Publications
219 results found
Rodriguez Y Baena F, Hawke T, Jakopec M, 2013, A bounded iterative closest point method for minimally invasive registration of the femur., Proc Inst Mech Eng H, Vol: 227, Pages: 1135-1144
This article describes a novel method for image-based, minimally invasive registration of the femur, for application to computer-assisted unicompartmental knee arthroplasty. The method is adapted from the well-known iterative closest point algorithm. By utilising an estimate of the hip centre on both the preoperative model and intraoperative patient anatomy, the proposed 'bounded' iterative closest point algorithm robustly produces accurate varus-valgus and anterior-posterior femoral alignment with minimal distal access requirements. Similar to the original iterative closest point implementation, the bounded iterative closest point algorithm converges monotonically to the closest minimum, and the presented case includes a common method for global minimum identification. The bounded iterative closest point method has shown to have exceptional resistance to noise during feature acquisition through simulations and in vitro plastic bone trials, where its performance is compared to a standard form of the iterative closest point algorithm.
Oldfield MJ, Dini D, Jaiswal T, et al., 2013, The significance of rate dependency in blade insertions into a gelatin soft tissue phantom, 1st International Conference on Biotribology (ICoBT), Publisher: ELSEVIER SCI LTD, Pages: 226-234, ISSN: 0301-679X
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- Citations: 20
Secoli R, Rodriguez Y Baena F, 2013, Closed-loop 3D Motion Modeling and Control of a Steerable Needle for Soft Tissue Surgery, 2013 IEEE International Conference on Robotics and Automation (ICRA 2013)
Petersen JG, Rodriguez Baena F, 2013, A dynamic active constraints approach for hands-on robotic surgery, Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, Pages: 1966-1971, ISSN: 2153-0858
Burrows C, Secoli R, Rodriguez y Baena F, 2013, Experimental Characterisation of a Biologically Inspired 3D Steering Needle, 13th International Conference on Control, Automation and Systems (ICCAS), Publisher: IEEE, Pages: 1252-1257
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- Citations: 25
Liu F, Burrows C, Rodriguez y Baena F, 2013, Deformation-as-Control for A Biologically Inspired Steerable Needle, 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), Pages: 848-853
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- Citations: 2
Bowyer SA, Rodriguez y Baena F, 2013, Dynamic Frictional Constraints for Robot Assisted Surgery, IEEE World Haptics Conference (WHC), Publisher: IEEE, Pages: 319-324
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- Citations: 11
Oldfield M, Dini D, Rodriguez y Baena F, 2012, Predicting failure in soft tissue phantoms via modeling of non-predetermined tear progression., Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Pages: 6305-6308, ISSN: 1557-170X
The advantageous, curved trajectory of bevel-tipped devices in soft tissue is a function of the interplay between material deformation, contact interactions and material failure. Highly detailed modeling of tool-tissue interactions is therefore vital in optimising performance and design. At high resolution, discontinuous failure of soft tissue phantoms has not been demonstrated. An iterative procedure, making incremental additions to the failure path in an otherwise continuous finite element mesh, is presented to achieve this goal. The procedure's efficacy was demonstrated in two materials including a soft tissue phantom. Failure path is shown to respond well to different and evolving shear and normal stress states. The iterative procedure would thus be ideal for analysing and optimising complex tool-tissue interactions, for instance in needle steering systems, where the path taken by the needle also depends on the progression of a tear which develops ahead of the tip during the insertion process. With the method presented here, this behaviour could be modeled and analysed at an unprecedented resolution.
