69 results found
Runciman M, Darzi A, Mylonas G, Soft robotics in minimally invasive surgery, Soft Robotics, ISSN: 2169-5172
Soft robotic devices have desirable traits for applications in minimally invasive surgery (MIS) but many interdisciplinary challenges remain unsolved. To understand current technologies, we carried out a keyword search using the Web of Science and Scopus databases, applied inclusion and exclusion criteria, and compared several characteristics of the soft robotic devices for MIS in the resulting articles. There was low diversity in the device designs and a wide-ranging level of detail regarding their capabilities. We propose a standardised comparison methodology to characterise soft robotics for various MIS applications, which will aid designers producing the next generation of devices.
Miyashita K, Vrielink TO, Mylonas G, 2018, A cable-driven parallel manipulator with force sensing capabilities for high-accuracy tissue endomicroscopy, INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY, Vol: 13, Pages: 659-669, ISSN: 1861-6410
Avila Rencoret FB, Mylonas GP, Elson D, Robotic Wide-Field Optical Biopsy Imaging For Flexible Endoscopy, 26th International Congress of the European Association for Endoscopic Surgery (EAES)
Zhao M, Oude Vrielink T, Elson D, et al., Endoscopic TORS-CYCLOPS: A Novel Cable-driven Parallel Robot for Transoral Laser Surgery, 26th Annual International EAES Congress
Elson D, Avila Rencoret F, Mylonas G, Robotic Wide-Field Optical Biopsy Imaging for Flexible Endoscopy (Gerhard Buess Technology Award), 26th Annual International EAES Congress
Avila-Rencoret FB, Mylonas GP, Elson DS, 2018, Robotic wide-field optical biopsy endoscopy
© OSA 2018. This paper describes a novel robotic framework for wide-field optical biopsy endoscopy, characterizes in vitro its spatial and spectral resolution, real time hyperspectral tissue classification, and demonstrates its feasibility on fresh porcine cadaveric colon.
Pittiglio G, Kogkas A, Vrielink JO, et al., 2018, Dynamic Control of Cable Driven Parallel Robots with Unknown Cable Stiffness: a Joint Space Approach, IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE COMPUTER SOC, Pages: 948-955, ISSN: 1050-4729
Ashraf H, Sodergren MH, Merali N, et al., 2018, Eye-tracking technology in medical education: A systematic review, MEDICAL TEACHER, Vol: 40, Pages: 62-69, ISSN: 0142-159X
Vrielink TJCO, Puyal JG-B, Kogkas A, et al., 2018, Intuitive Gaze-Control of a Robotized Flexible Endoscope, 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 1776-1782, ISSN: 2153-0858
Wang M-Y, Kogkas AA, Darzi A, et al., 2018, Free-View, 3D Gaze-Guided, Assistive Robotic System for Activities of Daily Living, 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), Pages: 2355-2361, ISSN: 2153-0858
Vrielink TJCO, Chao M, Darzi A, et al., 2018, ESD CYCLOPS: A new robotic surgical system for GI surgery, IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE COMPUTER SOC, Pages: 150-157, ISSN: 1050-4729
Kogkas AA, Darzi A, Mylonas GP, 2017, Gaze-contingent perceptually enabled interactions in the operating theatre, INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY, Vol: 12, Pages: 1131-1140, ISSN: 1861-6410
Mylonas G, patel N, teare J, et al., 2017, CYCLOPS: An endoscope attachment for Endoscopic Submucosal Dissection, SAGES 2017 Annual Meeting
Oude Vrielink TJC, Darzi, Mylonas G, 2016, microCYCLOPS: A Robotic System for Microsurgical Applications, 6th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2016)
Avila-Rencoret F, Oude Vrielink T, Elson DS, et al., EndoSDR: Concurrent Endoscopic Screening, Diagnosis, and Removal of GI cancers (prize winner), Business Engineering and Surgical Technologies Innovation Symposium (BEST)
Kogkas A, Darzi A, Mylonas GP, Gaze-Driven Human-Robot Interaction in the Operating Theatre, 6th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2016)
Avila Rencoret FB, Elson D, Mylonas G, A Robotic Hyperspectral Scanning Framework for Endoscopy, CRAS - Workshop on Computer/Robot Assisted Surgery
Gastrointestinal (GI) endoscopy is the gold-standard procedure for detection and treatment of dysplastic lesions and early stage GI cancers. Despite its proven effectiveness, its sensitivity remains suboptimal due to the subjective nature of the examination, which is substantially reliant on human-operator skills. For bowel cancer, colonoscopy can miss up to 22% of dysplastic lesions, with even higher miss rates for small (<5 mm diameter) and flat lesions. We propose a robotic hyperspectral (HS) scanning framework that aims to improve the sensitivity of GI endoscopy by automated scanning and real-time classification of wide tissue areas based on their HS features. A “hot-spot” map is generated to highlight dysplastic or cancerous lesions for further scrutiny or concurrent resection. The device works as an add-on accessory to any conventional endoscope, and to our knowledge, is the first of its kind. This paper focuses on characterising its optical resolution on rigid and deformable colon phantoms. We report for the first time 2D and 3D wide-area reconstruction of endoscopic HS data with sub-millimetre optical resolution. The current setup, compatible with the anatomical dimensions of the colon, could allow the identification of flat and small pre-cancerous lesions that are currently missed. The proposed framework will lay the foundations towards the next generation of augmented reality endoscopy while increasing its sensitivity and specificity.
