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Estimation of tool-tissue forces in robot-assisted minimally invasive surgery using neural networks (2019)
Journal Article
Abeywardena, S., Qiaodi, Y., Tzemanaki, A., Psomopoulou, E., Droukas, L., Melhuish, C., & Dogramadzi, S. (in press). Estimation of tool-tissue forces in robot-assisted minimally invasive surgery using neural networks. Frontiers in Robotics and AI, 6, https://doi.org/10.3389/frobt.2019.00056

A new algorithm is proposed to estimate the tool-tissue force interaction in robot-assisted minimally invasive surgery which does not require the use of external force sensing. The proposed method utilizes the current of the motors of the surgical in... Read More

Motion Capture Pillow (MCP): A novel method to improve comfort and accuracy in radiotherapy (2019)
Journal Article
Goldsworthy, S., McNair, H., & Dogramadzi, S. (in press). Motion Capture Pillow (MCP): A novel method to improve comfort and accuracy in radiotherapy. Clinical Medicine, 19(Suppl2), 103-103. https://doi.org/10.7861/clinmedicine.19-2-s103

The delivery of radiotherapy has changed significantly over the last few decades. Recent advances in radiotherapy practice may increase patient discomfort. A key challenge to improve patient comfort is the common use of a thermoplastic mask for patien... Read More

Real-time electromagnetic tracking of orthopaedic pins for robot-assisted fracture surgery (2018)
Presentation / Conference
Martins, B., Dagnino, G., & Dogramadzi, S. (2018, September). Real-time electromagnetic tracking of orthopaedic pins for robot-assisted fracture surgery. Presented at Computer and Robot Assisted Surgery (CRAS)

Tracking devices are an essential component in image guided surgery particularly when precise treatment or implant positioning are required. In this paper we explore the use of an electromagnetic tracking device (Polaris Aurora, NDI Inc.) as an alter... Read More

Biomimetic knee design to improve joint torque and life for bipedal robotics (2018)
Book Chapter
Steele, A., Hunt, A., & Etoundi, A. C. (2018). Biomimetic knee design to improve joint torque and life for bipedal robotics. In M. Giuliani, T. Assaf, & M. Giannaccini (Eds.), Towards Autonomous Robotic Systems, 91-102. Springer. https://doi.org/10.1007/978-3-319-96728-8_8

This paper details the design, construction, and performance analysis of a biologically inspired knee joint for use in bipedal robotics. The design copies the condylar surfaces of the distal end of the femur and utilizes the same crossed four-bar lin... Read More

"Elbows Out" - Predictive tracking of partially occluded pose for robot-assisted dressing (2018)
Journal Article
Chance, G., Jevtic, A., Caleb-Solly, P., Alenya, G., Torras, C., & Dogramadzi, S. (2018). "Elbows Out" - Predictive tracking of partially occluded pose for robot-assisted dressing. IEEE Robotics and Automation Letters, 3(4), 3598-3605. https://doi.org/10.1109/LRA.2018.2854926

Robots that can assist in the Activities of Daily Living (ADL), such as dressing, may support older adults, addressing the needs of an aging population in the face of a growing shortage of care professionals. Using depth cameras during robot-assiste... Read More

Exploiting ability for human adaptation to facilitate improved human-robot interaction and acceptance (2018)
Journal Article
Caleb-Solly, P., Dogramadzi, S., Huijnen, C. A., & Heuvel, H. V. D. (2018). Exploiting ability for human adaptation to facilitate improved human-robot interaction and acceptance. Information Society, 34(3), 153-165. https://doi.org/10.1080/01972243.2018.1444255

This article reports findings from usability and user experience evaluations conducted in the last 2 years of a 4-year assistive robotics research project using the Kompai robot. It focuses on the evaluations that were conducted with older adults in... Read More

