===== Human-Machine Collaborative Surgery ===== In the future of surgery, tele-operated robotic assistants will offer the possibility of performing certain tasks autonomously. In this project I am developing a surgical Human-Machine Collaborative (HMC) system, in which some portions of a surgical task are performed autonomously under the surgeon's control whereas other portions are performed manually. Such a collaborative system could potentially ease surgical performance, enhance ergonomic usage of the robot and also provide novel teaching approaches to trainees. The objective is to design methods that: * learn, from expert demonstration, models of the context as well as the motions to be automated by the robot * recognize the surgical context in real time * track the visual environment * provide the surgeon with accurate augmented reality feedback and seamless interaction mechanisms This research addresses multi-disciplinary topics such as machine learning, computer vision, robotics and human-machine interactions. It is implemented and demonstrated using a non-commercial [[http://www.intuitivesurgical.com|da Vinci©]] robot at the [[https://lcsr.jhu.edu|Laboratory for Computational Sensing and Robotics]] at JHU. \\
Shared Control

Automatic scissors

\\ ===== Past Projects at TUM/LORIA=====
me Workflow Analysis Using 4D Reconstruction Data

Main collaborators: Diana Mateus, Daniel Weinland
Publications: [VOEC,2009]
me Image Registration for Non Invasive Histology of Atherosclerotic Plaque

Main collaborators: Olivier Pauly
Medical partners: Klinikum rechts der Isar
Publications: [CVPR,2009] [PMMIA,2009]
me Surgical Workflow Analysis in Laparoscopy for Monitoring and Documentation

Main collaborators: Tobias Blum
Medical partners: Klinikum rechts der Isar
Publications: [MICCAI,2007] [IAAI,2008] [MICCAI,2008] [IJCARS,2008] [MEDIA,2010]
me Discovery and Detection of Surgical Activity in Percutaneous Vertebroplasties

Main collaborators: Ahmad Ahmadi
Medical partners: Klinikum Innenstadt
Publications: [CURAC,2008] [M2CAI,2009]
me Segmentation and Registration of Angiographic Images

Supervisor: Martin Groher
Medical partners: Universitätsklinikum Großhadern
Publications: [CURAC,2005] [MICCAI,2006] [ACRADIO,2007]
me Messages Scheduling for Data Redistribution between Clusters

Supervisor: Johanne Cohen,Emmanuel Jeannot
Publications: [PPAM,2003] [TPDS,2005]
\\ More information about these past projects is available on my previous [[http://campar.in.tum.de/view/Main/NicolasPadoy|webpage]]