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  • JOURNAL ARTICLE
    Dogangil G, Davies BL, Rodriguez y Baena F, 2010,

    A review of medical robotics for minimally invasive soft tissue surgery

    , PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE, Vol: 224, Pages: 653-679, ISSN: 0954-4119
  • JOURNAL ARTICLE
    Frasson L, Ko SY, Turner A, Parittotokkaporn T, Vincent JF, Rodriguez y Baena Fet al., 2010,

    STING: a soft-tissue intervention and neurosurgical guide to access deep brain lesions through curved trajectories

    , PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE, Vol: 224, Pages: 775-788, ISSN: 0954-4119
  • 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.

  • CONFERENCE PAPER
    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

    , 32nd Annual International Conference of the IEEE Engineering-in-Medicine-and-Biology-Society (EMBC 10), Publisher: IEEE, Pages: 3202-3205, ISSN: 1557-170X
  • JOURNAL ARTICLE
    Frasson L, Parittotokkaporn T, Davies BL, Baena FRYet al., 2010,

    Early developments of a novel smart actuator inspired by nature

    , International Journal of Intelligent Systems Technologies and Applications, Vol: 8, Pages: 409-409, ISSN: 1740-8865
  • JOURNAL ARTICLE
    Frasson L, Parittotokkaporn T, Davies BL, Rodriguez y Baena Fet al., 2010,

    Early developments of a novel smart actuator inspired by nature

    , International Journal of Intelligent Systems Technologies and Applications, Vol: 8, Pages: 409-422, ISSN: 1740-8865

    Current research at Imperial College focuses on the development of a novel neurosurgical probe for Minimally Invasive Surgery (MIS), which exploits the design of certain ovipositing wasps. While conventional instruments are rigid and only used to achieve straight-line trajectories, the biomimetic design will enable curved paths connecting any entry point to any target within the brain to be followed autonomously. This paper reports on the successful outcome of an early feasibility study, where two of the key concepts behind the design are investigated: a robotic actuator was developed to demonstrate effective soft tissue traversal by reciprocating custom-built anisotropic surface textures, without the need to apply an external force to push the tissue along. Then, custom-designed rigid probes with bio-inspired surface topographies were fabricated and tested on cadaveric porcine brain with the aim to characterise the insertion and extraction forces due to friction and tribological interaction with biological tissue. © 2010 Inderscience Enterprises Ltd.

  • JOURNAL ARTICLE
    Hopkins AR, New AM, Rodriguez y Baena F, Taylor Met al., 2010,

    Finite element analysis of unicompartmental knee arthroplasty

    , MEDICAL ENGINEERING & PHYSICS, Vol: 32, Pages: 14-21, ISSN: 1350-4533
  • JOURNAL ARTICLE
    Iranpour F, Merican AM, Rodriguez y Baena F, Cobb JP, Amis AAet al., 2010,

    Patellofemoral Joint Kinematics: The Circular Path of the Patella around the Trochlear Axis

    , JOURNAL OF ORTHOPAEDIC RESEARCH, Vol: 28, Pages: 589-594, ISSN: 0736-0266
  • CONFERENCE PAPER
    Ko SY, Davies BL, Rodriguez y Baena F, 2010,

    Two-Dimensional Needle Steering with a "Programmable Bevel" Inspired by Nature: Modeling Preliminaries

    , IEEE/RSJ International Conference on Intelligent Robots and Systems, Publisher: IEEE, Pages: 2319-2324, ISSN: 2153-0858
  • 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.

  • CONFERENCE PAPER
    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

    , 32nd Annual International Conference of the IEEE Engineering-in-Medicine-and-Biology-Society (EMBC 10), Publisher: IEEE, Pages: 3198-3201, ISSN: 1557-170X
  • JOURNAL ARTICLE
    Parittotokkaporn T, Frasson L, Schneider A, Davies BL, Degenaar P, Rodriguez Y Baena Fet al., 2010,

    Insertion experiments of a biologically inspired microtextured and multi-part probe based on reciprocal motion.

    , Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Pages: 3190-3193, ISSN: 1557-170X

    While there have been significant advances in minimally invasive surgical instrumentation, the majority of tools still rely on a push from the back to aid insertion into the tissue, whether the process is manual or servo assisted. In this work, a novel approach to tool insertion is proposed which is based on the concept of a multi-part probe with at least three interlocking segments. By means of a sequential insertion process, where each segment is pushed further into the tissue while stabilized by the remaining stationary parts, the multi-part probe concept is shown to successfully "insinuate itself" within a synthetic soft tissue specimen without the need for an overall forward push. The presence of an anisotropic microtextured outer probe surface is also shown to affect the overall speed of insertion and can thus be used to optimize the interaction forces at the probe-tissue interface. A measured reduction in the force transferred to the back of the specimen also suggests that this approach to tool insertion may result in reduced tissue disruption, a result which could lead to less tissue damage and a reduction in target displacement.

  • CONFERENCE PAPER
    Parittotokkaporn T, Frasson L, Schneider A, Davies BL, Degenaar P, Rodriguez y Baena Fet al., 2010,

    Insertion Experiments of a Biologically Inspired Microtextured and Multi-Part Probe Based on Reciprocal Motion

    , 32nd Annual International Conference of the IEEE Engineering-in-Medicine-and-Biology-Society (EMBC 10), Publisher: IEEE, Pages: 3190-3193, ISSN: 1557-170X
  • JOURNAL ARTICLE
    Rodriguez y Baena F, Davies B, 2010,

    Robotic surgery: from autonomous systems to intelligent tools

    , ROBOTICA, Vol: 28, Pages: 163-170, ISSN: 0263-5747
  • CONFERENCE PAPER
    Tenzer Y, Davies BL, Rodriguez y Baena F, 2010,

    Programmable differential brake for passive haptics

    , Publisher: ELSEVIER SCIENCE BV, Pages: 249-255, ISSN: 0921-8890
  • CONFERENCE PAPER
    Frasson L, Reina S, Davies BL, Rodriguez y Baena Fet al., 2009,

    Design Optimisation of a Biologically Inspired MultiPart Probe for Soft Tissue Surgery

    , 11th International Congress of the IUPESM/World Congress on Medical Physics and Biomedical Engineering, Publisher: SPRINGER, Pages: 307-310, ISSN: 1680-0737
  • CONFERENCE PAPER
    Parittotokkaporn T, Frasson L, Schneider A, Huq SE, Davies BL, Degenaar P, Biesenack J, Rodriguez y Baena FMet al., 2009,

    Soft Tissue Traversal with Zero Net Force: Feasibility Study of a Biologically Inspired Design Based on Reciprocal Motion

    , IEEE International Conference on Robotics and Biomimetics (ROBIO), Publisher: IEEE, Pages: 80-+
  • CONFERENCE PAPER
    Schneider A, Frasson L, Parittotokkaporn T, Rodriguez y Baena FM, Davies BL, Huq SEet al., 2009,

    Biomimetic microtexturing for neurosurgical probe surfaces to influence tribological characteristics during tissue penetration

    , 34th International Conference on Micro- and Nano-Engineering, Publisher: ELSEVIER SCIENCE BV, Pages: 1515-1517, ISSN: 0167-9317
  • CONFERENCE PAPER
    Frasson L, Parittotokkaporn T, Davies BL, Rodriguez y Baena Fet al., 2008,

    Early Developments of a Novel Smart Actuator Inspired by Nature

    , 15th International Conference on Mechatronics and Machine Vision in Practice, Publisher: IEEE, Pages: 163-168
  • CONFERENCE PAPER
    Frasson L, Parittotokkaporn T, Schneider A, Davies BL, Vincent JFV, Huq SE, Degenaar P, Baena FMRet al., 2008,

    Biologically Inspired Microtexturing: Investigation into the Surface Topography of Next-Generation Neurosurgical Probes

    , 30th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society, Publisher: IEEE, Pages: 5611-+, ISSN: 1557-170X

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