In this section
The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.
Prof Ferdinando Rodriguez y Baena
B415C Bessemer Building
South Kensington Campus
+44 (0)20 7594 7046
⇒ X: @fmryb
The Mechatronics in Medicine Laboratory develops robotic and mechatronics surgical systems for a variety of procedures including neuro, cardiovascular, orthopaedic surgeries, and colonoscopies. Examples include bio-inspired catheters that can navigate along complex paths within the brain (such as EDEN2020), soft robots to explore endoluminal anatomies (such as the colon), and virtual reality solutions to support surgeons during knee replacement surgeries.
The integration of mechatronics into medicine addresses critical challenges in modern healthcare by enhancing the precision, safety, and efficiency of surgical procedures. Traditional surgeries often involve significant risks and extended recovery times. By developing robotic systems that offer greater accuracy and control, we aim to minimise these risks and reduce invasiveness. Our research contributes to the advancement of minimally invasive techniques, which are essential for improving patient outcomes and optimising healthcare resources. Furthermore, our work supports the training of the next generation of surgeons, equipping them with cutting-edge tools and methodologies that reflect the evolving landscape of medical technology.
Patients stand to gain significantly from the innovations developed at the Mechatronics in Medicine Laboratory. Our robotic systems are designed to perform surgeries with enhanced precision, leading to fewer complications and faster recovery times. Minimally invasive procedures facilitated by our technologies result in less postoperative pain and reduced scarring, improving the overall patient experience. Additionally, the increased accuracy of our systems can lead to better surgical outcomes, such as more complete tumour removals or more precise joint replacements, thereby improving long-term health prospects. By pushing the boundaries of medical robotics, we strive to make advanced surgical care more accessible and effective for patients worldwide.
Dr Daniel Bautista Salinas
Research Associate
Dr Kaiwen Chen
Research Associate
Dr Zejian Cui
Research Associate
Mr Connor Daly
Research Postgraduate
Emeritus Professor Brian L Davies FREng
Emeritus Professor
Dr Hisham M Iqbal
Honorary Research Associate
Mr Alex Tian Jie Ranne
Casual - Lib. Ass, Clerks & Gen. Admin Assistants
Professor Ferdinando M Rodriguez y Baena
Co-Director of Hamlyn Centre, Professor of Medical Robotics
Dr Jialei Shi
Research Associate
Mr Spyridon Souipas
Casual - Other work
Ms Emilia Zari
Research Postgraduate
@article{Franco:2021:10.1016/j.mechmachtheory.2020.104060,
author = {Franco, E and Brown, T and Astolfi, A and Rodriguez, y Baena F},
doi = {10.1016/j.mechmachtheory.2020.104060},
journal = {Mechanism and Machine Theory},
title = {Adaptive energy shaping control of robotic needle insertion},
url = {http://dx.doi.org/10.1016/j.mechmachtheory.2020.104060},
volume = {155},
year = {2021}
}
TY - JOUR
AB - This work studies the control of a pneumatic actuator for needle insertion in soft tissue without using axial rotation or additional needle supports. Employing a simplified rigid-link model description of an axial-symmetric tip needle supported at the base, two energy shaping controllers are proposed. The friction forces of the pneumatic actuator are compensated adaptively and the stability conditions for the closed-loop equilibrium are discussed. The controllers are compared by means of simulations and experiments on two different silicone rubber phantoms. The results indicate that the proposed controllers effectively compensate the actuator's friction, which is comparable to the insertion forces for the chosen pneumatic actuators. The first controller only depends on the actuator's position thus it achieves the prescribed insertion depth but results in a larger tip rotation and corresponding deflection. The second controller also accounts for the rotation of the needle tip on the bending plane, which can consequently be reduced by over 70% for this specific system. This is achieved by modulating the actuator force and, in case of harder phantoms, by automatically limiting the insertion depth.
AU - Franco,E
AU - Brown,T
AU - Astolfi,A
AU - Rodriguez,y Baena F
DO - 10.1016/j.mechmachtheory.2020.104060
PY - 2021///
SN - 0094-114X
TI - Adaptive energy shaping control of robotic needle insertion
T2 - Mechanism and Machine Theory
UR - http://dx.doi.org/10.1016/j.mechmachtheory.2020.104060
VL - 155
ER -
The Hamlyn Centre
Bessemer Building
South Kensington Campus
Imperial College
London, SW7 2AZ
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