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My research focuses on developing motion planning algorithms and physically-based simulations for medical applications, including treatment planning, 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 have nonlinear properties, 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 be used for interactive physician training, procedure planning, and to assist in the registration of diagnostic and treatment images obtained at different times.
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).
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Short Bio
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