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:
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 da Vinci© robot at the Laboratory for Computational Sensing and Robotics at JHU.
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Workflow Analysis Using 4D Reconstruction Data Main collaborators: Diana Mateus, Daniel Weinland Publications: [VOEC,2009] |
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Image Registration for Non Invasive Histology of Atherosclerotic Plaque Main collaborator: Olivier Pauly Medical partners: Klinikum rechts der Isar Publications: [CVPR,2009] [PMMIA,2009] |
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Surgical Workflow Analysis in Laparoscopy for Monitoring and Documentation Main collaborator: Tobias Blum Medical partners: Klinikum rechts der Isar Publications: [MICCAI,2007] [IAAI,2008] [MICCAI,2008] [IJCARS,2008] [MEDIA,2010] |
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Discovery and Detection of Surgical Activity in Percutaneous Vertebroplasties Main collaborator: Ahmad Ahmadi Medical partners: Klinikum Innenstadt Publications: [CURAC,2008] [M2CAI,2009] |
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Segmentation and Registration of Angiographic Images Supervisors: Nassir Navab, Martin Groher Medical partners: Universitätsklinikum Großhadern Publications: [CURAC,2005] [MICCAI,2006] [ACRADIO,2007] |
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Messages Scheduling for Data Redistribution between Clusters Supervisors: Johanne Cohen, Emmanuel Jeannot Publications: [PPAM,2003] [TPDS,2005] |
More information about these past projects is available on my previous webpage.