Publications
219 results found
Di Ieva A, Grizzi F, Rognone E, et al., 2010, Magnetic resonance elastography: a general overview of its current and future applications in brain imaging, Neurosurg Rev, Vol: 33, Pages: 137-145, ISSN: 0344-5607
Magnetic resonance elastography (MRE) has been developed over the last few years as a non-invasive means of evaluating the elasticity of biological tissues. The presence of the skull has always prevented semeiotic palpation of the brain, but MRE now offers the possibility of "palpating by imaging" in order to detect brain consistency under physiological and pathological conditions. The aim of this article is to review the current state-of-the-art of MRE imaging and discuss its possible future diagnostic applications in neuroscience.
Brett PN, Rodriguez y Baena F, 2010, Special issue on microtechnologies for surgery, Vol: 224, Pages: i-ii, ISSN: 0954-4119
Frasson L, Neubert J, Reina S, et 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
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- Citations: 5
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
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- Citations: 29
Rodriguez y Baena F, Davies B, 2010, Robotic surgery: from autonomous systems to intelligent tools, Robotica, Vol: 28, Pages: 163-170, ISSN: 0263-5747
A brief history of robotic surgery is provided, which describes the transition from autonomous robots to hands-on systems that are under the direct control of the surgeon. An example of the latter is the Acrobot (for active-constraint robot) system used in orthopaedics, whilst soft-tissue Surgery is illustrated by the daVinci telemanipulator system. Non-technological aspects of robotic surgery have often been a major impediment to their widespread clinical use. These are discussed in detail, together with the role of navigation systems, which are considered a major competitor to Surgical robots. A detailed description is then given of a registration method for robots to achieve improved accuracy. Registration is a major source of error in robotic surgery, particularly in orthopaedics. The paper describes the design and clinical implementation of a novel method, coined the bounded registration method, applied to minimally invasive registration of the femur. Results of simulations which compare the performance of bounded registration with a standard implementation of the iterative closest point algorithm are also presented, alongside a description of their application in the Acrobot hands-on robot, used clinically for uni-condylar knee arthroplasty.
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
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- Citations: 6
Iranpour F, Merican AM, Rodriguez y Baena F, et al., 2010, Patellofemoral Joint Kinematics: The Circular Path of the Patella around the Trochlear Axis, J Orthop Res, Vol: 28, Pages: 589-594, ISSN: 0736-0266
Differing descriptions of patellar motion relative to the femur have resulted from previous studies. We hypothesized that patellar kinematics would correlate to the trochlear geometry and that differing descriptions could be reconciled by accounting for differing alignments of measurement axes. Seven normal fresh-frozen knees were CT scanned, and their kinematics with quadriceps loading was measured by an optical tracker system. Kinematics was calculated in relation to the femoral epicondylar, anatomic, and mechanical axes. A novel trochlear axis was defined, between the centers of spheres best fitted to the medial and lateral trochlear articular surfaces. The path of the center of the patella was circular and uniplanar (root-mean-square error 0.3 mm) above 16 +/- 3 degrees (mean +/- SD) knee flexion. In the coronal plane, this circle was aligned 6 +/- 2 degrees from the femoral anatomical axis, close to the mechanical axis alignment. It was 91 +/- 3 degrees from the epicondylar axis, and 88 +/- 3 degrees from the trochlear axis. In the transverse plane it was 91 +/- 3 degrees and 88 +/- 3 degrees from the epicondylar and trochlear axes, respectively. Manipulation of the data to different axis alignments showed that differing previously published data could be reconciled. The circular path of patellar motion around the trochlea, aligned with the mechanical axis of the leg, is easily visualized and understood. (C) 2009 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res 28:589-594, 2010
Tenzer Y, Davies BL, Rodriguez y Baena F, 2010, Programmable differential brake for passive haptics, Robotics and Autonomous Systems, Pages: 249-255, ISSN: 0921-8890
This paper outlines work on a novel programmable braking system, which is widely applicable to most passive haptic applications and benefits from a simple design, theoretically infinite positional resolution and the ability to generate stiff collision forces, without the need for any explicit force measurements. Results are also given of a preliminary concept demonstrator which is based on a simple 2-Degrees-Of-Freedom (DOF) Revolute-Revolute (RR) manipulator incorporating the programmable brakes. Performance measures for the joint, as well as figures describing the ability of the 2-DOF prototype to constrain the end effector motion to a plane and a circle. are also provided. (C) 2009 Elsevier B.V. All rights reserved.
