Publications
117 results found
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., 2016, EndoSDR: Concurrent Endoscopic Screening, Diagnosis, and Removal of GI cancers (prize winner), Business Engineering and Surgical Technologies Innovation Symposium (BEST)
Avila Rencoret FB, Elson D, Mylonas G, 2016, 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.
Kogkas A, Darzi A, Mylonas GP, 2016, Gaze-Driven Human-Robot Interaction in the Operating Theatre, 6th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2016)
Khan DZ, Oude Vrielink TJC, Marcus H, et al., 2016, 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., 2016, 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 D, 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
Minimally invasive and robotic surgery changes the capacity for surgical mentors to guide their trainees with the control customary to open surgery. This neuroergonomic study aims to assess a “Collaborative Gaze Channel” (CGC); which detects trainer gaze-behaviour and displays the point of regard to the trainee. A randomised crossover study was conducted in which twenty subjects performed a simulated robotic surgical task necessitating collaboration either with verbal (control condition) or visual guidance with CGC (study condition). Trainee occipito-parietal (O-P) cortical function was assessed with optical topography (OT) and gaze-behaviour was evaluated using video-oculography. Performance during gaze-assistance was significantly superior [biopsy number: (mean ± SD): control=5·6±1·8 vs. CGC=6·6±2·0; p< 0.05] and was associated with significantly lower O-P cortical activity [∆HbO2 mMol x cm [median (IQR)] control = 2.5 (12.0) vs. CGC 0.63 (11.2), p < 0.001]. A random effect model confirmed the association between guidance mode and O-P excitation. Network cost and global efficiency and global efficiency were not significantly influenced by guidance mode. A gaze channel enhances performance, modulates visual search, and alleviates the burden in brain centres subserving visual attention and does not induce changes in the trainee's O-P functional network observable with the current OT technique. The results imply that through visual guidance, attentional resources may be liberated, potentially improving the capability trainees to attend to other safety critical events during the procedure.
Avila-Rencoret FB, Elson DS, Mylonas G, 2015, Towards a robotic-assisted cartography of the colon: a proof of concept, Publisher: IEEE COMPUTER SOC, Pages: 1757-1763
Paggetti G, Leff DR, Orihuela-Espina F, et al., 2014, 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: 1612-4790
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
This paper introduces the CYCLOPS, a novel robotic tool for single-access and natural-orifice endoscopic surgery. Based on the concept of tendon-driven parallel robots, this highly original design gives the system some of its unique capabilities. Just to name a few, unparalleled force exertion capabilities of up to 65N, large and adjustable workspace, bimanual instrument triangulation. Due to the simplicity and nature of the design, the system could be adapted to an existing laparoscope or flexible endoscope. This promises a more immediate and accelerated route to clinical translation not only through endearing low-cost and adaptive features, but also by directly addressing several major barriers of existing designs.
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 2014), Publisher: IEEE, Pages: 3496-3502
— This paper proposes a semi-autonomous navigatedmaster-slave system, for robot assisted remote echography forearly trauma assessment. Two RGB-D sensors are used tocapture real-time 3D information of the scene at the slave sidewhere the patient is located. A 3D statistical shape model isbuilt and used to generate a customized patient model basedon the point cloud generated by the RGB-D sensors. Thecustomized patient model can be updated and adaptively fittedto the patient. The model is also used to generate a trajectoryto navigate a KUKA robotic arm and safely conduct theultrasound examination. Extensive validation of the proposedsystem shows promising results in terms of accuracy androbustness.
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
Avila-Rencoret F, Mylonas G, Elson DS, 2014, A Novel Endoscopic Scanning-Probe Device for Rapid Screening of Gastrointestinal Dysplasia, Publisher: The Bioengineering Society
Mylonas GP, Giataganas P, Chaudery M, et al., 2013, Autonomous eFAST ultrasound scanning by a robotic manipulator using learning from demonstrations, Pages: 3251-3256
Kwok K-W, Sun L-W, Mylonas GP, et al., 2012, Collaborative Gaze Channelling for Improved Cooperation During Robotic Assisted Surgery, ANNALS OF BIOMEDICAL ENGINEERING, Vol: 40, Pages: 2156-2167, ISSN: 0090-6964
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- Citations: 13
James DR, Leff DR, Orihuela-Espina F, et al., 2012, Enhanced frontoparietal network architectures following "gaze-contingent" versus "free-hand" motor learning., Neuroimage
Chetwood ASA, Kwok K-W, Sun L-W, et al., 2012, Collaborative eye tracking: a potential training tool in laparoscopic surgery, SURGICAL ENDOSCOPY AND OTHER INTERVENTIONAL TECHNIQUES, Vol: 26, Pages: 2003-2009, ISSN: 0930-2794
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- Citations: 54
Yang G-Z, Mylonas GP, Payne C, 2012, Medical master/slave type device for minimally invasive surgery
Mylonas GP, Kwok K-W, James DRC, et al., 2012, Gaze-Contingent Motor Channelling, haptic constraints and associated cognitive demand for robotic MIS, MEDICAL IMAGE ANALYSIS, Vol: 16, Pages: 612-631, ISSN: 1361-8415
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- Citations: 28
Itkowitz B, Mylonas GP, Zhao W, et al., 2012, Method and system for stereo gaze tracking, EP 2774380 A1, (Sep 16, 2015-code: RIN1-Event: Inventor (correction))
Mylonas GP, Totz J, Vitiello V, et al., 2012, A Novel Low-Friction Manipulator for Bimanual Joint-Level Robot Control and Active Constraints, IROS 2012
Clancy NT, Mylonas GP, Yang GZ, et al., 2011, Gaze-contingent autofocus system for robotic-assisted minimally invasive surgery, EMBC 2011
A gaze-contingent autofocus system using an eye-tracker and liquid lens has been constructed for use with a surgical robot, making it possible to rapidly (within tens of milliseconds) change focus using only eye-control. This paper reports the results of a user test comparing the eye-tracker to a surgical robot’s in-built mechanical focusing system. In the clinical environment, this intuitive interface removes the need for an external mechanical control and improves the speed at which surgeons can make decisions, based on the visible features. Possible applications include microsurgery and gastrointestinal procedures where the object distance changes due to breathing and/or peristalsis.
James DRC, Leff D, Orihuela-Espina F, et al., 2011, Influence of heart rate and stress on cortical haemodynamics associated with learning: a longitudinal functional Near Infrared Spectroscopy (fNIRS) study, Organization for Human Brain Mapping 2011
James DRC, Mylonas GP, et al, 2011, The role of the prefrontal cortex (PFC) in naïve complex motor skills learning: an fNIRS study, Organization for Human Brain Mapping 2011
James DRC, Mylonas GP, et al, 2011, Neuroergonomic assessment of collaborative gaze control for robotic surgery: an fNIRS study, Organization for Human Brain Mapping 2011
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