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).


Citation

BibTex format

@article{Hu:2019:10.1109/TMECH.2019.2894722,
author = {Hu, Y and Zhang, L and senici, C and Li, W and Abdelaziz, M and Yang, G-Z},
doi = {10.1109/TMECH.2019.2894722},
journal = {IEEE/ASME Transactions on Mechatronics},
pages = {517--526},
title = {Design, fabrication and testing a semi-automatic sewing device for personalized stent graft manufacturing},
url = {http://dx.doi.org/10.1109/TMECH.2019.2894722},
volume = {24},
year = {2019}
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - For the treatment of Abdominal Aortic Aneurysm (AAA), a personalised stent graft is used to ensure it fits tightly to the patients vessel geometry. A personalised stent graft is usually handmade which requires thousands of stitches and can take weeks or even months to complete. This delay may expose the patient to the risk of aneurysm rupture. This paper presents a robotic sewing device that can enhance the stent graft sewing speed by providing automated needle manipulation. It simplifies the sewing process and has the potential to achieve fully automated stent graft manufacturing via a vision-guided system. The device features a sewing probe that can switch a double pointed semi-circular needle between two movable jaws. This forgoes the need for manual needle handling including grasping, driving rotation, releasing and re-grasping, which requires a high level of manual dexterity and attention. This paper presents the design of the device, its mechanical synthesis and experimental validation. The focus of the paper is on the linkage parameter optimisation and needle locking mechanism design. The proposed device has been fabricated using 3D rapid prototyping techniques, and its performance has been compared with the conventional manual sewing method. The experimental results show that the device can achieve a 30% reduction of the completion time for a stitching task while achieving better consistency and quality of the stitches.
AU - Hu,Y
AU - Zhang,L
AU - senici,C
AU - Li,W
AU - Abdelaziz,M
AU - Yang,G-Z
DO - 10.1109/TMECH.2019.2894722
EP - 526
PY - 2019///
SN - 1083-4435
SP - 517
TI - Design, fabrication and testing a semi-automatic sewing device for personalized stent graft manufacturing
T2 - IEEE/ASME Transactions on Mechatronics
UR - http://dx.doi.org/10.1109/TMECH.2019.2894722
UR - http://hdl.handle.net/10044/1/65842
VL - 24
ER -