Kerl J, Parittotokkaporn T, Frasson L, et al., 2012, Tissue deformation analysis using a laser based digital image correlation technique, Vol: 6, Pages: 159-165, ISSN: 1751-6161
A laser based technique for planar time-resolved measurements of tissue deformation in transparent biomedical materials with high spatial resolution is developed. The approach is based on monitoring the displacement of micrometer particles previously embedded into a semi-transparent sample as it is deformed by some form of external loading. The particles are illuminated in a plane inside the tissue material by a thin laser light sheet, and the pattern is continuously recorded by a digital camera. Image analysis yields the locally and temporally resolved sample deformation in the measurement plane without the need for any in situ measurement hardware. The applicability of the method for determination of tissue deformation and material strain during the insertion of a needle probe into a soft material sample is demonstrated by means of an in vitro trial on gelatin. (C) 2011 Elsevier Ltd. All rights reserved.
Ko SY, Rodriguez y Baena F, 2012, Trajectory following for a flexible probe with state/input constraints: An approach based on model predictive control, Robotics and Autonomous Systems, Vol: 60, Pages: 509-521, ISSN: 0921-8890
Frasson L, Ferroni F, Ko S, et al., 2012, Experimental evaluation of a novel steerable probe with a programmable bevel tip inspired by nature, Pages: 1-9, ISSN: 1863-2483
Oldfield M, Dini D, Rodriguez y Baena F, 2012, Predicting Failure in Soft Tissue Phantoms via Modeling of Non-Predetermined Tear Progression, 34th Annual International Conference of the IEEE Engineering-in-Medicine-and-Biology-Society (EMBS), Publisher: IEEE, Pages: 6305-6308, ISSN: 1557-170X
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- Citations: 6
Bano S, Ko SY, Rodriguez y Baena F, 2012, Smooth Path Planning for a Biologically-Inspired Neurosurgical Probe, 34th Annual International Conference of the IEEE Engineering-in-Medicine-and-Biology-Society (EMBS), Publisher: IEEE, Pages: 920-923, ISSN: 1557-170X
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- Citations: 8
Caborni C, Ko SY, De Momi E, et al., 2012, Risk-Based Path Planning for a Steerable Flexible Probe for Neurosurgical Intervention, 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) / Symposium on Surgical Robotics, Publisher: IEEE, Pages: 866-871, ISSN: 2155-1782
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- Citations: 15
Oldfield M, Dini D, Giordano G, et al., 2012, Detailed finite element modelling of deep needle insertions into a soft tissue phantom using a cohesive approach, ISSN: 1476-8259
Detailed finite element modelling of needle insertions into soft tissue phantoms encounters difficulties of large deformations, high friction, contact loading and material failure. This paper demonstrates the use of cohesive elements in high-resolution finite element models to overcome some of the issues associated with these factors. Experiments are presented enabling extraction of the strain energy release rate during crack formation. Using data from these experiments, cohesive elements are calibrated and then implemented in models for validation of the needle insertion process. Successful modelling enables direct comparison of finite element and experimental force-displacement plots and energy distributions. Regions of crack creation, relaxation, cutting and full penetration are identified. By closing the loop between experiments and detailed finite element modelling, a methodology is established which will enable design modifications of a soft tissue probe that steers through complex mechanical interactions with the surrounding material.
Ko SK, Rodriguez y Baena F, 2012, Towards a Miniaturized Needle Steering System with Path Planning for Obstacle Avoidance, IEEE Transactions on Biomedical Engineering, Vol: N/A
Parittotokkaporn T, Thomas DG, Schneider A, et al., 2011, Microtextured Surfaces for Deep-Brain Stimulation Electrodes: A Biologically Inspired Design to Reduce Lead Migration, World Neurosurgery, Vol: 77, Pages: 569-576, ISSN: 1878-8750
OBJECTIVE: Hardware-related complications of deep brain stimulation (DBS) surgery have been reported with adverse effects in postoperative electrode migration. We report that the addition of microtextured features to the surface of a DBS-like probe can minimize the extent of electrode migration in ex vivo porcine brain. METHODS: A DBS lead and microtextured strips, mounted with a fiberoptic displacement sensor, were embedded 15-mm deep inside a cadaveric porcine brain through holes on the skull. The local displacement of brain tissue surrounding each strip was detected along the direction of insertion by the optical sensor while the porcine head simulated brain shift during rotation between supine and upright postures. RESULTS: The triangular toothed strip with protruding height of 250 mum enabled a better grip of the surrounding brain tissue than standard DBS lead, minimizing local brain displacement to 77 mum versus 326 mum respectively, when the porcine head was shifted from the supine to the upright position as the result of gravity. In addition, brain tissue damage resulting from the removal of toothed strips exhibited less-extensive tissue disruption, attributable to the microtextured surface. CONCLUSIONS: These preliminary results show that microtextured strips embedded into cadaveric porcine brain produce an anchoring effect on local tissue during brain shift, suggesting a way to reduce DBS lead migration without additional tissue damage beyond the strip geometry.
