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{Vandini:2017:10.1109/TRO.2017.2690977,
author = {Vandini, A and Bergeles, C and Glocker, B and Giataganas, P and Yang, GZ},
doi = {10.1109/TRO.2017.2690977},
journal = {IEEE Transactions on Robotics},
pages = {901--915},
title = {Unified tracking and shape estimation for concentric tube robots},
url = {http://dx.doi.org/10.1109/TRO.2017.2690977},
volume = {33},
year = {2017}
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - Tracking and shape estimation of flexible robots thatnavigate through the human anatomy are prerequisites to safeintracorporeal control. Despite extensive research in kinematicand dynamic modelling, inaccuracies and shape deformation ofthe robot due to unknown loads and collisions with the anatomymake shape sensing important for intra-operative navigation. Toaddress this issue, vision-based solutions have been explored. Thetask of2D tracking and3D shape reconstruction of flexible robotsas they reach deep-seated anatomical locations is challenging,since the image acquisition techniques usually suffer from lowsignal-to-noise ratio (SNR) or slow temporal responses. Moreover,tracking and shape estimation are thus far treated independentlydespite their coupled relationship. This paper aims to addresstracking and shape estimation in a unified framework basedon Markov Random Fields (MRF). By using concentric tuberobots as an example, the proposed algorithm fuses informationextracted from standard monoplane X-ray fluoroscopy with thekinematics model to achieve joint2D tracking and3D shapeestimation in realistic clinical scenarios. Detailed performanceanalyses of the results demonstrate the accuracy of the methodfor both tracking and shape reconstruction.
AU - Vandini,A
AU - Bergeles,C
AU - Glocker,B
AU - Giataganas,P
AU - Yang,GZ
DO - 10.1109/TRO.2017.2690977
EP - 915
PY - 2017///
SN - 1941-0468
SP - 901
TI - Unified tracking and shape estimation for concentric tube robots
T2 - IEEE Transactions on Robotics
UR - http://dx.doi.org/10.1109/TRO.2017.2690977
UR - http://hdl.handle.net/10044/1/45674
VL - 33
ER -