Robot-assisted fracture surgery: Surgical requirements and system design (2018)
Journal Article
Georgilas, I., Dagnino, G., Tarassoli, P., Atkins, R., & Dogramadzi, S. (2018). Robot-assisted fracture surgery: Surgical requirements and system design. Annals of Biomedical Engineering, 46(10), 1637-1649. https://doi.org/10.1007/s10439-018-2005-y

The design of medical devices is a complex and crucial process to ensure patient safety. It has been shown that improperly designed devices lead to errors and associated accidents and costs. A key element for a successful design is incorporating the... Read More

Personalized robot assistant for support in dressing (2018)
Journal Article
Jevtic, A., Valle, A. F., Alenya, G., Chance, G., Caleb-Solly, P., Dogramadzi, S., & Torras, C. (2018). Personalized robot assistant for support in dressing. IEEE Transactions on Cognitive and Developmental Systems, https://doi.org/10.1109/TCDS.2018.2817283

Robot-assisted dressing is performed in close physical interaction with users who may have a wide range of physical characteristics and abilities. Design of user adaptive and personalized robots in this context is still indicating limited, or no cons... Read More

Image-guided surgical robotic system for percutaneous reduction of joint fractures (2017)
Journal Article
Dagnino, G., Georgilas, I., Morad, S., Gibbons, P., Tarassoli, P., Atkins, R., & Dogramadzi, S. (2017). Image-guided surgical robotic system for percutaneous reduction of joint fractures. Annals of Biomedical Engineering, 45(11), 2648-2662. https://doi.org/10.1007/s10439-017-1901-x

Complex joint fractures often require an open procedure, which is associated with extensive soft tissue damages and longer hospitalization and rehabilitation time. Percutaneous techniques can potentially mitigate these risks but their application to... Read More

A quantitative analysis of dressing dynamics for robotic dressing assistance (2017)
Journal Article
Chance, G., Jevtić, A., Caleb-Solly, P., & Dogramadzi, S. (2017). A quantitative analysis of dressing dynamics for robotic dressing assistance. Frontiers in Robotics and AI, 4, https://doi.org/10.3389/frobt.2017.00013

Assistive robots have a great potential to address issues related to an ageing population and an increased demand for caregiving. Successful deployment of robots working in close proximity with people requires consideration of both safety and human–r... Read More

Unsupervised machine learning for developing personalised behaviour models using activity data (2017)
Journal Article
Fiorini, L., Cavallo, F., Dario, P., Eavis, A., & Caleb-Solly, P. (2017). Unsupervised machine learning for developing personalised behaviour models using activity data. Sensors, 17(5), 1034. https://doi.org/10.3390/s17051034

The goal of this study is to address two major issues that undermine the large scale deployment of smart home sensing solutions in people’s homes. These include the costs associated with having to install and maintain a large number of sensors, and t... Read More

Intra-operative fiducial-based CT/fluoroscope image registration framework for image-guided robot-assisted joint fracture surgery (2017)
Journal Article
Dagnino, G., Georgilas, I., Morad, S., Gibbons, P., Tarassoli, P., Atkins, R., & Dogramadzi, S. (2017). Intra-operative fiducial-based CT/fluoroscope image registration framework for image-guided robot-assisted joint fracture surgery. International Journal of Computer Assisted Radiology and Surgery, 12(8), 1383-1397. https://doi.org/10.1007/s11548-017-1602-9

Purpose Joint fractures must be accurately reduced minimising soft tissue damages to avoid negative surgical outcomes. To this regard,we have developed he RAF Ssurgical system, which allows the percutaneous reduction of intraarticular fractures and p... Read More

Towards bio-inspired tactile sensing capsule endoscopy for detection of submucosal tumours (2016)
Journal Article
Winstone, B., Melhuish, C., Pipe, A. G., Callaway, M., & Dogramadzi, S. (2017). Towards bio-inspired tactile sensing capsule endoscopy for detection of submucosal tumours. IEEE Sensors Journal, 17(3), 848-857. https://doi.org/10.1109/JSEN.2016.2627798