Tenzer Y, Bowyer S, Davies BL, et al., 2011, "Sticking" aspects of a haptic device with part-locking programmable brakes, Pages: 269-274
This paper outlines work on the development of a novel programmable rotary brake which can restrict motion of a mechanism moving in one direction whilst allowing free motion in other directions. The design, implementation and performance of a fully functional prototype are described along the work on incorporating the prototype into a 3 Degrees-Of-Freedom (DOF) haptic device. The ability of the haptic device to constrain the motion of the end-effector to point-constraint was investigated and the experiments have shown that the haptic device can implement virtual constraints without the need for a force sensor. The experiments also show that when an advanced control scheme is used the virtual wall is not felt as "sticky". © 2011 IEEE.
Manoharan V, Tenzer Y, Rodriguez Y Baena F, 2011, Experimental evaluation of a 2DOF haptic device with four-state rotary programmable brakes, Pages: 125-130
Safety is an important factor for human-machine interface devices. Brake actuated devices are potentially safer than those that rely on motors for force-feedback generation. However, manipulators using conventional frictional brakes do have limitations. This paper presents the experimental evaluation of a newly developed four-state rotary programmable brake in a 2DOF manipulator. The experimental results show improved performance compared to the results obtained when manipulators with conventional frictional brakes are used. © 2011 IEEE.
Tenzer Y, Davies BL, Rodriguez y Baena F, 2011, Four-State Rotary Joint Control: Results With a Novel Programmable Brake, Mechatronics, IEEE/ASME Transactions on, Vol: 17, Pages: 915-923, ISSN: 1083-4435
Ko SY, Frasson L, Rodriguez y Baena F, 2011, Closed-Loop Planar Motion Control of a Steerable Probe With a "Programmable Bevel" Inspired by Nature, Ieee T Robot, Vol: 27, Pages: 970-983, ISSN: 1552-3098
Percutaneous intervention has attracted significant interest in recent years, but many of today's needles and catheters can only provide limited control of the trajectory between an entry site and soft tissue target. In order to address this fundamental shortcoming in minimally invasive surgery, we describe the first prototype of a bioinspired multipart probe that can steer along planar trajectories within a compliant medium by means of a novel "programmable bevel," where the steering angle becomes a function of the offset between interlocked probe segments. A kinematic model of the flexible probe and programmable bevel arrangement is derived. Several parameters of the kinematic model are then calibrated experimentally with a fully functional scaled-up prototype, which is 12mm in diameter. A closed-loop control strategy with feed-forward and feedback components is then derived and implemented in vitro using an approximate linearization strategy that was first developed for car-like robots. Experimental results demonstrate satisfactory 2-D trajectory following of the prototype (0.68 mm tracking error, with 1.45 mm standard deviation) using an electromagnetic position sensor that is embedded at the tip of the probe.
