33 citations · 43 across the 8 of their papers we have counts for
9 papers
Model Based Position Control of Soft Hydraulic Actuators
Mark Runciman, Enrico Franco, James Avery +2
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by emp…
Soft Continuum Actuator Tip Position and Contact Force Prediction, Using Electrical Impedance Tomography and Recurrent Neural Networks
Amirhosein Alian, George Mylonas, James Avery
Enabling dexterous manipulation and safe human-robot interaction, soft robots are widely used in numerous surgical applications. One of the complications associated with using soft…
Identification of Cognitive Workload during Surgical Tasks with Multimodal Deep Learning
Kaizhe Jin, Adrian Rubio-Solis, Ravi Naik +8
The operating room (OR) is a dynamic and complex environment consisting of a multidisciplinary team working together in a high take environment to provide safe and efficient patien…
Lumen Shape Reconstruction using a Soft Robotic Balloon Catheter and Electrical Impedance Tomography
James Avery, Mark Runciman, Cristina Fiani +5
Incorrectly sized balloon catheters can lead to increased post-surgical complications, yet even with preoperative imaging, correct selection remains a challenge. With limited feedb…
Shape Sensing of Variable Stiffness Soft Robots using Electrical Impedance Tomography
James Avery, Mark Runciman, Ara Darzi +1
Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invas…
Free-View, 3D Gaze-Guided, Assistive Robotic System for Activities of Daily Living
Ming-Yao Wang, Alexandros A. Kogkas, Ara Darzi +1
Patients suffering from quadriplegia have limited body motion which prevents them from performing daily activities. We have developed an assistive robotic system with an intuitive…
Surgical task-space optimisation of the CYCLOPS robotic system
T. J. C. Oude Vrielink, Y. W. Pang, M. Zhao +3
The CYCLOPS is a cable-driven parallel mechanism used for minimally invasive applications, with the ability to be customised to different surgical needs; allowing it to be made pro…
A cable-driven parallel manipulator with force sensing capabilities for high-accuracy tissue endomicroscopy
Kiyoteru Miyashita, Timo Oude Vrielink, George Mylonas
This paper introduces a new surgical end-effector probe, which allows to accurately apply a contact force on a tissue, while at the same time allowing for high resolution and highl…
ESD CYCLOPS: A new robotic surgical system for GI surgery
Timo J. C. Oude Vrielink, Ming Zhao, Ara Darzi +1
Gastrointestinal (GI) cancers account for 1.5 million deaths worldwide. Endoscopic Submucosal Dissection (ESD) is an advanced therapeutic endoscopy technique with superior clinical…