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Haptics for Robot-Assisted Surgery
Dr. Allison Okamura
Associate Professor, Mechanical Engineering, Johns Hopkins University
March 28, 2008, 2:00 p.m.
Jeong H. Kim Engineering Building, Rm. 1110
Robot-assisted surgery can improve the outcomes of medical procedures by enhancing accuracy and minimally invasive access, thereby reducing patient trauma and recovery time. However, the current lack of haptic (force and tactile) information compromises system performance. This talk will examine the role of haptics in three types of systems: (1) telemanipulation systems, in which the patient is remote from the operator, (2) cooperative manipulation systems, in which the robot and the operator physically "share" a surgical tool, and (3) autonomous systems, in which the surgery is carried out by the robot, with guidance from imaging systems or other sensors. Our work on telemanipulation focuses on control system design, force sensing and feedback mechanisms, and techniques for evaluating surgeon performance, with applications in cardiothoracic surgery. Research in cooperative manipulation is directed toward microsurgical procedures and the development of methods to automatically provide "virtual fixtures" that assist the surgeon. In autonomous systems, we consider tool-tissue interaction modeling for virtual environments that can be used for planning or training, as well as needle steering for improved dexterity and targeting accuracy.
Allison M. Okamura received the B.S. degree from the University of California at Berkeley in 1994, and the M.S. and Ph.D. degrees from Stanford University in 1996 and 2000, respectively, all in Mechanical Engineering. She is currently an Associate Professor of Mechanical Engineering and a thrust leader of the National Science Foundationís Engineering Research Center for Computer-Integrated Surgical Systems and Technology at Johns Hopkins University. Her research awards include the 2004 National Science Foundation CAREER Award and the 2005 IEEE Robotics Automation Society Early Academic Career Award, and her Johns Hopkins educational awards include the 2003 Diversity Recognition Award and the 2004 George E. Owen Teaching Award. Her research interests include teleoperation, medical robotics, virtual environments and simulators, smart prosthetics, rehabilitation engineering, and engineering education.
Faculty Host: Dr. Reza Ghodssi
This Event is For: Public • Campus • Clark School