Registration and Coffee 08:00 - 08:30
Marquee and Hall
08:30 - 08:45
Location: Ondaatje Lecture Theatre

Welcome and Introduction

Conference Co-Chair:
Professor The Lord Darzi of Denham
Professor Darzi holds the Paul Hamlyn Chair of Surgery at Imperial College London, the Royal Marsden Hospital and the Institute of Cancer Research. He is Director of the Institute of Global Health Innovation at Imperial College London and Chair of Imperial College Health Partners. He is an Honorary Consultant Surgeon at Imperial College Hospital NHS Trust. His research is directed towards achieving best surgical practice through innovation in surgery, enhancing patient safety and the quality of healthcare.

08:45 - 09:30
Location: Ondaatje Lecture Theatre

Keynote Talk

Mr Tim Ferris:
National Director of Transformation
NHS England and NHS Improvement
Chair:Professor The Lord Darzi of Denham
Dr. Tim Ferris is the inaugural National Director of Transformation at NHS England and NHS Improvement, and previously a Non-Executive Director on the Board. Tim is seconded from his role as CEO of the Mass General Physicians Organization in Boston, USA. Tim trained in medicine and public health at Harvard University, and became a professor at Harvard Medical School in 2018 and continues as an adjunct Professor.

09:30 - 10:30
Location: Ondaatje Lecture Theatre

Paper Presentations: Navigation

Session Chairs:
Pierre Dupont, Boston Children's Hospital
Robert Webster, Vanderbilt University
09:30 Elise Fu, Ángela Alarcón de la Lastra, Haoyin Zhou, Ruisi Zhang, Justin Broyles, Haripriya Ayyala, Bohdan Pomahac and Jagadeesan Jayender. SLAM-based Surgical Guidance For Breast Reconstruction Surgery
09:42 Haoyin Zhou, Ryan Bartholomew, Maud Boreel, Alejandro Garcia, Krish Suresh, Saksham Gupta, Jeffrey Guenette, Daniel Lee, C. Eduardo Corrales and Jayender Jagadeesan. SLAM-based Trackerless Navigation System for Lateral Skull base Surgery: A Pilot Cadaver Study
09:54 Changyan He, Robert Nguyen, Eric Diller, James Drake and Thomas Looi. dVRK-based teleoperation of a CTR robot with stereovision feedback for neurosurgery
10:06 Zejian Cui and Ferdinando Rodriguez Y Baena. Proof of Concept Implementation of Forbidden Region Dynamic Active Constraints in Minimally Invasive Surgery
10:18 Piper Cannon, Shaan Setia, Nicholas Kavoussi, S. Duke Herrell and Robert Webster. How Insights from In Vivo Human Pilot Studies with da Vinci Image Guidance are Informing Next Generation System Design

Coffee Break 10:30 - 11:00
Marquee and Hall
11:00 - 12:00
Location: Ondaatje Lecture Theatre

Session 2: Robotic Systems & Devices

Session Chairs:
Darwin Caldwell, Istituto Italiano di Tecnologia
Sanja Dogramadzi, University of Sheffield
11:00 Haipeng Liang, Wanli Zuo, Dimitri Kessler, Tristan Barrett and Zion Tsz Ho Tse. MRI-Guided Robotic Prostate Biopsy
11:12 Jones Law and Dale Podolsky. Toward Robotic Craniosynostosis Surgery: Development of a Novel Articulated Minimally Invasive Bone Cutting Tool
11:24 Gang Li, Rohan Vijayan, Ali Uneri, Babar Shafiq, Jeffrey Siewerdsen and Kevin Cleary. Robotic Assistant for Image-Guided Treatment of Ankle Joint Dislocations: A Feasibility Study
11:36 Xiaoyu Huang, Elizabeth Rendon-Morales and Rodrigo Aviles-Espinosa. Towards Cellular Level Microsurgery: Design and Testing of a High Precision Delta Robot for Medical Applications
11:48 Tony Qin, Peter Connor, Khoa Dang, Ron Alterovitz, Robert Webster and Caleb Rucker. Computational Analysis of Design Parameters for a Bimanual Concentric Push-Pull Robot

