MS Thesis Defense
Constrained Motion Planning System for MRI-Guided,
Needle-Based, Robotic Interventions
Abstract: In needle-based surgical interventions, accurate alignment and insertion of the tool is paramount for providing proper treatment at the target site while minimizing healthy tissue damage. While manually-aligned interventions are well-established, robotics platforms promise to reduce procedure time, increase precision, and improve patient comfort and survival rates. Conducting interventions in an MRI scanner provides real-time, closed-loop feedback for a robotics platform, improving its accuracy, yet the tight environment potentially impairs motion. This project seeks to develop a surgical workflow and software system for evaluating the workspace and planning the motions of a robotics platform within the confines of an MRI scanner. 3D Slicer, a medical imaging visualization and processing platform, will provide a familiar and intuitive interface for operators to quickly plan procedures with the robotics platform over OpenIGTLink. Robotics tools such as ROS and MoveIt! will be utilized to analyze the workspace of the robot within the patient and formulate the motion planning solution for positioning of the robot during surgical procedures. For this study, a 7 DOF robot arm designed for ultrasonic ablation of brain tumors is the targeted platform.
Professor Gregory Fischer, Major Thesis Advisor
Professor Zhi Jane Li, Committee Member
Professor William Michalson, Committee Member
Monday, April 16, 2018
1:00 p.m. – 2:00 p.m.
85 Prescott St., RBE 209