The Centre has a long history of developing new techniques for medical imaging (particularly in magnetic resonance imaging), transforming them from a primarily diagnostic modality into an interventional and therapeutic platform. This is facilitated by the Centre's strong engineering background in practical imaging and image analysis platform development, as well as advances in minimal access and robotic assisted surgery. Hamlyn has a strong tradition in pursuing basic sciences and theoretical research, with a clear focus on clinical translation.

In response to the current paradigm shift and clinical demand in bringing cellular and molecular imaging modalities to an in vivo – in situ setting during surgical intervention, our recent research has also been focussed on novel biophotonics platforms that can be used for real-time tissue characterisation, functional assessment, and intraoperative guidance during minimally invasive surgery. This includes, for example, SMART confocal laser endomicroscopy, time-resolved fluorescence spectroscopy and flexible FLIM catheters.

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  • Conference paper
    Huang B, Vandini A, Hu Y, Lee S, Yang Get al., 2016,

    A Vision-guided Dual Arm Sewing System for Stent Graft Manufacturing

    , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, ISSN: 2153-0866

    This paper presents an intelligent sewing systemfor personalized stent graft manufacturing, a challengingsewing task that is currently performed manually. Inspired bymedical suturing robots, we have adopted a single-sided sewingtechnique using a curved needle to perform the task of sewingstents onto fabric. A motorized surgical needle driver wasattached to a 7 d.o.f robot arm to manipulate the needle with asecond robot controlling the position of the mandrel. A learningfrom-demonstrationapproach was used to program the robotto sew stents onto fabric. The demonstrated sewing skill wassegmented to several phases, each of which was encoded witha Gaussian Mixture Model. Generalized sewing movementswere then generated from these models and were used for taskexecution. During execution, a stereo vision system was adoptedto guide the robots to adjust the learnt movements accordingto the needle pose. Two experiments are presented here withthis system and the results show that our system can robustlyperform the sewing task as well as adapt to various needleposes. The accuracy of the sewing system was within 2mm.

  • Conference paper
    Zhao L, Giannarou S, Lee S, Yang GZet al.,

    Registration-free simultaneous catheter and environment modelling

    , Medical Image Computing and Computer Assisted Intervention (MICCAI) 2016, Publisher: Springer

    Endovascular procedures are challenging to perform due tothe complexity and difficulty in catheter manipulation. The simultaneousrecovery of the 3D structure of the vasculature and the catheter posi-tion and orientation intra-operatively is necessary in catheter controland navigation. State-of-art Simultaneous Catheter and EnvironmentModelling provides robust and real-time 3D vessel reconstruction based on real-time intravascular ultrasound (IVUS) imaging and electromagnetic (EM) sensing, but still relies on accurate registration between EM and pre-operative data. In this paper, a registration-free vessel reconstruction method is proposed for endovascular navigation. In the optimisation framework, the EM-CT registration is estimated and updated intra-operatively together with the 3D vessel reconstruction from IVUS, EM and pre-operative data, and thus does not require explicit registration. The proposed algorithm can also deal with global (patient) motion and periodic deformation caused by cardiac motion. Phantom and in-vivo experiments validate the accuracy of the algorithm and the resultsdemonstrate the potential clinical value of the technique.

  • Conference paper
    Zhou X, Riga C, Yang G, Lee Set al., 2016,

    3D Shape Recovery of Deployed Stent Grafts from a Single X-ray Image based on Newly Designed Markers

    , MICCAI Workshop on CVII-STENT 2016
  • Conference paper
    Smith R, Lee S, Bicknell C, Riga Cet al.,

    Examining the use of a novel dynamic endovascular simulator to facilitate intelligent localization and robotic technologies

    , The Vascular Societies’ ASM 2016
  • Journal article
    Vander Poorten E, Tran P, Devreker A, Gruijthuijsen C, Portoles-Diez S, Smoljkic G, Strbac V, Famaey N, Reynaerts D, Vander Sloten J, Tibebu A, Yu B, Rauch C, Bernard F, Kassahun Y, Metzen JH, Giannarou S, Zhao L, Lee S, Yang G, Mazomenos E, Chang P, Stoyanov D, Kvasnytsia M, Van Deun J, Verhoelst E, Sette M, Di Iasio A, Leo G, Hertner F, Scherly D, Chelini L, Häni N, Seatovic D, Rosa B, De Praetere H, Herijgers Pet al., 2016,

    Cognitive Autonomous Catheters Operating in Dynamic Environments

    , Journal of Medical Robotics Research, Vol: 01, ISSN: 2424-905X

    Advances in miniaturized surgical instrumentation are key to less demanding and safer medical interventions. In cardiovascular procedures interventionalists turn towards catheter-based interventions, treating patients considered unfit for more invasive approaches. A positive outcome is not guaranteed. The risk for calcium dislodgement, tissue damage or even vessel rupture cannot be eliminated when instruments are maneuvered through fragile and diseased vessels. This paper reports on the progress made in terms of catheter design, vessel reconstruction, catheter shape modeling, surgical skill analysis, decision making and control. These efforts are geared towards the development of the necessary technology to autonomously steer catheters through the vasculature, a target of the EU-funded project Cognitive AutonomouS CAtheters operating in Dynamic Environments (CASCADE). Whereas autonomous placement of an aortic valve implant forms the ultimate and concrete goal, the technology of individual building blocks to reachsuch ambitious goal is expected to be much sooner impacting and assisting interventionalists in their daily clinical practice.

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