12:00 - 13:00
Location: Ondaatje Lecture Theatre

Session 3: Surgical Needles and Catheters

Session Chairs:
Jaesung Hong, DGIST
Elena De Momi, Politecnico di Milano
12:00 Rongwan Chen, Gowoon Jeong and Seong Young Ko. Toward Multiple-Point Stiffness Changing Surgical Needle for Eye Surgery Robotic System
12:12 Mostafa A. Atalla, Jeroen J. Tuijp, Michaël Wiertlewski and Aimée Sakes. Ultrasonically-Lubricated Catheters: A Proof of Concept
12:24 Negar Kazemipour, Amir Sayadi, Renzo Cecere, Jake Barralet and Amir Hooshiar. Augmented Reality-assisted Epidural Needle Insertion: User Experience and Performance
12:36 Giovanni Pittiglio, Margherita Mencattelli, Abdulhamit Donder, Yash Chitalia and Pierre E. Dupont. Workspace Characterization for Hybrid Tendon and Ball Chain Continuum Robots
12:48 Paul H. Kang, Robert H. Nguyen, Thomas Looi and James Drake. A Comparison of the Workspace and Dexterity of Hybrid Concentric Tube Robot and Notched Wrist Systems

Lunch Break 13:00 - 14:00
Marquee and Hall
14:00 - 14:45
Location: Ondaatje Lecture Theatre

Poster Teasers Session 1

Session Chair
Ana Cruz Ruiz, Imperial College London
14:00 1 Jialei Shi and Helge Wurdemann. Design and Control of a Tele-operated Soft Instrument in Minimally Invasive Surgery
14:02 3 Ayhan Aktas and Enrico Franco. DEBI: a new mechanical device for safer needle insertions
14:04 4 Junke Yao, Giorgia Bosi, Gaetano Burriesci and Helge Wurdemann. Valvuloplasty Balloon Catheter Sizing Approach for Calcified Aortic Valve with Different Annulus Ratios
14:06 5 Chun Ping Lam, Ming Ho Ho, Shi Pan Siu, Ka Chun Lau, Yeung Yam and Philip Wai Yan Chiu. Implementation of a Novel Handheld Endoscopic Operation Platform (EndoGRASP)
14:08 6 Jixiu Li, Tao Zhang, Truman Cheng, Calvin Sze Hang Ng, Philip Wai Yan Chiu and Zheng Li. Magnetic Anchored and Cable Driven Endoscope for Minimally Invasive Surgery
14:10 7 Stephen Thompson, Miguel Xochicale, Thomas Dowrick and Matthew Clarkson. Using SciKit-Surgery for Augmented Reality in Surgery
14:12 8 Tianlu Wang and Metin Sitti. Flexible Magnetic Soft Stent for Mobile Flow Diversion
14:14 10 Dumitru Scutelnic, Giacomo De Rossi, Nicola Piccinelli, Claudia Daffara, Salvatore Siracusano and Riccardo Muradore. A novel stereoscopic thermal endoscope for tissue damage prevention
14:16 11 Deokgi Jeung, Hyun-Joo Lee, Hee-June Kim and Jaesung Hong. Augmented Reality-based Surgical Guidance for Anterior and Posterior Cruciate Ligament Reconstruction
14:18 12 Konstantinos Mountris, Richard Schilling, Alicia Casals and Helge Wurdemann. Meshless Modelling for Heat-based Robotic Navigation of Radio Frequency Catheter Ablation
14:20 13 Veronica Penza, Andrea Santangelo, Dario Paladini and Leonardo S. Mattos. Computer-based assessment of the operator’s experience in obstetric ultrasound examination based on hand movements and applied forces
14:22 14 Lorenzo Civati, Maria Koskinopoulou, Andrea Santangelo and Leonardo S. Mattos. Dual Robot System for Autonomous Needle Insertion into Deep Vessels
14:24 15 Esther P. de Kater, Tjalling G. Kaptijn, Aimée Sakes and Paul Breedveld. Design of a Flexible Bone Drill Using a Hydraulic Pressure Wave
14:26 16 Alexandra Leavitt, Ryan Lam, Nichols Crawford Taylor, Daniel S. Drew and Alan Kuntz. Toward a Millimeter-Scale Tendon-Driven Continuum Wrist with Integrated Gripper for Microsurgical Applications
14:28 17 Yi Zheng and Ann Majewicz-Fey. Extracting Unusual Movements during Robotic Surgical Tasks: A Semi-Supervised Learning Approach
14:30 18 Adrian Rubio Solis, Kaizhe Jin, Ravi Naik and George Mylonas. Evolutionary Deep Learning using hybrid EEG-fNIRS-ECG Signals to Cognitive Workload Classification in Laparoscopic Surgeries
14:32 19 Navid Masoumi, Negar Kazemipour, Sarvin Ghiasi, Tannaz Torkaman, Amir Sayadi, Javad Dargahi and Amir Hooshair. WaveLeNet: Transfer Neural Calibration for Embedded Sensing in Soft Robots

