HomeInfrastructuresThe Hamlyn Centre | TERRINet

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Address:
Bessemer Building, Kensington,
London SW7, UK

Website
The Hamlyn Centre

Scientific Responsible
Guang-Zhong Yang

The structure

The facility at the Hamlyn Centre for Robotic Surgery consists of state-of-the-art robotic platforms and manufacturing/characterisation devices for the development and construction of the next generation of robotic devices. The Hamlyn Centre makes its robot development facilities, infrastructure and expertise available to institution, local, national the international research communities. The Surgical Robot Challenge is an international annual competition that is organised by the Hamlyn Centre that sees 10 teams come each year from leading robotics institutions around the world to London, to demonstrate their surgical robot innovations to leaders and pioneers of the fields of robotics and surgery. Each team makes use of the unique facilities, infrastructure and expertise in the Hamlyn Centre in the months leading up to the competition and during the competition finals. The Hamlyn Centre also runs Summer and Winter Schools on surgical robotics that each see up to 30 researchers from around the world utilising the equipment and knowhow of the Hamlyn Centre. Furthermore, the Hamlyn Centre runs a leading conference in Medical Robotics called the Hamlyn Symposium, now entering its 11th year that is supported by the unique facilities of the Hamlyn Centre for running surgical robotics demos and hands-on workshops.

Available platforms
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Da Vinci Research Kit (DVRK)

The da Vinci Research Kit (dVRK) is a research platform based on the da Vinci Surgical System developed and distributed by Intuitive Surgical Inc. The kit is a collection of first-generation da Vinci components that can be used to assemble a telerobotics platform which provides complete access to all levels of control via open source electronics and software. The platform consists of a surgeon’s console to tele-operate the surgery and a patient side system where the surgery takes place. The surgeon’s console consists of two Master Tool Manipulators, each having 8 DOF for dexterous and natural hand manipulation, and a foot-pedal tray. On the other side at the patient’s end, there are two Patient Side Manipulators, which are controlled by the two Master Tool Manipulators. The interface between the two components is based on custom hardware consisting of motor-controllers, coupled with FPGAs and connected to a PC running the control loops.
The DVRK can be exploited for interfacing with different master manipulators, for testing force-feedback strategies, of for the integration on novel tools for surgery.

Key features

  • Teleoperation robot
  • Console + two robotic arms (8DOF)
  • Open access to all level of control
  • External viewer

RS-232 (over USB) and Bluetooth communication

Possible application

  • Development of innovative robotic tools (e.g. Surgical Manipulation, Surgical Interventions/Tasks, Haptics)
  • Development of innovative control strategies (e.g. new algorithms for dynamic parameters identification)
  • Better estimation of interaction forces during surgical procedures (e.g. integration of haptic feedbacks)
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RAVEN II Surgical Robot

Possible application

  • Human-Robot Interaction
  • Surgical Tool Development
  • Autonomous Surgery
  • Multi-Robot Integration
  • Surgical procedure simulation
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NAO Next Gen Humanoid Robotic Platform

Possible application

  • Human-Robot Interaction
  • Computer Vision
  • Social Robot Interaction
  • Control algorithm development
  • Artificial Intelligence
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SARIX Micro EDM

Possible application

  • Micro Fabrication
  • Precision instrument creation
  • Micro gripper construction
  • Precision prototyping
  • Industrial part manufacture
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KUKA Lightweight robot LWR4+

Possible application

  • Human-Robot Interaction
  • Multi-robot collaboration
  • Learning by Demonstration
  • Automated Manufacture
  • Artificial intelligence
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3D Printer: Eden 350

Possible application

  • Robotic Part Fabrication
  • Zero assembly mechanism manufacture
  • Multi Material Fabrication
  • Test rig manufacture
  • Prototype manufacture
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3D Printer: Connex 250

Possible application

  • Robotic Part Fabrication
  • Zero assembly mechanism manufacture
  • Multi Material Fabrication
  • Test rig manufacture
  • Prototype manufacture
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3D Printer: EnvisionTEC Ultra 3SP

This printer can quickly 3D print highly accurate parts from STL files regardless of the geometric complexity. A single material is used for both build and support. The system uses layerless technology with no stair stepping on inner and outer surfaces. Printing is possible at speeds as high as 10 mm per hour for a full envelope, or 20mm in 2 hours for a full envelope at a 50 micron resolution.

