Zisos Mitros

Zisos Mitros

PhD Student

University College London

Biography

Zisos Mitros is a mechanical engineer working on robotics. Currently, he is a 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).

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

  • Mechanical Design & Manufacture
  • Dynamic Systems modelling & Control

Education

  • PhD Student, 2021 (expected)

    University College London, UK

  • MEng in Mechanical Engineering, 2016

    National Technical University of Athens, Greece

Experience

 
 
 
 
 

Research Assistant

University of Edinburgh

Sep 2019 – Dec 2019 Edinburgh, UK
Mechanical Design and Modelling of a Continuum Robot for Lung Samping in Critical Care
 
 
 
 
 

PhD Student

University College London

Sep 2017 – Present London, UK

Responsibilities include:

  • Mechanical Design
  • Modelling
 
 
 
 
 

Research Assistant

National Technical University of Athens

Dec 2016 – Sep 2017 Athens, Greece
COMRADE - Control Management of Robotics Active Debris Removal (Funded by ESA) - Funded by ESA

Publications

2016 On Inertia and Stiffness Effects During Impact Docking

Space debris removal and mitigation using space robots are complex missions, which require extensive analysis prior to launch. An …
Iosif S. Paraskevas, Zisos Mitros, and Evangelos Papadopoulos
PDF
2016 On Inertia and Stiffness Effects During Impact Docking

2016 Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes

On-orbit servicing missions will rely on space robots; however their complexity requires prior careful studies. Among these, robotic …
Zisos Mitros, Iosif S. Paraskevas, and Evangelos Papadopoulos
PDF DOI
2016 Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes

2017 Impedance control design for on-orbit docking using an analytical and experimental approach

An important phase in On-Orbit servicing missions is robotic docking. Successful docking is subject to a number of parameters and …
Zisos Mitros, Georgios Rekleitis, Ilias Patsiaouras, and Evangelos Papadopoulos
PDF DOI
2017 Impedance control design for on-orbit docking using an analytical and experimental approach

2018 Mechanics Modelling of Eccentrically Arranged Concentric Tubes

Continuum robots allow accessing surgical targets deepinside the human body by steering along 3D curves inconfined spaces. Further, …
Zisos Mitros, Mohsen Khadem, Carlo Seneci, Lyndon da Cruz, and Christos Bergeles
PDF
2018 Mechanics Modelling of Eccentrically Arranged Concentric Tubes

2018 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 …
Zisos Mitros, Spyridon Garyfallidis, and Evangelos Papadopoulos
PDF
2018 On Impedance Control For Landing Mechanisms On Comets And Planets

2018 Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes

This article presents a model predictive controller (MPC) developed for the autonomous steering of concentric tube robots (CTRs). …
Zisos Mitros, Mohsen Khadem, Carlo Seneci, Lyndon da Cruz, and Christos Bergeles
PDF Video DOI
2018 Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes

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

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

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

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.

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

In this work, we develop 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%.

Mechanical Design of a Continuum Robot for Deep Orbital Interventions

To be updated

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.

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

This works experimentally evaluates 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.