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Mechatronics in Medicine | MiM Lab

The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.

Head of Group

B415C Bessemer Building
South Kensington Campus

+44 (0)20 7594 7046

What we do

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.

Why is it important

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.

How can it benefit patients

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.

Meet the team

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

Mr Zhaoyang Jacopo Hu
Research Postgraduate

Dr Hisham M Iqbal
Research Associate

Mr Alex Ranne
Research Postgraduate

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

Citation

BibTex format

@inproceedings{Franco:2023:10.1109/ICRA48891.2023.10160743,
author = {Franco, E and Aktas, A and Treratanakulchai, S and Garriga, Casanovas A and Donder, A and Rodriguez, y Baena F},
doi = {10.1109/ICRA48891.2023.10160743},
pages = {567--572},
publisher = {IEEE},
title = {Discrete-time model based control of soft manipulator with FBG sensing},
url = {http://dx.doi.org/10.1109/ICRA48891.2023.10160743},
year = {2023}
}

Download

RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - In this article we investigate the discrete-time model based control of a planar soft continuum manipulator with proprioceptive sensing provided by fiber Bragg gratings.A control algorithm is designed with a discrete-time energyshaping approach which is extended to account for control-related lag of digital nature. A discrete-time nonlinear observer is employed to estimate the uncertain bending stiffness of the manipulator and to compensate constant matched disturbances. Simulations and experiments demonstrate the effectiveness of the controller compared to a continuous time implementation.
AU  - Franco,E
AU  - Aktas,A
AU  - Treratanakulchai,S
AU  - Garriga,Casanovas A
AU  - Donder,A
AU  - Rodriguez,y Baena F
DO  - 10.1109/ICRA48891.2023.10160743
EP  - 572
PB  - IEEE
PY  - 2023///
SP  - 567
TI  - Discrete-time model based control of soft manipulator with FBG sensing
UR  - http://dx.doi.org/10.1109/ICRA48891.2023.10160743
UR  - https://ieeexplore.ieee.org/abstract/document/10160743
ER  -