Here we present a method for lump characterisation using a bio-inspired remote tactile sensing capsule endoscopy system. Whilst current capsule endoscopy utilises cameras to diagnose lesions on the surface of the gastrointestinal tract lumen, this p... Read More

Navigation system for robot-assisted intra-articular lower-limb fracture surgery (2016)
Journal Article
Dagnino, G., Georgilas, I., Köhler, P., Morad, S., Atkins, R., & Dogramadzi, S. (2016). Navigation system for robot-assisted intra-articular lower-limb fracture surgery. International Journal of Computer Assisted Radiology and Surgery, 11(10), 1831-1843. https://doi.org/10.1007/s11548-016-1418-z

© 2016, The Author(s). Purpose: In the surgical treatment for lower-leg intra-articular fractures, the fragments have to be positioned and aligned to reconstruct the fractured bone as precisely as possible, to allow the joint to function correctly ag... Read More

Development of a novel functional electrical stimulation system for hand rehabilitation using feedback control (2016)
Journal Article
Ruppel, M., Seel, T., & Dogramadzi, S. (2016). Development of a novel functional electrical stimulation system for hand rehabilitation using feedback control. Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2016-July, 1135-1139. https://doi.org/10.1109/BIOROB.2016.7523784

© 2016 IEEE. Worldwide stroke is a leading cause for disability and the demand for rehabilitation devices and everyday life assistance is still high. To address this demand, we consider a combination of Functional Electrical Stimulation (FES) of the... Read More

Single motor actuated peristaltic wave generator for a soft bodied worm robot (2016)
Presentation / Conference
Winstone, B., Pipe, A. G., Melhuish, C., Callaway, M., Etoundi, A., & Dogramadzi, S. (2016, June). Single motor actuated peristaltic wave generator for a soft bodied worm robot. Paper presented at BioRob 2016 - IEEE International Conference on Biomedical Robotics and Biomechatronics

This paper presents the design and development of a single motor actuated peristaltic worm robot with three segments using a bio-inspired method of locomotion with one actuator that achieves optimised worm like peristaltic motion. Each segment consis... Read More

Image-based robotic system for enhanced minimally invasive intra-articular fracture surgeries (2016)
Presentation / Conference
Dagnino, G., Georgilas, I., Köhler, P., Atkins, R., & Dogramadzi, S. (2016, June). Image-based robotic system for enhanced minimally invasive intra-articular fracture surgeries. Paper presented at IEEE International Conference on Robotics and Automation, Stockholm, June 2016

Robotic assistance can bring significant improvements to orthopedic fracture surgery: facilitate more accurate fracture fragment repositioning without open access and obviate problems related to the current minimally invasive fracture surgery techni... Read More

Vision-based real-time position control of a semi-automated system for robot-assisted joint fracture surgery (2015)
Journal Article
Dagnino, G., Georgilas, I., Tarassoli, P., Atkins, R., & Dogramadzi, S. (2016). Vision-based real-time position control of a semi-automated system for robot-assisted joint fracture surgery. International Journal of Computer Assisted Radiology and Surgery, 11(3), 437-455. https://doi.org/10.1007/s11548-015-1296-9

© 2015, CARS. Purpose: Joint fracture surgery quality can be improved by robotic system with high-accuracy and high-repeatability fracture fragment manipulation. A new real-time vision-based system for fragment manipulation during robot-assisted frac... Read More

Systematic review of thermoplastic masks versus alternative immobilisation methods in head and neck irradiation (2014)
Journal Article
Goldsworthy, S., Latour, J., Regan, C., McGrail, S., Bennett, C., Cramp, M., …Jankowska, P. (2014). Systematic review of thermoplastic masks versus alternative immobilisation methods in head and neck irradiation. https://doi.org/10.15124/CRD42014013800

Is a thermoplastic mask versus an alternative immobilisation effective in increasing reproducibility and comfort in head and neck patients receiving radiotherapy?