y Baena Fet al., 2012,

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

    , J Robot Surg, Vol: 6, Pages: 189-197, ISSN: 1863-2483

    The ability to steer flexible needles and probes to access deep anatomical locations safely for medical diagnosis and treatment represents a current clinical and engineering research challenge. The behaviour of parasitic wasps has inspired the development of a novel steerable and flexible multi-part probe, which allows the control of its approach angle by adjusting the steering offset between probe segments, i.e. by means of a programmable bevel tip. This paper describes the experimental evaluation of several scaled-up proof-of-concept flexible probe prototypes to explore the effects of tip design (bevel-tip angle) and dimensions (outer diameter) on steering. For each prototype, a linear relationship between steering offset and curvature is confirmed. The effect of probe diameter and bevel-tip angle on steering performance is also analysed, with results confirming that larger bevel-tip angles and smaller probe diameters lead to larger curvature values, although improved steering comes at the price of a less stable insertion process.

  • 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

    , JOURNAL OF THE MECHANICAL BEHAVIOR OF BIOMEDICAL MATERIALS, Vol: 6, Pages: 159-165, ISSN: 1751-6161
  • 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
  • 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
  • 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.

  • JOURNAL ARTICLE
    Parittotokkaporn T, Thomas DGT, Schneider A, Huq E, Davies BL, Degenaar P, Rodriguez y Baena Fet al., 2012,

    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
  • JOURNAL ARTICLE
    Tenzer Y, Davies BL, Rodriguez y Baena F, 2012,

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

    , IEEE-ASME TRANSACTIONS ON MECHATRONICS, 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 TRANSACTIONS ON ROBOTICS, Vol: 27, Pages: 970-983, ISSN: 1552-3098
  • 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
    Brett PN, Rodriguez y Baena F, 2010,

    SPECIAL ISSUE ON MICROTECHNOLOGIES FOR SURGERY

    , PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE, Vol: 224, Pages: I-II, ISSN: 0954-4119
  • JOURNAL ARTICLE
    Di Ieva A, Grizzi F, Rognone E, Tse ZTH, Parittotokkaporn T, Rodriguez y Baena F, Tschabitscher M, Matula C, Trattnig S, Rodriguez y Baena Ret al., 2010,

    Magnetic resonance elastography: a general overview of its current and future applications in brain imaging

    , NEUROSURGICAL REVIEW, Vol: 33, Pages: 137-145, ISSN: 0344-5607

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