Graduate Research Presentations: Healthcare Robotics

Friday, November 03, 2017
2:00 pm to 3:00 pm
Floor/Room #: 
GP 1002

Graduate Research Presentations:
Healthcare Robotics
Marek Wartenberg, Adnan Munawar, and Christopher Nycz 

Cooperative Control Maintains Physician Presence During MRI-Guided Targeted Biopsy

Marek Wartenberg

Abstract: Magnetic Resonance Imaging (MRI) can provide excellent imaging of suspicious lesions for targeted biopsy. Nevertheless, despite a clearly defined target location, accuracy of needle tip placement for biopsy core retrieval remains an issue due to unmodeled needle deflection and tissue deformation. Therefore, we present a robotic needle placement system capable of increased targeting accuracy through image-guided autonomous needle steering. Furthermore, continuous haptic feedback using cooperative control can restore a physician's tactile and sensory perception during insertion, which is typically surrendered in exchange for increased robotic accuracy.

Application of Simulation and Control Interfaces for the daVinci Research Kit

Adnan Munawar

Abstract: The daVinici Research Kit is a shared, open platform for the daVinici Surgical Robot. This talk focuses on the simulation and control interfaces implemented for the dVRK which include graphical interfaces, haptic rendering and control form external UI devices.

Measuring Grip Force in Activities of Daily Living with Relevance to Prosthetic and Orthotic Design

Christopher Nycz

Abstract: A critical need exists to minimize device weight without sacrificing functionality in the field of orthotic design. In particular, selection of actuators for hand orthoses capable of producing grip forces useful in activities of daily living (ADL), but light enough to result in a practical design, is a fine yet ill-defined line. Analysis of able-bodied grasping with bespoke tools, such as dynamometers, has limited use to engineers as it merely bounds healthy grasp forces. Direct analysis of grasping in ADL, however, is limited by difficulties in measuring complete information (force vectors and skeletal kinematics at all time-points) without modifying the interaction between user and object. Also, direct reference to forces collected using able-bodied subjects may be misleading as additional dexterity, unavailable to a user of an orthosis, could be utilized to more efficiently accomplish tasks. Therefore, we present a method for measuring grasp forces in ADL using inconspicuously instrumented household objects with subjects limited to a subset of basic grasps typically producible by hand orthoses. In addition to force data, we utilize optical tracking to measure skeletal kinematics and load cell vectors during these activities. The result of this work is data which can be used as a reference model to better inform the design of hand orthoses.

Friday, November 3, 2017
2:00 p.m. - 3:00 p.m.
60 Gateway Park, GP 1002

Teresa Hemple
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