Khan DZ, Oude Vrielink TJC, Marcus H, et al., NeuroCYCLOPS: development and preclinical validation of a robotic platform for endoscopic neurosurgery, European Association of Neurosurgical Societies (EANS 2016), Publisher: European Association of Neurosurgical Societies
Oude Vrielink TJC, Khan DZ, Marcus H, et al., 2016, NeuroCYCLOPS: a novel system for endoscopic neurosurgery, London, The Hamlyn Symposium on Medical Robotics, Publisher: Imperial College London, Pages: 36-37
Kogkas AA, Sodergren M, Darzi A, et al., Macro- and micro-scale 3D gaze tracking in the operating theatre, The Hamlyn Symposium on Medical Robotics 2016, Publisher: Imperial College London, Pages: 100-101
Leff DR, James DRC, Orihuela-Espina F, et al., 2015, The impact of expert visual guidance on trainee visual search strategy, visual attention and motor skills, FRONTIERS IN HUMAN NEUROSCIENCE, Vol: 9, ISSN: 1662-5161
Paggetti G, Leff DR, Orihuela-Espina F, et al., 2015, The role of the posterior parietal cortex in stereopsis and hand-eye coordination during motor task behaviours, COGNITIVE PROCESSING, Vol: 16, Pages: 177-190, ISSN: 1612-4782
Avila Rencoret FB, Elson DS, Mylonas G, 2015, Probe Deployment Device
Avila-Rencoret FB, Elson DS, Mylonas G, 2015, Towards a robotic-assisted cartography of the colon: a proof of concept, IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE COMPUTER SOC, Pages: 1757-1763, ISSN: 1050-4729
Mylonas G, Cundy T, Darzi A, et al., 2014, Surgical device and methods
The patent broadly describes a deployable structure with the tendon principle as developed in the initial prototype and will cover a range of iterations to allow for the evolution of this design.
Vitiello V, Cundy TP, Darzi A, et al., 2014, Augmented Instrument Control for the CYCLOPS Robotic System, The Hamlyn Symposium on Medical Robotics, Pages: 29-30
Mylonas GP, Vitiello V, Cundy TP, et al., 2014, CYCLOPS: A Versatile Robotic Tool for Bimanual Single-Access and Natural-Orifice Endoscopic Surgery, IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE, Pages: 2436-2442, ISSN: 1050-4729
Zhang L, Lee S-L, Yang G-Z, et al., 2014, Semi-Autonomous Navigation for Robot Assisted Tele-Echography using Generalized Shape Models and Co-Registered RGB-D cameras, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 3496-3502, ISSN: 2153-0858
Avila-Rencoret F, Mylonas G, Elson DS, 2014, A Novel Endoscopic Scanning-Probe Device for Rapid Screening of Gastrointestinal Dysplasia, Publisher: The Bioengineering Society
James DRC, Leff DR, Orihuela-Espina F, et al., 2013, Enhanced frontoparietal network architectures following "gaze-contingent" versus "free-hand" motor learning, NEUROIMAGE, Vol: 64, Pages: 267-276, ISSN: 1053-8119
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