|
Research positions are now open for graduate and undergraduate students at UNC. If you are interested in research in robot motion planning and/or medical simulation, please contact me.
My research focuses on developing and combining motion planning algorithms and physically-based
simulations to provide novel solutions to problems in medicine, including treatment planning, device
control, medical image registration, and physician training.
My research spans the following areas:
- Motion Planning for Medical Robotics:
The objective of motion planning
in medical robotics is to compute actions that will guide a surgical device around
anatomical obstacles to reach a clinical target. We are developing new motion planning algorithms using optimization and sampling-based methods. These motion planning algorithms must address key challenges
that arise in medical applications, including deformations, uncertainty,
and optimality.
- Physically-based Medical Simulation:
Human soft tissues are heterogeneous and nonlinear, resulting in complex deformations during clinical procedures.
Using finite element methods and mesh maintenance algorithms, we are developing simulations of soft tissues and their interaction with medical devices.
These simulations can assist physicians when registering diagnostic and treatment images obtained at different times.
Medical simulation can also be used for interactive physician training and procedure planning.
See research projects and publications for information about specific projects.
This research has been supported by the National Institutes of Health (NIH), the National Science Foundation (NSF), and the Department of Defense (DOD).
Research Projects |
Teaching |
Students |
Publications and Talks |
Short Bio
|
