RBE MS Directed Research Presentations
Robotic Control of a Surgical Laser Waveguide
Abstract: Flexible laser waveguides are used in clinical settings for surgical procedures. The waveguide is held in hand by a surgeon, which requires experience and human guided heuristics to accurately set laser parameters for certain cuts. There is interest in developing a regression model to map laser parameter settings to soft tissue cut depth. The laser tissue interaction software enables non-technical users to operate a robot mounted with a flexible laser waveguide to create and perform repeatable experiments. The software includes CLI interfaces for single cuts at prescribe distances from a calibrated reference point, tele-operation via game-pad, and a controller to follow a generated trajectory. This system accelerates and improves the process of performing laser tissue interactions on multiple pieces of tissue with .1 mm accuracy.
Task-based Kinematic Optimization of Asymmetric Notched Tube Wrists
Abstract: The miniaturization of medical tools have profoundly changed interventional medicine. However, the design of these instruments represent a non trivial challenge. Our research presents an asymmetric notched-tube continuum manipulator to enable articulation in ultra-thin surgical instruments. There are many parameters to consider in the design of a notched-tube manipulators. It includes the inner and outer diameter, number of notches, height, width and orientation of each notch, distance between each pair of consecutive notches. The challenge arise when designers seek the appropriate design parameters based on the desired kinematic behavior of the actuator, such as the desired bending range, or the minimum bending radius. In this paper we propose a computational framework to aid the design optimization of notched-tube manipulator for specific applications. Our framework is composed by three main elements: (1) a parametric kinematic model of the manipulator, (2) a set of evaluation metrics and (3) computer graphics routines to simulate instrument deployment and operation in virtual environments.
We present a specific application of the notched-tube manipulator to demonstrate our framework can optimize its design, and propose guidelines to guide the design process.
Directed Research Advisor: Prof. Loris Fichera