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• Journal article
  Frasson L, Ferroni F, Ko S, Dogangil G, Rodriguez y Baena Fet al., 2012,

  Experimental evaluation of a novel steerable probe with a programmable bevel tip inspired by nature

  , Pages: 1-9, ISSN: 1863-2483
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• Conference paper
  Oldfield M, Dini D, Rodriguez y Baena F, 2012,

  Predicting Failure in Soft Tissue Phantoms via Modeling of Non-Predetermined Tear Progression

  , 34th Annual International Conference of the IEEE Engineering-in-Medicine-and-Biology-Society (EMBS), Publisher: IEEE, Pages: 6305-6308, ISSN: 1557-170X
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  • Citations: 6
• Conference paper
  Bano S, Ko SY, Rodriguez y Baena F, 2012,

  Smooth Path Planning for a Biologically-Inspired Neurosurgical Probe

  , 34th Annual International Conference of the IEEE Engineering-in-Medicine-and-Biology-Society (EMBS), Publisher: IEEE, Pages: 920-923, ISSN: 1557-170X
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  • Citations: 8
• Conference paper
  Caborni C, Ko SY, De Momi E, Ferrigno G, Rodriguez y Baena Fet al., 2012,

  Risk-Based Path Planning for a Steerable Flexible Probe for Neurosurgical Intervention

  , 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) / Symposium on Surgical Robotics, Publisher: IEEE, Pages: 866-871, ISSN: 2155-1782
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  • Citations: 15
• Journal article
  Oldfield M, Dini D, Giordano G, Rodriguez y Baena Fet al., 2012,

  Detailed finite element modelling of deep needle insertions into a soft tissue phantom using a cohesive approach

  , ISSN: 1476-8259

  Detailed finite element modelling of needle insertions into soft tissue phantoms encounters difficulties of large deformations, high friction, contact loading and material failure. This paper demonstrates the use of cohesive elements in high-resolution finite element models to overcome some of the issues associated with these factors. Experiments are presented enabling extraction of the strain energy release rate during crack formation. Using data from these experiments, cohesive elements are calibrated and then implemented in models for validation of the needle insertion process. Successful modelling enables direct comparison of finite element and experimental force-displacement plots and energy distributions. Regions of crack creation, relaxation, cutting and full penetration are identified. By closing the loop between experiments and detailed finite element modelling, a methodology is established which will enable design modifications of a soft tissue probe that steers through complex mechanical interactions with the surrounding material.

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• Journal article
  Ko SK, Rodriguez y Baena F, 2012,

  Towards a Miniaturized Needle Steering System with Path Planning for Obstacle Avoidance

  , IEEE Transactions on Biomedical Engineering, Vol: N/A
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• Journal article
  Parittotokkaporn T, Thomas DG, Schneider A, Huq E, Davies BL, Degenaar P, Rodriguez y Baena Fet al., 2011,

  Microtextured Surfaces for Deep-Brain Stimulation Electrodes: A Biologically Inspired Design to Reduce Lead Migration

  , World Neurosurgery, Vol: 77, Pages: 569-576, ISSN: 1878-8750

  OBJECTIVE: Hardware-related complications of deep brain stimulation (DBS) surgery have been reported with adverse effects in postoperative electrode migration. We report that the addition of microtextured features to the surface of a DBS-like probe can minimize the extent of electrode migration in ex vivo porcine brain. METHODS: A DBS lead and microtextured strips, mounted with a fiberoptic displacement sensor, were embedded 15-mm deep inside a cadaveric porcine brain through holes on the skull. The local displacement of brain tissue surrounding each strip was detected along the direction of insertion by the optical sensor while the porcine head simulated brain shift during rotation between supine and upright postures. RESULTS: The triangular toothed strip with protruding height of 250 mum enabled a better grip of the surrounding brain tissue than standard DBS lead, minimizing local brain displacement to 77 mum versus 326 mum respectively, when the porcine head was shifted from the supine to the upright position as the result of gravity. In addition, brain tissue damage resulting from the removal of toothed strips exhibited less-extensive tissue disruption, attributable to the microtextured surface. CONCLUSIONS: These preliminary results show that microtextured strips embedded into cadaveric porcine brain produce an anchoring effect on local tissue during brain shift, suggesting a way to reduce DBS lead migration without additional tissue damage beyond the strip geometry.

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• Conference paper
  Tenzer Y, Bowyer S, Davies BL, Rodriguez Y Baena Fet al., 2011,

  "Sticking" aspects of a haptic device with part-locking programmable brakes

  , Pages: 269-274

  This paper outlines work on the development of a novel programmable rotary brake which can restrict motion of a mechanism moving in one direction whilst allowing free motion in other directions. The design, implementation and performance of a fully functional prototype are described along the work on incorporating the prototype into a 3 Degrees-Of-Freedom (DOF) haptic device. The ability of the haptic device to constrain the motion of the end-effector to point-constraint was investigated and the experiments have shown that the haptic device can implement virtual constraints without the need for a force sensor. The experiments also show that when an advanced control scheme is used the virtual wall is not felt as "sticky". © 2011 IEEE.

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• Conference paper
  Manoharan V, Tenzer Y, Rodriguez Y Baena F, 2011,

  Experimental evaluation of a 2DOF haptic device with four-state rotary programmable brakes

  , Pages: 125-130

  Safety is an important factor for human-machine interface devices. Brake actuated devices are potentially safer than those that rely on motors for force-feedback generation. However, manipulators using conventional frictional brakes do have limitations. This paper presents the experimental evaluation of a newly developed four-state rotary programmable brake in a 2DOF manipulator. The experimental results show improved performance compared to the results obtained when manipulators with conventional frictional brakes are used. © 2011 IEEE.

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• Journal article
  Tenzer Y, Davies BL, Rodriguez y Baena F, 2011,

  Four-State Rotary Joint Control: Results With a Novel Programmable Brake

  , Mechatronics, IEEE/ASME Transactions on, Vol: 17, Pages: 915-923, ISSN: 1083-4435
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