Parittotokkaporn T, Frasson L, Schneider A, et al., 2010, Insertion experiments of a biologically inspired microtextured and multi-part probe based on reciprocal motion., Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Pages: 3190-3193, ISSN: 1557-170X
While there have been significant advances in minimally invasive surgical instrumentation, the majority of tools still rely on a push from the back to aid insertion into the tissue, whether the process is manual or servo assisted. In this work, a novel approach to tool insertion is proposed which is based on the concept of a multi-part probe with at least three interlocking segments. By means of a sequential insertion process, where each segment is pushed further into the tissue while stabilized by the remaining stationary parts, the multi-part probe concept is shown to successfully "insinuate itself" within a synthetic soft tissue specimen without the need for an overall forward push. The presence of an anisotropic microtextured outer probe surface is also shown to affect the overall speed of insertion and can thus be used to optimize the interaction forces at the probe-tissue interface. A measured reduction in the force transferred to the back of the specimen also suggests that this approach to tool insertion may result in reduced tissue disruption, a result which could lead to less tissue damage and a reduction in target displacement.
Oldfield M, Dini D, Rodriguez Y Baena F, 2010, Detailed finite element simulations of probe insertion into solid elastic material using a cohesive zone approach., Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Pages: 3198-3201, ISSN: 1557-170X
In this paper a method is presented for detailed finite element modelling of probe insertion into an elastic material. This is part of an ongoing investigation into the mechanics of a novel, biomimetic, soft-tissue probe currently under development at Imperial College, London. Analysis is performed using a 'cohesive zone' approach by integrating multiple cohesive elements into a finite element mesh using Abaqus software. Cohesive zones with variable crack paths, generated by both remote tensile and contact loading, and substantial probe penetration along an arbitrarily curved crack path are demonstrated. These advances are critical to understanding probe interactions for the development of an existing prototype and control strategy.
Frasson L, Neubert J, Reina S, et al., 2010, Development and validation of a numerical model for cross-section optimization of a multi-part probe for soft tissue intervention., Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Pages: 3202-3205, ISSN: 1557-170X
The popularity of minimally invasive surgical procedures is driving the development of novel, safer and more accurate surgical tools. In this context a multi-part probe for soft tissue surgery is being developed in the Mechatronics in Medicine Laboratory at Imperial College, London. This study reports an optimization procedure using finite element methods, for the identification of an interlock geometry able to limit the separation of the segments composing the multi-part probe. An optimal geometry was obtained and the corresponding three-dimensional finite element model validated experimentally. Simulation results are shown to be consistent with the physical experiments. The outcome of this study is an important step in the provision of a novel miniature steerable probe for surgery.
Parittotokkaporn T, Frasson L, Schneider A, et al., 2010, Insertion Experiments of a Biologically Inspired Microtextured and Multi-Part Probe Based on Reciprocal Motion, 32nd Annual International IEEE EMBS Conference
Frasson L, Parittotokkaporn T, Davies BL, et al., 2010, Early developments of a novel smart actuator inspired by nature, International Journal of Intelligent Systems Technologies and Applications, Vol: 8, Pages: 409-422, ISSN: 1740-8865
Current research at Imperial College focuses on the development of a novel neurosurgical probe for Minimally Invasive Surgery (MIS), which exploits the design of certain ovipositing wasps. While conventional instruments are rigid and only used to achieve straight-line trajectories, the biomimetic design will enable curved paths connecting any entry point to any target within the brain to be followed autonomously. This paper reports on the successful outcome of an early feasibility study, where two of the key concepts behind the design are investigated: a robotic actuator was developed to demonstrate effective soft tissue traversal by reciprocating custom-built anisotropic surface textures, without the need to apply an external force to push the tissue along. Then, custom-designed rigid probes with bio-inspired surface topographies were fabricated and tested on cadaveric porcine brain with the aim to characterise the insertion and extraction forces due to friction and tribological interaction with biological tissue. © 2010 Inderscience Enterprises Ltd.
