Research in surgical robotics has an established track record at Imperial College, and a number of research and commercial surgical robot platforms have been developed over the years. The Hamlyn Centre is a champion for technological innovation and clinical adoption of robotic, minimally invasive surgery. We work in partnership with major industrial leaders in medical devices and surgical robots, as well as developing our own platforms such as the i-Snake® and Micro-IGES platforms. The Da Vinci surgical robot is used extensively for endoscopic radical prostatectomy, hiatal hernia surgery, and low pelvic and rectal surgery, and in 2003, St Mary’s Hospital carried out its first Totally Endoscopic Robotic Coronary Artery Bypass (TECAB).

The major focus of the Hamlyn Centre is to develop robotic technologies that will transform conventional minimally invasive surgery, explore new ways of empowering robots with human intelligence, and develop[ing miniature 'microbots' with integrated sensing and imaging for targeted therapy and treatment. We work closely with both industrial and academic partners in open platforms such as the DVRK, RAVEN and KUKA. The Centre also has the important mission of driving down costs associated with robotic surgery in order to make the technology more accessible, portable, and affordable. This will allow it to be fully integrated with normal surgical workflows so as to benefit a much wider patient population.

The Hamlyn Centre currently chairs the UK Robotics and Autonomous Systems (UK-RAS) Network. The mission of the Network is to to provide academic leadership in Robotics and Autonomous Systems (RAS), expand collaboration with industry and integrate and coordinate activities across the UK Engineering and Physical Sciences Research Council (EPSRC) funded RAS capital facilities and Centres for Doctoral Training (CDTs).

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  • Conference paper
    Gras G, Payne CJ, Hughes M, Leibrandt K, Yang G-Zet al.,

    A Flexible Robotic Probe for Osteoarthritis Intervention

    , Medical Engineering Centres Annual Meeting and Bioengineering (MECbioeng) 2014
  • Conference paper
    Seneci CA, shang JS, Yang GZY,

    Design of a bimanual end-effector for an endoscopicsurgical robot.

    , The Hamlyn Symposium on Medical Robotics 2014.
  • Conference paper
    Gras G, Vitiello V, Yang G-Z, 2014,

    Cooperative Control of a Compliant Manipulator for Robotic-Assisted Physiotherapy

    , IEEE International Conference on Robotics and Automation (ICRA), Pages: 339-346

    In recent years, robotic systems have been playing an increasingly important role in physiotherapy. The aim of these platforms is to aid the recovery process from strokes or muscular damage by assisting patients to perform a number of controlled tasks, thus effectively complementing the role of the physiotherapist. In this paper, we present a novel learning from demonstration framework for cooperative control in robotic-assisted physiotherapy. Unlike other approaches, the aim of the proposed system is to guide the patients to optimally execute a task based on previously learned demonstrations. This allows the generation of patient-specific gestures under the supervision of the expert physiotherapist. The guidance is performed through stiffness control of a compliant manipulator. In contrast with the traditional learning approach, where the execution of the generalized trajectory by the robot is automated, this cooperative control architecture allows the patients to perform the task at their own pace, while ensuring the movements are executed correctly. Increased performance of the learning framework is accomplished through a novel fast, low-cost multi-demonstration dynamic time warping algorithm used to build the model. Experimental validation of the framework is carried out using an interactive setup designed to provide further guidance through additional visual and sensory feedback based on the task model.

  • Conference paper
    Zuo SZ, Hughes MH, Giataganas PG, Seneci CS, Chang TPC, Yang GZYet al.,

    Development of a large area scanner for intraoperative breast endomicroscopy.

    , In 2014 IEEE International Conference on Robotics and Automation (ICRA)
  • Conference paper
    zhang ZZ, shang JS, Seneci CA, yang GZYet al.,

    Snake robot shape sensing using microinertial sensors.

    , In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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