Frasson L, Reina S, Davies BL, et 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
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- Citations: 4
Schneider A, Frasson L, Parittotokkaporn T, et al., 2009, Biomimetic microtexturing for neurosurgical probe surfaces to influence tribological characteristics during tissue penetration, Microelectronic Engineering, Pages: 1515-1517, ISSN: 0167-9317
Frasson L, Parittotokkaporn T, Schneider A, et al., 2008, Biologically inspired microtexturing: investigation into the surface topography of next-generation neurosurgical probes., Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Pages: 5611-5614, ISSN: 1557-170X
Minimally Invasive (MI) surgery represents the future of many types of medical intervention (keyhole neurosurgery, natural orifice trans-luminal endoscopic surgery, etc.). However, the shortcomings of today's surgical tools fuel the need for the development of next-generation 'smart instrumentation', which will be more accurate and safer for the patient. This paper presents the preliminary results of a biologically inspired microtexturing method, based on UV-lithography, and its application to MI neurosurgery. These results suggest that the size and geometry of the texture 'printed' on the outer surface of a neurosurgical probe clearly affect the insertion and extraction forces generated at the brain-probe interface. Thus, by carefully choosing an appropriate microtexture, unique insertion characteristics can be obtained, which can improve the performance of existing instruments (e.g. reducing slippage in permanent electrodes such as those used in deep brain stimulation) or enable the development of novel designs altogether.
Schneider A, Frasson L, Parittotokkaporn T, et al., 2008, Microfabrication of components for a novel biomimetic neurological endoscope, 4th International Conference on Multi-Material Micro Manufacture 2008
Jakopec M, Hede BP, Harris SJ, et al., 2008, The Acrobot Sculptor® robotic system for hands-on orthopaedic surgery, Computer Assisted Orthopaedic Surgery, 8th International Annual Meeting of CAOS
Tenzer Y, Davies BLD, Rodriguez y Baena F, 2008, Haptics and virtual reality for knee arthroscopy training: Does vibrotactile feedback help?, Computer Assisted Orthopaedic Surgery, 8th International Annual Meeting of CAOS
Tenzer Y, Davies BLD, Rodriguez y Baena F, 2008, Investigation into the Effectiveness of Vibrotactile Feedback to Improve the Haptic Realism of an Arthroscopy Training Simulator, Vol: 132, Pages: 517-522
Frasson L, Parittotokkapron T, Schneider A, et al., 2008, Biologically inspired microtexturing: Investigation into the surface topography of next-generation neurosurgical probes, Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual International Conference of the IEEE, Pages: 5611-5614
Parittotokkaporn T, Frasson L, Schneider A, et al., 2008, Soft tissue traversal with zero net force: Feasibility study of a biologically inspired design based on reciprocal motion, ROBIO 2008, IEEE International Conference on Robotics and Biomimetics, Publisher: IEEE, Pages: 80-85
Frasson L, Parittotokkaporn T, Davies BL, et 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
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- Citations: 12
Tenzer Y, Davies BLD, Rodriguez y Baena F, 2007, Vibro-Performance of a Haptic Trainer for Knee Arthroscopy, Towards Autonomous Robotic Systems (TAROS) 2007, Pages: 122-127
Barrett ARW, Davies BL, Gomes M, et al., 2007, Coputer-assisted hip resurfacing surgery using the Acrobot Navigation System, J Engineering in Medicine, Vol: 221, Pages: 773-785, ISSN: 0954-4119
The authors have previously reported on the laboratory development of the Acrobot Navigation System for accurate computer-assisted hip resurfacing surgery. This paper describes the findings of using the system in the clinical setting and including the improvements that have been made to expedite the procedure. The aim of the present system is to allow accurate planning of the procedure and precise placement of the prosthesis in accordance with the plan, with a zero intraoperative time penalty in comparison to the standard non-navigated technique. At present the navigation system is undergoing final clinical evaluation prior to a clinical study designed to demonstrate the accuracy of outcome compared with the conventional technique. While full results are not yet available, this paper describes the techniques that will be used to evaluate accuracy by comparing pre-operative computed tomography (CT)-based plans with post-operative CT scans. Example qualitative clinical results are included based on visual comparison of the plan with post-operative X-rays.
