We use perceptual methods, AI, and frugal robotics innovation to deliver transformative diagnostic and treatment solutions.

Head of Group

Dr George Mylonas

B415B Bessemer Building
South Kensington Campus

+44 (0)20 3312 5145

What we do

The HARMS lab leverages perceptually enabled methodologies, artificial intelligence, and frugal innovation in robotics (such as soft surgical robots) to deliver transformative solutions for diagnosis and treatment. Our research is driven by both problem-solving and curiosity, aiming to build a comprehensive understanding of the actions, interactions, and reactions occurring in the operating room. We focus on using robotic technologies to facilitate procedures that are not yet widely adopted, particularly in endoluminal surgery, such as advanced treatments for gastrointestinal cancer.

Meet the team

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Citation

BibTex format

@inproceedings{Avery:2022:10.1109/IROS47612.2022.9981150,
author = {Avery, J and Runciman, M and Fiani, C and Monfort, Sanchez E and Akhond, S and Liu, Z and Aristovich, K and Mylonas, G},
doi = {10.1109/IROS47612.2022.9981150},
publisher = {IEEE},
title = {Lumen shape reconstruction using a soft robotic balloon catheter andelectrical impedance tomography},
url = {http://dx.doi.org/10.1109/IROS47612.2022.9981150},
year = {2022}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - Incorrectly sized balloon catheters can lead to increased post-surgical complications, yet even with preoperative imaging, correct selection remains a challenge. With limited feedback during surgery, it is difficult to verify correct deployment. We propose the use of integrated impedance measurements and Electrical Impedance Tomography (EIT) imaging to assess the deformation of the balloon and determine the size and shape of the surrounding lumen. Previous work using single impedance measurements, or pressure data and analytical models, whilst demonstrating high sizing accuracy, have assumed a circular cross section. Here we extend these methods by adding a multitude of electrodes to detect elliptical and occluded lumen and obtain EIT images to localise deformations. Using a 14 Fr (5.3 mm) catheter as an example, numerical simulations were performed to find the optimal electrode configuration of two rings of 8 electrodes spaced 10 mm apart. The simulations predicted that the maximum detectable aspect ratio decreased from 0.9 for a 14mm balloon to 0.5 at 30mm. The sizing and ellipticity detection results were verified experimentally. A prototype robotic balloon catheter was constructed to automatically inflate a compliant balloon while simultaneously recording EIT and pressure data. Data were collected in experiments replicating stenotic vessels with an elliptical and asymmetrical profile, and the widening of a lumen during angioplasty. After calibration, the system was able to correctly localise the occlusion and detect aspect ratios of 0.75. EIT images further localised the occlusion and visualised the dilation of the lumen during balloon inflation.
AU  - Avery,J
AU  - Runciman,M
AU  - Fiani,C
AU  - Monfort,Sanchez E
AU  - Akhond,S
AU  - Liu,Z
AU  - Aristovich,K
AU  - Mylonas,G
DO  - 10.1109/IROS47612.2022.9981150
PB  - IEEE
PY  - 2022///
SN  - 2153-0866
TI  - Lumen shape reconstruction using a soft robotic balloon catheter andelectrical impedance tomography
UR  - http://dx.doi.org/10.1109/IROS47612.2022.9981150
UR  - http://arxiv.org/abs/2207.12536v1
ER  -
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