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:2022:10.1109/TMECH.2021.3063121,
author = {Franco, E and Garriga, Casanovas A and Tang, J and Rodriguez, y Baena F and Astolfi, A},
doi = {10.1109/TMECH.2021.3063121},
journal = {IEEE-ASME Transactions on Mechatronics},
pages = {280--291},
title = {Adaptive energy shaping control of a class of nonlinear soft continuum manipulators},
url = {http://dx.doi.org/10.1109/TMECH.2021.3063121},
volume = {27},
year = {2022}
}
TY - JOUR
AB - Soft continuum manipulators are characterized by low stiffness which allows safe operation in unstructured environments but introduces under-actuation. In addition, soft materials such as silicone rubber, which are commonly used for soft manipulators, are characterized by nonlinear stiffness, while pneumatic actuation can result in nonlinear damping. Consequently, achieving accurate control of these systems in the presence of disturbances is a challenging task. This paper investigates the model-based adaptive control for soft continuum manipulators that have nonlinear uniform stiffness and nonlinear damping, that bend under the effect of internal pressure, and that are subject to time-varying disturbances. A rigid-link model with virtual elastic joints is employed for control purposes within the port-Hamiltonian framework. The effects of disturbances and of model uncertainties are estimated adaptively. A nonlinear controller that regulates the tip orientation of the manipulator and that compensates the effects of disturbances and of model uncertainties is then constructed by using an energy shaping passivity-based approach. Stability conditions are discussed highlighting the beneficial role of nonlinear damping. The effectiveness of the controller is assessed with simulations and with experiments on a soft continuum manipulator prototype.
AU - Franco,E
AU - Garriga,Casanovas A
AU - Tang,J
AU - Rodriguez,y Baena F
AU - Astolfi,A
DO - 10.1109/TMECH.2021.3063121
EP - 291
PY - 2022///
SN - 1083-4435
SP - 280
TI - Adaptive energy shaping control of a class of nonlinear soft continuum manipulators
T2 - IEEE-ASME Transactions on Mechatronics
UR - http://dx.doi.org/10.1109/TMECH.2021.3063121
VL - 27
ER -
The Hamlyn Centre
Bessemer Building
South Kensington Campus
Imperial College
London, SW7 2AZ
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