Robotics and Vision in Medicine Lab

We develop micro-surgical robotic systems and multi-sensory guidance algorithms to achieve impossible interventions deep inside the human body

About us

The mission of the Robotics and Vision in Medicine (RViM) Lab is to develop image-guided micro-precise instruments that deliver regenerative therapies deep into the human body.

We are with the Dep. Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, King’s College London.

Feel free to contact us for open PhD and post-doc positions. We are happy to support candidates to apply for fellowships to work within our group [Fellowships by the EPSRC, Royal Academy of Engineering, Royal Society (e.g. Newton International Fellowships), The Wellcome Trust, the Leverhulme Trust, and the European Union (MSC actions)].

If you are interested in a Ph.D. in Medical Image Computing and Computer-Assisted Interventions, make sure you pay close attention to the deadlines of the Medical Image Computing CDT. Also, be aware that King’s offers excellent scholarship opportunities for UK/EU and overseas students.

Contact us at: christos.bergeles@kcl.ac.uk

Software

C++ - Concentric tube robot - kinematics library

This repository contains C++ software pertaining to the calculation of the forward kinematics (torsional) of concentric tube robots in real-time.

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Matlab - Concentric tube robot design optimisation

This repository contains matlab software pertaining to the design of concentric tube robots based on task and anatomical constraints.

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MATLAB - Dynamic Modelling

A MATLAB & Simulink implementation of the forward and inverse dynamics solutions for mechanisms driven by screw-based transmission systems.

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Matlab - Plenoptic Camera Calibration

This repository contains matlab software pertaining to the checker-board-based geometric calibration of multi-focus plenoptic cameras, such as the ones from Raytrix.

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Matlab - Unsupervised detection of cones in AOSLO

Unsupervised detection of cones in AOSLO

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Python - Deep learning for OCT-A vessel segmentation

This repository contains a tensorflow implementation of deep convolutional networks used for vessel segmentation in OCT-A images.

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Python - Detection of photoreceptors

This repository contains python software pertaining to the detection of photoreceptors in healthy and pathological retinal images, as acquired by AOSLO.

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Representative Publications

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Autonomous steering of concentric tube robots via nonlinear model predictive control

M. Khadem, J. O'Neill, Z. Mitros, L. Da Cruz*, C. Bergeles*

Deep iterative vessel segmentation in OCT angiography

T. Pissas, E. Bloch, B. Flores, O. Georgiadis, S. Jalali, C. Ravasio, D. Stoyanov, L. Da Cruz*, C. Bergeles*

Deep learning-based segmentation and quantification of retinal capillary non-perfusion on ultra-wide-field retinal fluorescein angiography

R. do Nunez, P. Sen, R. Rasheed, A. Bagchi, A. Bagchi, L. Nicholson, A. M. Dubis, C. Bergeles*, S. Sivaprasad*

Design, modelling, and implementation of a 7-DOF cable-driven haptic device with a configurable cable platform

P. Lambert, L. Da Cruz*, C. Bergeles*

Design, static and performance analysis of a parallel robot for head stabilisation in vitreoretinal surgery

H. Natalius, P. Lambert, M. K. Tiwari, L. Da Cruz*, C. Bergeles*

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Meet the Team

Principal Investigator

Christos Bergeles

Reader of Surgical Robotics

Surgical Robotic Systems, Interventional Visual Servoing, Robot Modelling and Control

PostDoc Researchers

Carlo A. Seneci

Techanical Operation Manager

Surgical Robotics, Manufacturing & Medical Devices Design, Laboratory Management

Christopher E. Mower

Research Associate

Robotic surgery, Human-robot collaboration, Imitation learning, Shared autonomy

Patrice Lambert

Research Fellow

Haptic Devices, Parallel Robots, Robot Design and Optimsation, Cable-Driven Robots

S.M.Hadi Sadati

CME Research Fellow

Continuum Manipulators, Soft Robotics, Variable Stiffness Structures, Medical Robotics, Bioinspiration, Morphological Contribution, System Dynamics, Planning & Automation, Mechatronic Design.