Computer-Integrated Surgery (601.455/655)
Fall 2020  Schedule

Class meets 1:30-2:45 Online via Zoom

Subject to change: Still in progress!!  Note also that many of the links still refer outdated material

• September 1
• Organizational information and introduction to course concept
  
• Introductory Lecture
• September 3
• Introductory lecture (concluded)
• September 8
• Guest lecture by Dr. Deepa Galaiya - Cochlear Implant Surgery
• PDF of slides
• Background material
  
• Hand Out Homework Assignment 1 (time permitting)
• September10
• Hand Out Homework Assignment 1 (if did not have time on September 8 )
• Surgical CAD/CAM case study - Joint Reconstruction Surgery
• Reference Material
• CIS Book Chapters 27-29
• Early Robodoc marketing video, showing pin process
• Robodoc clinical case video (pins)
• Robodoc pinless clinical case video
• Robodoc TKA clinical case video
• Lecture on Robodoc (Dr. Kazanzides)
• Lecture on computer-assisted joint surgery by Dr. Eric Stindel
• Blue Belt PFS system
• Mako Rio System
• 2017 Lecture by Prof. Peter Kazanzides on Robotic Total Hip and Knee Replacement Surgery
• September 15
• Localizers
• Reference Material
• CIS Book Chapters 21-23
• September 17
• Begin Mathematical Methods for CIS
• Video of 2017 Lecture
• Link to video of 2019 lecture
• Additional Reference Material
• Introduction to Coordinate Transformations -- lecture by Gabor Fichtinger
• SECTION/TA Session
• Online links in resources page
• Linear algebra review
• September 22
• Conclude Mathematical Methods for CIS
• Video of 2017 Lecture
• Link to most of 2019 lecture (IT problems)
• September 24
• Homework Assignment 1 Due
• Hand Out Homework Assignment #2
• NOTE: Question 2D was REVISED on October 13
  
• Least Squares Review
  
• Computing rigid 3D-3D transformations from point and line pairs
• Begin Calibration (if time)
  
• September 29
• Continue calibration
• Interpolation Review
• October 1
• Hand out Programming Assignments #1 and #2
• Scenario Handout
• Data for Programming Assignments #1 and #2
• October 6
• Guest lecture: Emad Boctor
  
• Prof. Taylor at NAE Meeting & MICCAI
  
• October 8
• Begin Segmentation
• 2018 Lecture by Prof. Jerry Prince #1
• 2018 Lecture by Prof. Jerry Prince #2
• October 13
• Finish segmentation
• Begin Registration Part 1
  
• October 15
• Finish Registration Part 1
  
• Finding Point Pairs for ICP
• Link to video of the 2019 lecture
• Reference Material
• CIS Book Chapters 5 & 7
• CIS Book pp 3-75
• Wikipedia article on point set registration
• October 20
• Homework Assignment #2 due
• Begin Registration Part 2
  
• Reference Material
• Paper on "Generalized ICP" method
• Wikipedia article on point set registration
• Registration - probability based feature match methods, intensity-based methods
• Coherent Point Drift
• Link to video of the lecture
• Reference Material
• Statistical Atlases Construction and Application (G. Chintalapani)
• Statistical Atlas Validation (G. Chintalapani)
• Improving mesh vertices (S. Sheshamani)
• October 22
  
• Programming Assignment #1 Due
• No Class - Fall Break
• October 27
• Hand out Homework Assignment #3
• Finish Registration Part 2
• Begin Registration Part 3
• Active appearances
• October29
• Hand out Programming Assignments #3 and #4
• Data for Programming Assignments #3-5
• Finish Registration Part 3
• November 3
• Programming Assignment #2 Due
• Election Day - vote if you are eligible
• Guest lecture: Dr. Peter Gehlbach - Retinal Surgery
  
• November 5
  
• Guest lecture: Dr. Amit Jain - Spine Surgery
  
• November 10
• Begin Medical Robotics, Constrained Control and Virtual Fixtures (if time)
• November 12
• Medical Robotics, Constrained Control and Virtual Fixtures
• Supplemental material: Anatomical Mesh-Based Virtual Fixtures for Surgical Robots
• November 17
• Homework Assignment #3 due
• Hand Out Homework Assignment #4
• Continue Medical Robotics, Constrained Control and Virtual Fixtures
• Autonomy and Semi-Autonomous Behavior in Medical Robots
  
• Slides from 2018 Guest Lecture
  
• Dexterity and Autonomy in Medical Robotics
• November 19
• Hand out Programming Assignment #5
• Some additional notes
• Regulatory Issues; Safety Case Study
• Video of lecture (part 1)
• Video of lecture (part 2)
• Reference Material
• Nancy Levenson and Clark Turner, "The Investigation of the Therac 25 Accidents", Computer 26(7) pp18-41
• Therac-25 Accidents: An Updated Version of the Original Accident Investigation Paper (by Nancy Leveson) from Dr. Leveson's Book, Software, System Safety, and Computers, Addison Wesley, 1995.
• November 23 (Monday)
• Programming Assignment #3 due (extended from November 19)
  
• November 24
• No Class - Thanksgiving Break
• November 26
• No Class - Thanksgiving Break
• December 1
• Craniofacial Osteotomies
• More on Model Simplification
• Review + Questions
• December 3
• Programming Assignment #4 due
• Guest lecture: Dr. Julius Oni - Joint Surgery
  
• December 8
• (Last Class)
• TBD
• Homework Assignment #4 due
• December 16 (Final Exam Date)
  
• Optional Programming Assignment #5 due at 0900
• Do not be late, since we need to finish grading.  Late papers will NOT be accepted
  

Other material & lectures from earlier years

• Guest Lecture Prof. Jerry Prince on Segmentation
• Guest Lecture Prof. Jerry Prince on Segmentation (modern techniques)
• Guest Lecture from Prof. Matt Stewart, MD
• Video of lecture
• PDF of lecture
• Related Paper
• 2017 Guest lecture from Dr. Francis Creighton on cochlear implant surgery
• Supplementary Video
• Paper to read: The Early History of the Cochlear Implant
• 2017 Guest Lecture from Dr. Christopher Razavi
• Trans-Oral Neck Surgery
• Materials for background reading:
• Transoral thyroidectomy and parathyroidectomy – A North American series of robotic and endoscopic transoral approaches to the central neck
• Transoral endoscopic thyroidectomy vestibular approach (TOETVA): indications, techniques and results
• Transoral robotic thyroidectomy: lessons learned from an initial consecutive series of 24 patients
• Transoral robotic thyroid surgery
• Link to video 2019 lecture by Dr. Mehran Armand on Computer Assisted Orthopaedic Surgery
• Link to video of 2019 lecture by Dr. Nick Theodore on Spine Surgery
• Previous Year Lecture on Model Simplification
• Reference Material
• David Luebke; A Re: PURA ProposalDeveloper’s Survey of Polygonal Simplification Algorithms; IEEE Computer Graphics and Application, May 2001
• Level-of-detail web site
• Superfaces (Kalvin)
• Fat Triangles (Gueziec)

• Talk on Prostate Therapy by Dr. Fichtinger
• Percutaneous spine interventions by Dr. Fichtinger
• Dr. Corrino's Talk
• Greg Fischer Image Overlay Talk
• Earlier Overview of computer-integrated interventional medicine
• Lecture by Yoshito Otake on Registration Applications