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• Conference paper
  Petersen JG, Rodriguez y Baena F, 2014,

  Mass and inertia optimization for natural motion in hands-on robotic surgery

  , Pages: 4284-4289
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• Conference paper
  Cattilino M, Secoli R, Galvan S, Forte AE, Dini D, rodriguez y Baena Fet al., 2014,

  Development of a Dynamic Soft Tissue Phantom for Cooperative Control Testing in Robotic Surgery

  , Hamlyn Symposium
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• Journal article
  Bowyer SA, Rodriguez y Baena F, 2014,

  Deformation invariant bounding spheres for dynamic active constraints in surgery

  , Proceedings of the Institution of Mechanical Engineers Part H: Journal of Engineering in Medicine, Vol: 228, Pages: 350-361, ISSN: 0954-4119

  Active constraints are collaborative robot control strategies, which can be used to guide a surgeon or protect delicate tissue structures during robot-assisted surgery. Tissue structures of interest often move and deform throughout a surgical intervention, and therefore, dynamic active constraints, which adapt and conform to these changes, are required. A fundamental element of an active constraint controller is the computation of the geometric relationship between the constraint geometry and the surgical instrument. For a static active constraint, there are a variety of computationally efficient methods for computing this relative configuration; however, for a dynamic active constraint, it becomes significantly more challenging. Deformation invariant bounding spheres are a novel bounding volume formulation, which can be used within a hierarchy to allow efficient proximity queries within dynamic active constraints. These bounding spheres are constructed in such a way that as the surface deforms, they do not require time-consuming rebuilds or updates, rather they are implicitly updated and continue to represent the underlying geometry as it changes. Experimental results show that performing proximity queries with deformation invariant bounding sphere hierarchies is faster than common methods from the literature when the deformation rate is within the range expected from conventional imaging systems.

  • Abstract
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• Journal article
  Merican AM, Ghosh KM, Baena FRY, Deehan DJ, Amis AAet al., 2014,

  Patellar thickness and lateral retinacular release affects patellofemoral kinematics in total knee arthroplasty

  , KNEE SURGERY SPORTS TRAUMATOLOGY ARTHROSCOPY, Vol: 22, Pages: 526-533, ISSN: 0942-2056
  • Author Web Link
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  • Citations: 33
• Journal article
  Oldfield MJ, Burrows C, Kerl J, Frasson L, Parittotokkaporn T, Beyrau F, Rodriguez y Baena Fet al., 2014,

  Highly resolved strain imaging during needle insertion: results with a novel biologically inspired device

  , Journal of The Mechanical Behavior of Biomedical Materials, Vol: 30, Pages: 50-60, ISSN: 1751-6161

  Percutaneous needle insertions are a common part of minimally invasive surgery. However, the insertion process is necessarily disruptive to the substrate. Negative side effects are migration of deep-seated targets and trauma to the surrounding material. Mitigation of these effects is highly desirable, but relies on a detailed understanding of the needle–tissue interactions, which are difficult to capture at a sufficiently high resolution.Here, an adapted Digital Image Correlation (DIC) technique is used to quantify mechanical behaviour at the sliding interface, with resolution of measurement points which is better than 0.5 mm, representing a marked improvement over the state of the art. A method for converting the Eulerian description of DIC output to Lagrangian displacements and strains is presented and the method is validated during the simple insertion of a symmetrical needle into a gelatine tissue phantom. The needle is comprised of four axially interlocked quadrants, each with a bevel tip. Tests are performed where the segments are inserted into the phantom simultaneously, or in a cyclic sequence taking inspiration from the unique insertion strategy associated to the ovipositor of certain wasps. Data from around the needle–tissue interface includes local strain variations, material dragged along the needle surface and relaxation of the phantom, which show that the cyclic actuation of individual needle segments is potentially able to mitigate tissue strain and could be used to reduce target migration.

