1. A biologically inspired
flexible probe
Dr Ferdinando Rodriguez y Baena
Reader in Medical Robotics
Mechatronics in Medicine Laboratory
Department of Mechanical Engineering

2. THE CONCEPT
Biologically Inspired Probe Insertion
Eggs pass through here
Reciprocating
Mechanism
Electron microscope view
Wasp inserting the ovipositor
into the wood
Wood
Mechanism of Motion
2 © Imperial College London

3. THE CONCEPT
Biologically Inspired Robotics
v1
1. Programmable bevel
(variable steering) δt θ
2. Reciprocal insertion Pf
(reduced buckling)
y
x
δ
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4. THE CONCEPT
Design Evolution: Cross-section
The natural inspiration: The prototype: 4
interlocking segments and a segments and two
hollow egg channel hollow channels
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5. THE CONCEPT
Design Evolution: Prototyping
Rapid Prototype
12mm OD prototypes in soft and hard materials
Vero white (rigid material)
Tango Black (soft material)
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6. PROGRAMMABLE BEVEL
Programmable Bevel Tip Concept
• Radius of curvature can be
controlled by the offset
between segments, i.e. Bevel
steering offset tip
Brain
Resistive Force
Steering Offset
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7. PROGRAMMABLE BEVEL
Curvature vs. Steering Offset
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8. RECIPROCAL INSERTION
Reciprocal Insertion
Reduced buckling by having only one segment at a time
move forward – since it is stabilized by the remaining
segments

9. RECIPROCAL INSERTION
Reciprocal Insertion
Some preliminary evidence…
Start End Start End
DIRECT PUSH RECIPROCAL MOTION
Average “area of expansion” Average “area of expansion”
ratio = 2.37 ratio = 1.53

10. THE CONCEPT
Key Features
• Can travel through media and steer through
complicated routes
• Design reduces buckling
• Can deliver or remove cargo
• Can be scaled up or down
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11. THE CONCEPT
We need your help
- Where would a probe like this be useful?
- Where would you need to traverse a complicated
route in compliant material?
We’d love to hear your thoughts on how to make
some ideas possible, and ways this technology could
be taken into new directions.
11 © Imperial College London

12. PEOPLE & SPONSORS
Acknowledgements
PhD students
Stuart Bowyer
Jassim Alqabandi
Josh Petersen
Elnaz Nobari
Sandra Nwokeoha
Chris Burrows
Will Blyth
Trevor Hawke
Alexander Leibinger
Research Assistants
Dr Ryo Takeda
Dr Fangde Liu
Dr Riccardo Secoli
Dr Matthew Oldfield
12 © Imperial College London

13. PEOPLE & SPONSORS
Competition Sponsored by
Imperial Innovations
Imperial Innovations builds and invests in technology
and healthcare companies. Their goal is to bring
valuable ideas to market either by building businesses
or licensing to industry.
13 © Imperial College London