Possible application

  • Robotic Part Fabrication
  • Zero assembly mechanism manufacture
  • Multi Material Fabrication
  • Test rig manufacture
  • Prototype manufacture
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3D Printer: Stratasys Fortus 400mc

The Fortus 400mc produces accurate, durable, repeatable 3D parts with superior throughput. It builds parts as large as 406 x 355 x 406 mm (16 x 14 x 16 in.) and features two material bays for maximum uninterrupted production. The 400mc builds in 11 real thermoplastics for applications that require high-performance, biocompatibility, static dissipation or resistance to heat, chemicals or UV radiation. The system offers four layer thicknesses to choose from.

Possible application

  • Robotic Part Fabrication
  • Zero assembly mechanism manufacture
  • Multi Material Fabrication
  • Test rig manufacture
  • Prototype manufacture
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Tester SPEA 4020 Flying Probe

The system allows for fast prototype design. The test program generation is fast and allows for quick reporting of the test results to technicians for technical implementations. The 4020 S2 can be equipped with multiple, independent, asynchronous test cores, each one with dedicated instrumentation and resources. Each X-Y-Z axis is equipped with high force linear motors. This technology provides high speed of movement and positioning stability. The system’s Multi-Jig Bottom Platform provides a wide range of instruments that enhance productivity and test capabilities: fixed probes, board support, mini-fixture, cable connection and the exclusive Self-Adapting Board Support Grid. Along with the Multi-Core Architecture, the Multi-Jig can work simultaneously with the 4 top flying probes.

Possible application

  • Electronic Circuit Board Testing
  • Quality Control
  • Automated Test
  • Fault Detection
  • Assembly assessment
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Imina MiBot

The miBot uses piezo actuators with mobile motion technology that makes the miBot both extremely precise and very easy to control. Diverse micro-tools can be mounted on the miBot tool holder, which makes it particularly well-suited for R&D applications in material science, microelectronics and photonics, whenever in situ physical interactions with the sample are sought. The miBot manipulator is a mobile micro-robot. This means it moves directly over the surface of the base on which a sample lays and has no mounting screws. The manipulator can therefore be pre-positioned by hand, making it very fast to set-up and reconfigure. Moreover, no movements of the miBot manipulator are coupled. It makes it very intuitive to control, significantly reduces the time to achieve complex manipulation, and eliminates the risk of damaging samples.

Possible application

  • Fibre and gripper alignment
  • High precision alignment
  • Force measurement
  • Micro robot assembly
  • Small scale mechanical testing
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Carl Zeiss O-Inspect 322

The system comes standard with contact sensors – and also includes ZEISS scanning. The optical and contact sensors are integrated, the convenient CALYPSO 3D CAD software merges the measurement data, thus ensuring that users trust in the reliability of their measuring results. The O-INSPECT 322 offers scanning as a standard feature, in which the VAST XXT probe enables precision probing with forces in the millinewton range. Therefore, true 3D measurements with form and position statements are possible. Telecentric optics are elaborate and therefore not used on most optical measuring machines. Unlike conventional optics, the distance to the object is irrelevant in telecentrics: test objects with different material thicknesses in the camera image can always be measured with the right imaging scale. O-INSPECT comes standard with the 12x telecentric Discovery zoom lens from microscopy, which compensates for these deviations with an additional zoom range. Outstanding image quality is ensured by the lens and the adaptive illumination system which provides transmitted light as well as several reflected lights at different angles, each with red and blue light. The illumination can be perfectly adapted to the form and colour of the test object.

Possible application

  • Quality Control
  • Precision instrument characterisation
  • Accurate 3D Positioning
  • Part characterisation
  • Device measurement
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Bruker SkyScan 1272

The system can non-destructively visualize up to 209 Megapixel (14450×14450 pixels) virtual slices through objects, more than 2600 such slices after a single scan using newly developed 16Mp and 11Mp X-ray detectors in up to three offset positions. Due to phase-contrast enhancement, object details as small as 0.35um can be detected. The flexible acquisition geometry of the SKYSCAN 1272 scanner is particularly advantageous over intermediate resolution levels, where scans are several times faster (to obtain the same or better image quality) compared to micro-CT systems with a fixed source-detector design. For any sample, which can be up to 75mm in diameter, the system can automatically optimize x-ray energy and energy filtering using a new maintenance-free X-ray source and automatic 6-position filter changer. Large format imaging is supported by multithreaded GPU-accelerated 3D-reconstruction and realistic visualization by surface and volume rendering. The system includes a built-in precision micro positioning stage and can scan samples during compression, tension, cooling or heating.

Possible application

  • High-Resolution Small-Scale Imaging
  • Defect identification
  • Quality Control
  • 3D Analysis
  • Small scale object characterisation