14:45 - 15:45
Location: Ondaatje Lecture Theatre

Clinical Forum

Andreas Melzer, MD DDS, ICCAS University Leipzig and IMSaT University Dundee, UK

Coffee Break 15:45 - 16:15
Marquee and Hall
16:15 - 17:00
Location: Ondaatje Lecture Theatre

Keynote Talk

Prof. Esther Rodrigues-Villegas:
Chair of Low Power Electronics
Imperial College London
Founder Acurable
Chair: Prof. Dan Elson, Imperial College London
Professor Esther Rodriguez-Villegas, FREng is an academic and an entrepreneur. She graduated with an MSci from the Department of Physics at the University of Seville (Spain) in 1996, getting the University’s San Alberto Magno Award, which is given to the top student of the class. A year later she was given the only national scholarship to do a PhD in Microelectronics in Spain’s National Microelectronics Centre.

17:00 - 18:00
Location: Ondaatje Lecture Theatre

Session 4: Machine Learning Approaches for Healthcare

Session Chairs:
Leo Joskowicz, The Hebrew University of Jerusalem
Fanny Ficuciello, University of Naples Federico II
17:00 Spyridon Souipas, Anh Nguyen, Stephen Laws, Brian Davies and Ferdinando Rodriguez Y Baena. SimPS-Net: Simultaneous Pose & Segmentation Network of Surgical Tools
17:12 Kaizhong Deng, Baoru Huang and Daniel S. Elson. Deep Imitation Learning for Automated Drop-In Gamma Probe Manipulation
17:24 François Lecomte, Valentina Scarponi, Pablo Alvarez, Juan Verde, Jean-Louis Dillenseger, Eric Vibert and Stéphane Cotin. Enhancing Fluoroscopy-Guided Interventions: a Neural Network to Predict Vessel Deformation without Contrast Agents
17:36 Anthony O'Brien and Ferdinando M Rodriguez Y Baena. Comparison of denoising methods for synthetic low-field neurological MRI
17:48 Mythra Balakuntala, Deepak Raina, Juan Wachs and Richard Voyles. Learning Robotic Ultrasound through Coaching

18:00 - 19:30
Location: Hall & Exhibition

Drinks Reception

All delegates and speakers are invited to join us for a drinks reception. Drinks and canapés are served in the Hall and Exhibition area.

Registration and Coffee 08:00 - 08:30
Marquee and Hall
08:30 - 09:30
Location: Ondaatje Lecture Theatre

Session 5: Simulation and Training

Session Chairs:
Cameron Riviere, Carnegie Mellon University
Arianna Menciassi, Scuola Superiore Sant'Anna
08:30 Arnaud Huaulmé, Krystel Nyangoh Timoh, Victor Jan, Sonia Guerin and Pierre Jannin. Global versus local kinematic skills assessment on robotic assisted hysterectomies
08:42 Nitsan Davidor, Yair Binyamin, Tamar Hayuni and Ilana Nisky. Using LOR Syringe Probes as a Method to Reduce Errors in Epidural Analgesia - a Robotic Simulation Study
08:54 Elie Saghbiny, Saman Vafadar, Antoine Harlé and Guillaume Morel. Design of an ex-vivo experimental setup for spine surgery based on in-vivo identification of respiration-induced spine movement
09:06 Sergio Machaca and Jeremy D. Brown. Towards a robotic minimally invasive surgery assessment and augmentation platform for visual-haptic acuity development
09:18 Hongyi Fan, Adnan Munawar, Manish Sahu, Russell Taylor and Peter Kazanzides. Integrating a Real-time Surgical Robot Dynamic Simulator with 3D Slicer

09:30 - 10:30
Location: Ondaatje Lecture Theatre

Keynote Talk

Prof. Allison Okamura:
Professor of Mechanical Engineering
& Computer Science
Stanford University
Ferdinando Rodriguez y Baena
Imperial College London
Prof. Allison M. Okamura received the BS degree from the University of California at Berkeley in 1994, and the MS and PhD degrees from Stanford University in 1996 and 2000, respectively, all in mechanical engineering. She is currently Professor in the mechanical engineering department at Stanford University, with a courtesy appointment in computer science.

