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{Leibrandt:2017:10.1109/LRA.2017.2668465,
author = {Leibrandt, K and Wisanuvej, P and Gras, G and Shang, J and Seneci, CA and Giataganas, P and Vitiello, V and Darzi, A and Yang, G-Z},
doi = {10.1109/LRA.2017.2668465},
journal = {IEEE Robotics and Automation Letters},
pages = {1704--1711},
title = {Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery},
url = {http://dx.doi.org/10.1109/LRA.2017.2668465},
volume = {2},
year = {2017}
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - The field of robotic surgery increasingly advances towards highly articulated and continuum robots, requiring new kinematic strategies to enable users to perform dexterous manipulation in confined workspaces. This development is driven by surgical interventions accessing the surgical workspace through natural orifices such as the mouth or the anus. Due to the long and narrow nature of these access pathways, external triangulation at the fulcrum point is very limited or absent, which makes introducing multiple degrees of freedom at the distal end of the instrument necessary. Additionally, high force and miniaturization requirements make the control of such instruments particularly challenging. This letter presents the kinematic considerations needed to effectively manipulate these novel instruments and allow us their dexterous control in confined spaces. A nonlinear calibration model is further used to map joint to actuator space and improve significantly the precision of the instrument's motion. The effectiveness of the presented approach is quantified with bench tests, and the usability of the system is assessed by three user studies simulating the requirements of a realistic surgical task.
AU - Leibrandt,K
AU - Wisanuvej,P
AU - Gras,G
AU - Shang,J
AU - Seneci,CA
AU - Giataganas,P
AU - Vitiello,V
AU - Darzi,A
AU - Yang,G-Z
DO - 10.1109/LRA.2017.2668465
EP - 1711
PY - 2017///
SN - 2377-3766
SP - 1704
TI - Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery
T2 - IEEE Robotics and Automation Letters
UR - http://dx.doi.org/10.1109/LRA.2017.2668465
UR - http://hdl.handle.net/10044/1/54727
VL - 2
ER -