Hopkins AR, New AM, Rodriguez y Baena F, et al., 2010, Finite element analysis of unicompartmental knee arthroplasty, Med Eng Phys, Vol: 32, Pages: 14-21, ISSN: 1350-4533
Concerns over accelerated damage to the untreated compartment of the knee following unicompartmental knee arthroplasty (UKA), as well as the relatively poor success rates observed for lateral as opposed to the medial arthroplasty, remain issues for attention. Finite element analysis (FEA) was used to assess changes to the kinematics and potential for cartilage damage across the knee joint in response to the implantation of the Oxford Mobile Bearing UKA. FE models of lateral and medial compartment arthroplasty were developed, in addition to a healthy natural knee model, to gauge changes incurred through the arthroplasty. Varus-valgus misalignments were introduced to the femoral components to simulate surgical inaccuracy or over-correction. Boundary conditions from the Stanmore knee simulator during the stance phase of level gait were used. AP translations of the tibia in the medial UKA models were comparable to the behaviour of the natural knee models (+/- 0.6 mm deviation from pre-operative motion). Following lateral UKA, 4.1 mm additional posterior translation of the tibia was recorded than predicted for the natural knee. IF rotations of the medial UKA models were less consistent with the pre-operative knee model than the lateral UKA models (7.7 degrees vs. 3.6 degrees deviation). Varus misalignment of the femoral prosthesis was more influential than valgus for medial UKA kinematics, whereas in lateral UKA, a valgus misalignment of the femoral prosthesis was most influential on the kinematics. Resection of the cartilage in the medial compartment reduced the overall risk of progressive OA in the knee, whereas removing the cartilage from the lateral compartment, and in particular introducing a valgus femoral misalignment, increased the overall risk of progressive OA in the knee. Based on these results, under the conditions tested herein, both medial and lateral UKA can be said to induce kinematics of the knee which could be considered broadly comparable to those of t
Frasson L, Parittotokkaporn T, Davies BL, et al., 2010, Early developments of a novel smart actuator inspired by nature, International Journal of Intelligent Systems Technologies and Applications, Vol: 8, Pages: 409-422, ISSN: 1740-8865
Frasson L, Ko SY, Turner A, et al., 2010, STING: a soft-tissue intervention and neurosurgical guide to access deep brain lesions through curved trajectories, Vol: 224, Pages: 775-788, ISSN: 0954-4119
Current trends in surgical intervention favour a minimally invasive approach, in which complex procedures are performed through very small incisions. Specifically, in neurosurgery there is a need for minimally invasive keyhole access, which conflicts with the lack of manoeuvrability of conventional rigid instruments. In an attempt to address this shortcoming, the current state of progress is reported on a soft-tissue intervention and neurosurgical guide (STING) to access deep brain lesions through curved trajectories. The underlying mechanism of motion, based on the reciprocal movement of interlocked probe segments, is biologically inspired and was designed around the unique features of the ovipositor of certain parasitic wasps. Work to date has focused on probe development, low- and high-level control, and trajectory planning. These aspects are described, together with results on each aspect of the work, including biomimetic microtexturing of the probe surface. Progress is very encouraging and demonstrates that forward motion into soft tissue through a reciprocating mechanism is indeed viable and can be achieved through a suitable combination of microtexturing and microfabrication techniques.
Dogangil G, Davies BL, Rodriguez y Baena F, 2010, A review of medical robotics for minimally invasive soft tissue surgery, Vol: 224, Pages: 653-679, ISSN: 0954-4119
This paper provides an overview of recent trends and developments in medical robotics for minimally invasive soft tissue surgery, with a view to highlight some of the issues posed and solutions proposed in the literature. The paper includes a thorough review of the literature, which focuses on soft tissue surgical robots developed and published in the last five years (between 2004 and 2008) in indexed journals and conference proceedings. Only surgical systems were considered; imaging and diagnostic devices were excluded from the review. The systems included in this paper are classified according to the following surgical specialties: neurosurgery; eye surgery and ear, nose, and throat (ENT); general, thoracic, and cardiac surgery; gastrointestinal and colorectal surgery; and urologic surgery. The systems are also cross-classified according to their engineering design and robotics technology, which is included in tabular form at the end of the paper. The review concludes with an overview of the field, along with some statistical considerations about the size, geographical spread, and impact of medical robotics for soft tissue surgery today.
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