Coffee Break 10:15 - 10:45
Marquee and Hall
10:45 - 12:45
Location: Ondaatje Lecture Theatre

Session 6: Soft Robotics

Session Chairs:
Helge Wurdemann, University College London
Dana Damian, The University of Sheffield
10:45 Max McCandless, Frank Julia Wise and Sheila Russo. A Soft Continuum Robot with Multi-Modal Shape and Contact Force Sensing for Minimally Invasive Surgery
10:57 Federica Semproni, Veronica Iacovacci, Sabina Maglio, Simone Onorati, Michele Ibrahimi and Arianna Menciassi. Soft artificial bladder with volume monitoring capabilities
11:09 Daniel Van Lewen, Taylor Janke, Harin Lee, Ryan Austin, Ehab Billatos and Sheila Russo. A Fluidic Actuated Soft Robot for Improving Bronchoscopic Biopsy
11:21 Diego Quevedo-Moreno, Jonathan Tagoe and Ellen Roche. Soft Robotic Pneumatic Actuators Assist Diaphragmatic Dysfunction in a Respiratory Simulator
11:33 Kiana Abolfathi, James Chandler, Keyoumars Ashkan, Luca Citi, Pietro Valdastri and Ali Kafash Hoshiar. Computational Predictive Model for Full Body Controlled Soft Continuum Magnetic Robots under Hybrid Actuation
11:45 Lorenzo Kinnicutt, Jungjae Lee, Janae Oden, Leah Gaeta, Sean Carroll, Anushka Rathi, Zi Heng Lim, Megan Lee, Chisom Orakwue, Kevin McDonald, Donald Hess and Tommaso Ranzani. A Soft Laparoscopic Grasper for Retraction of the Small Intestine
11:57 Jianlin Yang, Mark Runciman, James Avery, Zhijun Sun and George Mylonas. A Pop-Up Soft Robot Driven by Hydraulic Folded Actuators for Minimally Invasive Surgery
12:09 Kaan Esendag, Mark McAlindon, Daniela Rus, Shuhei Miyashita and Dana Damian. Development of an Untethered Inflatable Capsule Robot for Stricture Dilation - a Preliminary Study
12:21 Cem Tutcu, Seref Kemal Talas, Ozgur Kocaturk, Nurdan Tozun and Evren Samur. Proof of Concept of a Novel Growing Soft Robot for Colonoscopy
12:33 Seyed Nima Mirkhani, Tinotenda Gwisai, Michael G. Christiansen and Simone Schuerle. Scalable and Spatially Selective Actuation of Living Microrobots

Lunch Break 12:45 - 13:45
Marquee and Hall
13:45 - 14:30
Location: Ondaatje Lecture Theatre

