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Planning and Estimation of Curvilinear Medical Robotic Devices

 

This project focuses on motion planning and estimation algorithms for curvilinear medical devices such as laparoscopes, steerable needles, and other devices in the research state such as active cannulas and snake-like robots. These tools are examples of continuum devices which have a curvilinear structure, enabling them to maneuver through constrained spaces. This work is done in collaboration with the Computational Robotics Group at UNC-Chapel Hill.

 

ShapeEstimation Shape Estimation

Fall 2010 – Present

We present a new method for the estimation of the shape of a continuum robot during a medical procedure using a small number of X-ray projection images (e.g., radiographs or fluoroscopy images). Accurately estimating the robot’s shape continuously over time is crucial for the success of procedures that require avoidance of anatomical obstacles and sensitive tissues.

Papers:

 
Videos:

  • Animation of medical procedure with image acquisition – Spring 2013.

 

Multitarget Motion Planning Multi-Target Path Planning

Fall 2010 – Present

This project focuses on the development of multi-target motion planning algorithms for curvilinear devices with an emphasis on sampling-based and variational approaches. Medical applications include biopsies of several target locations.

Papers:

 
Videos:

  • Animation of multi-target tree optimization procedure – Spring 2013
Skills

Posted on

April 4, 2013