Zisos Mitros

Zisos Mitros

Senior PhD Student

University College London

Biography

Zisos Mitros is a mechanical engineer working on robotics. Currently, he is a senior Ph.D. Student in the Wellcome / EPSRC Centre for Interventional and Surgical of University College London (UCL) under the supervision of Dr. Christos Bergeles and Prof. Lyndon da Cruz. Moreover, he is a member of the Robotics and Vision in Medicine (RViM) Lab at King’s College London (KCL).

Zisos also interned at University of Edinburgh under the supervision of Dr. Mohsen Khadem. During his internship, he designed, developed and modelled a Continuum Robot for Distal Lung Sampling in Mechanically Ventilated Patients in Critical Care.

His research interests include surgical robotics for microsurgery, mechanical design and manufacture, and dynamic systems modeling and control.

Before that, Zisos was a Research Assistant at the Control Systems Laboratory (CSL) in Mechanical Engineering Dept. of NTUA under the supervision of Prof. Evangelos Papadopoulos.

Interests

  • Robotics
  • Mechanical Design & Manufacture
  • Dynamic Systems modelling & Control

Education

  • PhD Student, 2022 (expected)

    University College London, UK

  • MPhil in Biomedical Engineering, 2018

    University College London, UK

  • MEng in Mechanical Engineering, 2016

    National Technical University of Athens, Greece

Projects

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Surgical Robotics Space Robotics

Analysis, Dynamics and Control of Robotic System for Docking to Orbital Space Systems

Space exploration and exploitation requires the simultaneous coexistence of people and machines. The human need for more information has made the use of satellites important. The need of satellites that can perform for longer time becomes increasingly evident.
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Analysis, Dynamics and Control of Robotic System for Docking to Orbital Space Systems

Design & Modelling of a Continuum Robot for Lung Sampling in Critical Care

We designed and manufactued a novel robotic bronchoscope for sampling of distal lung in mechanically-ventilated (MV) patients in critical care units. The mortality rate for MV patients with suspected pneumonia approaches 40%.
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Design & Modelling of a Continuum Robot for Lung Sampling in Critical Care

Mechanical Design of a Continuum Robot for Deep Orbital Interventions

This project is on the development of the first medical robotic system for Optic Nerve Sheath Fenestration (ONSF) and generally deep orbital interventions. ONSF is a currently invasive ophthalmic surgical approach that can reduce potentially blinding elevated hydrostatic intracranial pressure on the optic disc via an incision on the optic nerve.
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Mechanical Design of a Continuum Robot for Deep Orbital Interventions

On Impedance Control For Landing Mechanisms On Comets And Planets

Recent successes of missions, such as the Rosetta, have increased the interest in the robotic exploration of other planets and asteroids. Although, in most landers passive landing systems are used, bouncing due to inappropriate descent speed and hardware malfunction have been observed in cases such as that of the Philae.
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On Impedance Control For Landing Mechanisms On Comets And Planets

Towards Modelling Multi-Arm Robots-Eccentric Arrangement of Concentric Tubes

We developed a quasistatic mechanics-based model that describes the shape of concentric tube robotic (CTR) arms when they are eccentrically arranged along an also-flexible backbone. The model can estimate the shape of both the backbone and CTR arms, and can accommodate an arbitrary number of CTR arms arranged in an eccentric position with regards to the backbone’s neutral axis.
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Towards Modelling Multi-Arm Robots-Eccentric Arrangement of Concentric Tubes

Publications

[2021] Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control

In this paper, we design and develop a novel robotic bronchoscope for sampling of the distal lung in mechanically-ventilated (MV) …
Zisos Mitros, Balint Thamo, Christos Bergeles, Lyndon da Cruz, Kevin dHALIWAL, and Mohsen Khadem
PDF DOI
[2021] Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control

[2020] Optic Nerve Sheath Fenestration with a Multi-Arm Continuum Robot

This paper presents a medical robotic system for deep orbital interventions, with a focus on Optic Nerve Sheath Fenestration (ONSF). …
Zisos Mitros, S.M Hadi Sadati, Carlo Seneci, Edward Bloch, Konrad Leibrant, Mohsen Khadem, Lyndon da Cruz, and Christos Bergeles
PDF Video DOI
[2020] Optic Nerve Sheath Fenestration with a Multi-Arm Continuum Robot

[2020] Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control

This article presents a model predictive controller (MPC) developed for the autonomous steering of concentric tube robots (CTRs). …
Mohsen Khadem, John O’Neill, Zisos Mitros, Lyndon da Cruz, and Christos Bergeles
PDF DOI
[2020] Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control

[2019] Autonomous Steering of Concentric Tube Robots for Enhanced Force/Velocity Manipulability

Concentric tube robots (CTR) can traverse tightly curved paths and offer dexterity in constrained environments, making them …
Mohsen Khadem, John O’Neill, Zisos Mitros, Lyndon da Cruz, and Christos Bergeles
PDF DOI
[2019] Autonomous Steering of Concentric Tube Robots for Enhanced Force/Velocity Manipulability

[2019] Towards a flexible multi-arm robot for interventions within the eye orbit

While continuum robots have been studied for a variety of surgical applications (e.g., heart, lung, brain, eye, kidney), no existing …
Zisos Mitros, Carlo Seneci, Mohsen Khadem, Konrad Leibrandt, Lyndon da Cruz, and Christos Bergeles
PDF DOI
[2019] Towards a flexible multi-arm robot for interventions within the eye orbit
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