Poster Teaser Session 2

Session Chair
Ana Cruz Ruiz, Imperial College London
13:45 20 Kaizhe Jin, Ravi Naik, Adrian Rubio Solis and George Mylonas. Real-Time Cognitive Workload States Recognition from Ultra Short-Term ECG Signals on Trainee Surgeons Using 1D Convolutional Neural Networks
13:47 21 Zhaoyang Jacopo Hu, Longrui Chen, Yanpei Huang, Etienne Burdet and Ferdinando Rodriguez Y Baena. Priority-Based Shared Control for Peg Transfer Task
13:49 22 Kent Yamamoto, Tanner Zachem, Weston Ross and Patrick Codd. Incident Angle Study for Designing an Endoscopic Tool for Intraoperative Brain Tumor Detection
13:51 23 Alberto Neri, Veronica Penza and Leonardo S. Mattos. Usability study of human-computer interfaces for 3D model manual registration in augmented reality application for surgery
13:53 24 Korn Borvorntanajanya, Shen Treratanakulchai, Enrico Franco and Ferdinando Rodriguez Y Baena. Area-Based Total Length Estimation for Position Control in Soft Growing Robots
13:55 25 Emmanouil Dimitrakakis, George Dwyer, Nicola Newall, Danyal Khan, Hani Marcus and Danail Stoyanov. A Novel Handheld Robotic System for Endoscopic Neurosurgery: A Cadaver Pilot Study
13:57 26 Aryan Niknam Maleki, Mark Runciman, Alexander Thompson, Julia Murray and George Mylonas. Developing a personalised inflatable rectal obturator
13:59 27 Akhil Deo and Peter Kazanzides. Feasibility of Mobile Application for Surgical Robot Teleoperation
14:01 28 Laura Connolly, Anton Deguet, Tamas Ungi, Aravind Kumar, Andras Lasso, Kyle Sunderland, Axel Krieger, Simon Leonard, Gabor Fichtinger, Parvin Mousavi and Russell H. Taylor. A clinical application of SlicerROS2: Virtual fixture guidance in breast conserving surgery
14:03 29 Anna Bicchi, Francesca Fati, Mariagrazia Quacquarelli, Emiliano Votta and Elena De Momi. Optimizing Heart Valve Surgery with Model-Free Catheter Control
14:05 30 Joeana Cambranis-Romero, Terry Peters and Elvis Chen. Percutaneous focal tumour ablation assisted by mini-stereotactic frame: proof-of-concept
14:07 31 Young-Ho Kim, Èric Lluch, Gulsun Mehmet, Florin Ghesu and Ankur Kapoor. AI-based Agents for Automated Robotic Endovascular Guidewire Manipulation
14:09 32 Nicholas Pacheco, Yash Garje, Aakash Rohra and Loris Fichera. Losing Focus: Can It Be Useful in Robotic Laser Surgery?
14:11 33 Maleeha Al-Hamadani, Carlo Seneci, Christine Norton, Abrie Botha, Prashant Jha and Sebastien Ourselin. Evaluation of a Novel Stoma Valve in Static and Dynamic Conditions
14:13 34 Kanishkan Senthilkumar, Radian Gondokaryono, Mustafa Haiderbhai and Lueder Kahrs. Simulating Mesh Cutting with the dVRK in Unity
14:15 35 Navid Feizi, Filipe C. Pedrosa, Elaheh Arefinia, Jagadeesan Jayender and Rajni V. Patel. Design and Calibration of a Robot-Driven Catheter Actuation System
14:17 36 Filipe Pedrosa, Ruisi Zhang, Navid Feizi, Dianne Sacco, Rajni Patel and Jagadeesan Jayender. Handheld Concentric Tube Robot for Percutaneous Nephrolithotomy
14:19 37 Vanni Consumi, Danail Stoyanov and Agostino Stilli. Miniaturisation, Modularization and Evaluation of the SoftSCREEN System
14:21 38 Maria-Camilla Fiazza. Non-local Dependencies and Contextual Information in the Interpretation of Procedural Surgical Text

14:30 - 15:30
Location: Ondaatje Lecture Theatre

Industry Forum

James Kinross, Senior Lecturer and Consultant in Colorectal Surgery, Imperial College London
Ferdinando Rodriguez y Baena, Professor of Medical Robotics & Hamlyn Centre Co Director, Imperial College London

Coffee Break 15:30 - 16:00
Marquee and Hall
16:00 - 17:00
Location: Ondaatje Lecture Theatre

Session 7: Imaging and Sensing

Session Chairs:
Sophia Bano, University College London
Robert Webster, Vanderbilt University
16:00 Ashutosh Raman, Ren Odion, Kent Yamamoto, Weston Ross, Patrick Codd and Tuan Vo-Dinh. Surface-Enhanced Raman Spectroscopy and Transfer Learning Toward Accurate Reconstruction of the Surgical Zone
16:12 A.G. de Groot, V. Groenhuis, S. Stramigioli and F.J. Siepel. Breast surface reconstruction utilising autonomous robotic assisted ultrasound image acquisition
16:24 Patrick Carnahan, Elvis Chen and Terry Peters. From 4D Transesophageal Echocardiography to Patient Specific Mitral Valve Models
16:36 Vincent Groenhuis, Antonius G. de Groot, Erik B. Cornel, Stefano Stramigioli and Françoise J. Siepel. 3-D Visualization and Inter-Session Comparison for Robotic Assisted Bladder Cancer Screening
16:48 Kim Schwaner, Zhuoqi Cheng and Thiusius Savarimuthu. A New Suture Needle State Estimation Method Based on Electrical Impedance Sensing

17:00 - 17:45
Location: Ondaateje Lecture Theatre

Keynote Talk

Prof. Philip Chiu:
Professor of Division of Upper GI and Metabolic Surgery
Philip Chiu is Professor of Division of Upper GI and Metabolic Surgery, Director of Multi-Scale Medical Robotics Center, Director of Endoscopy Center, Institute of Digestive Disease; Director of CUHK Jockey Club Minimal Invasive Surgical Skills Center; Director of CUHK Chow Yuk Ho Technology Center for Innovative Medicine and Associate Dean (External Affairs), Faculty of Medicine, Chinese University of Hong Kong.

17:45 - 18:00
Location: Ondaatje Lecture Theatre

Awards and Closing Ceremony

Ferdinando Rodriguez y Baena, Imperial College London
Robert Merrifield, Imperial College London