Henckel J, Richards R, Rodriguez y Baena F, et al., 2007, Reporting accuracy in hip resurfacing: A 3D CT based method, Computer Assisted Orthopaedic Surgery, 7th International Annual Meeting of CAOS, Pages: 664-666
Barrett A, Davies B, Harris S, 2007, Computer assisted hip resurfacing surgery using the Acrobot® navigation system, Computer Assisted Orthopaedic Surgery, 7th International Annual Meeting of CAOS, Pages: 166-168
Nakhla A, Turner A, Rodriguez y Baena F, et al., 2007, Navigated reduction and fixation of acetabular fractures, Computer Assisted Orthopaedic Surgery, 7th International Annual Meeting of CAOS, Pages: 43-45
Henckel J, Richards R, Lozhkin J, et al., 2007, The Imperial hip protocol: An optimized very low dose ct protocol for planning and measuring outcome, Computer Assisted Orthopaedic Surgery, 7th International Annual Meeting of CAOS, Pages: 475-477
Rodriguez y Baena F, Barrett A, Harris S, et al., 2007, A bounded registration method for minimally invasive registration of the femur, Computer Assisted Orthopaedic Surgery, 7th International Annual Meeting of CAOS, Pages: 125-127
Cobb J, Henckel J, Brust K, et al., 2007, Accuracy provides enduring functional improvement in arthroplasty:18 months results of robotic assisted unicompartmental knee replacement, Berlin, Computer Assisted Orthopaedic Surgery, 7th International Annual Meeting of CAOS, Publisher: Pro Business, Pages: 183-185
Davies BL, Rodriguez y Baena F, Barrett AR, et al., 2007, Robotic control in knee joint replacement surgery, Vol: 221, Pages: 71-80, ISSN: 0954-4119
A brief history of robotic systems in knee arthroplasty is provided. The place of autonomous robots is then discussed and compared to more recent 'hands-on' robotic systems that can be more cost effective. The case is made for robotic systems to have a clear justification, with improved benefits compared to those from cheaper navigation systems. A number of more recent, smaller, robot systems for knee arthroplasty are also described. A specific example is given of an active constraint medical robot, the ACROBOT system, used in a prospective randomized controlled trial of unicondylar robotic knee arthroplasty in which the robot was compared to conventional surgery. The results of the trial are presented together with a discussion of the need for measures of accuracy to be introduced so that the efficacy of the robotic surgery can be immediately identified, rather than have to wait for a number of years before long-term clinical improvements can be demonstrated.
Henckel J, Richards R, Lozhkin K, et al., 2006, Very low-dose computed tomography for planning and outcome measurement in knee replacement - The imperial knee protocol, J Bone Joint Surg Br, Vol: 88B, Pages: 1513-1518, ISSN: 0301-620X
Surgeons need to be able to measure angles and distances in three dimensions in the planning and assessment of knee replacement. Computed tomography (CT) offers the accuracy needed but involves greater radiation exposure to patients than traditional long-leg standing radiographs, which give very little information outside the plane of the image. There is considerable variation in CT radiation doses between research centres, scanning protocols and individual scanners, and ethics committees are rightly demanding more consistency in this area. By refining the CT scanning protocol we have reduced the effective radiation dose received by the patient down to the equivalent of one long-leg standing radiograph. Because of this, it will be more acceptable to obtain the three-dimensional data set produced by CT scanning. Surgeons will be able to document the impact of implant position on outcome with greater precision.
Davies BL, Jakopec M, Harris S, et al., 2006, Active-constraint robotics for surgery, PROCEEDINGS OF THE IEEE, Vol: 94, Pages: 1696-1704, ISSN: 0018-9219
Rodriguez y Baena F, 2006, Model-based positional estimation method, WO2006048651
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