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.


BibTex format

author = {Zhang, L and Ye, M and Giataganas, P and Hughes, M and Bradu, A and Podoleanu, A and Yang, G},
doi = {10.1109/MRA.2017.2680543},
journal = {IEEE Robotics & Automation Magazine},
pages = {63--72},
title = {From macro to micro: autonomous multiscale image fusion for robotic surgery},
url = {},
volume = {24},
year = {2017}

RIS format (EndNote, RefMan)

AB - In recent years, minimally invasive robotic surgery has shown great promises for enhancing surgical precision and improving patient outcomes. Despite these advances, intraoperative tissue characterisation (such as the identification of cancerous tissue) still relies on traditional biopsy and histology, a process that is time-consuming and often disrupts the normal surgical workflow. In order to provide effective intra-operative decision-making, emerging optical biopsy techniques, such as probe based confocal laser endomicroscopy (pCLE) and optical coherence tomography (OCT), have been developed to provide real-time in vivo, in situ assessment of tissue micro-structures. Clinical deployment of these techniques, however, requires large area surveillance, from macro (mm/cm) to micro (µm) coverage in order to differentiate underlying tissue structures. This article provides a real-time multi-scale fusion scheme for robotic surgery. It demonstrates how the da Vinci surgical robot, used together with the da Vinci Research Kit, can be used for automated 2D scanning of pCLE/OCT probes, providing large area tissue surveillance by image stitching. Open-loop control of the robot provides insufficient precision for probe scanning, and therefore the motion is visually servoed using the live pCLE images (for lateral position) and OCT images (for axial position). The resulting tissue maps can then be fused in real-time with a stereo reconstruction from the laparoscopic video, providing the surgeon with a multi-scale 3D view of the operating site.
AU - Zhang,L
AU - Ye,M
AU - Giataganas,P
AU - Hughes,M
AU - Bradu,A
AU - Podoleanu,A
AU - Yang,G
DO - 10.1109/MRA.2017.2680543
EP - 72
PY - 2017///
SN - 1070-9932
SP - 63
TI - From macro to micro: autonomous multiscale image fusion for robotic surgery
T2 - IEEE Robotics & Automation Magazine
UR -
UR -
VL - 24
ER -