  • Abstract
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• Journal article
  Bowyer SA, Davies BL, Rodriguez y Baena F, 2014,

  Active Constraints/Virtual Fixtures: A Survey

  , IEEE TRANSACTIONS ON ROBOTICS, Vol: 30, Pages: 138-157, ISSN: 1552-3098
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  • Citations: 245
• Conference paper
  Leibinger A, Oldfield M, Rodriguez y Baena F, 2014,

  Multi-objective design optimization for a steerable needle for soft tissue surgery

  , Pages: 420-423, ISSN: 1680-0737

  A novel steerable probe is being developed to access deep seated targets within soft tissue, with the aim of improving the accuracy of minimally invasive percutaneous needle insertions. Consisting of multiple axially interlocked segments that independently slide along each other, miniaturization of the design is required in order for the needle to be used in surgery. Within this study, a set of parameters which minimizes the risk of both buckling and separation is identified and a design optimization procedure based on finite element models is developed for the needle geometry. Four significant design variables are defined for a genetic multi-objective optimization algorithm. Loads and interactions between the four parts due to curved paths taken inside the soft tissue are modeled using generalized plane strain elements. The optimized set of non-dominated solutions is analyzed. By applying a decision- making process based on the value path method, the nondominated solutions are compared across the four objectives. It is found that smaller and less pronounced interlock features reduce contact forces and improve the sliding performance between needle segments. This results in a trade-off relationship between sliding performance and interlock strength and the most feasible design showing the best performance across all objectives is selected. The outcome is a new optimized design for the needle, which will be manufactured and tested with a suitable controller both in vitro and ex vivo.

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  • Citations: 7
• Conference paper
  Oldfield M, Leibinger A, Kaufmann P-A, Bertucchi M, Beyrau F, Rodriguez y Baena Fet al., 2014,

  Needle Geometry, Target Migration and Substrate Interactions in High Resolution

  , 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Publisher: IEEE, Pages: 852-855, ISSN: 1557-170X

  Recent investigations considering flexible, steerableneedles for minimally invasive surgery have shown thesignificance of needle shape in determining the needle-tissueinteractions leading to the access of targets. Digital ImageCorrelation has enabled internal deformation and strain causedby needle insertions to be seen in a soft tissue phantom at highresolution for the first time. Here, the impact of tip designon strains and displacements of material around the insertionaxis is presented using Digital Image Correlation in a stable,plane-strain configuration. Insight into the shape of needles tominimise tissue trauma and generate interactions that wouldenable optimal steering conditions is provided. Needle tipswith an included bevel angle up to 40◦result in asymmetricdisplacement of the surrounding tissue phantom. Increasingthe included tip angle to 60◦results in more predictabledisplacement and strains that may enhance steering forces withlittle negative impact on the phantom.

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• Conference paper
  Blyth WA, Barr DRW, Hankinson N, Baena FRYet al., 2014,

  An assessment of mecanum wheels for non-destructive testing (NDT) applications

  We present a study into the suitability of mecanum wheels for obtaining holonomic motion on complex geometries, such as those encountered within NDT. There are a number of industrial inspections with challenging requirements for sensors positioning, such as ultrasonic inspection of nozzle welds in pressure vessels. These challenging trajectories necessitate additional degrees of control over conventional two-axis approaches, for example crawlers or X-Y frame systems, which are restrictive. Mecanum wheels in principle offer an excellent advantage for NDT crawlers, enabling unlimited motion within the plane, however the accurate and controllable behaviour of these wheels on non-planar and non-horizontal surfaces is not well understood. In this paper we illustrate the interactions between a mecanum wheel based crawler and complex geometries and construct a model to assess the performance of the mecanum wheels with respect to the requirements of NDT, to smoothly and precisely follow complex trajectories. The potential of mecanum wheel systems is then contrasted against other wheeled systems in terms of NDT demands, and we conclude that the applicability of mecanum wheels to some tasks offers potential gains yet presents additional challenges in others.

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• Conference paper
  Secoli R, Rodriguez y Baena F, 2014,

  Rate Dependency during Needle Insertions with a Biologically Inspired Steering System: an Experimental Study

  , 36th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC), Publisher: IEEE, Pages: 856-859, ISSN: 1557-170X
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  • Citations: 1

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