Recent Advances in Medical Robotics and Simulation

COMP 790-099: Recent Advances in Medical Robotics and Simulation

Spring 2009

Time: Tuesdays at 3:30pm

Location: SN 115

Office hours: Thursdays 3:30pm - 4:30pm or by appointment, 223 Sitterson Hall

Overview

New robotic tools are being introduced into clinical practice, enabling physicians to achieve greater precision and accuracy than previously possible when performing surgical and interventional procedures. In this course, we will study robot motion planning and simulation algorithms for medical applications, including diagnosis, pre-operative planning, and intra-operative control of medical devices.

Topics to be covered include:

Medical robotics
Motion planning algorithms for medical devices
Motion planning with uncertainty
Surgical simulation
Simulation-based motion planning
Simulation-based target localization

Format: The course will consist of lectures, paper presentations, and projects. The course will discuss clinical scenarios followed by current computational research methods designed to address the challenges raised in the scenarios. Students will select and present two research articles of their choice. Students will also have the option of completing and presenting a project in the area of medical robotics and simulation (see below).

Units: This is a variable unit course. Students who register for one unit will be required to participate in all discussions and present two papers. Students who register for three units will be required to complete a project in medical robotics and simulation.

Grading: For 1 unit: 30% participation, 70% presentations. For 3 units: 20% participation, 30% presentations, 50% project.

Prerequisites: None required. The course material is accessible to all graduate students and motivated undergraduate students with backgrounds in computer science and/or biomedical engineering. Necessary background material will be covered in introductory lectures.

Schedule

Date	Topics	Details
January 13	Introduction to Medical Robotics
January 20	Concepts in Motion Planning (postponed)	Deadline: First paper selection on Medical Robot Devices or Motion Planning (send by e-mail)
January 27	Concepts in Motion Planning	Deadline: 1-page project proposal
February 3	Motion Planning with Sensor Feedback
February 10	Cognitive Based Neural Prosthetics - Brendan Walters RRT's for Rapid Replanning - Lisa Lyons
February 17	Stochastic Motion Roadmaps - Lavar Askew
February 24	Multi-modal planning - David Wilkie Feedback Control for Nonholonomic Mobile Robots - Sachin Patil	Deadline: First project progress report (1 page)
March 3	Introduction to Surgery Simulation	Deadline: Second paper selection on Medical Simulation or Simulation-based Planning (send by e-mail)
March 10	Spring break
March 17	Surgery Simulation Applications Needle Insertion Point and Orientation Optimization - Sachin Patil	Deadline: Second project progress report (1-2 pages)
March 24	Real-time elastic deformations of soft tissues - Lisa Lyons Needle insertion through 2D soft tissue - Lavar Askew
March 31	Planning Motion in Deformable Environments - Brendan Walters Flexible needle steering using virtual springs - Chen-Rui Chou
April 7	Motion Planning & Drift, Underactuation and Discrete System Changes - David Wilkie Optimal Configuration Space Sampling - Chen-Rui Chou
April 14	Project presentations: David Wilkie and Lavar Askew
April 21	Project presentations: Lisa Lyons and Sachin Patil
May 7		Deadline (by 3pm): Final project report (4-6 pages, use IEEE template (not Magnetics))

Reading List

Check back for updates. Download links are provided for some papers. Other papers can be downloaded from the UNC library.

Medical Robotic Devices

R. A. Andersen, S. Musallam, J. W. Burdick, and J. G. Cham, "Cognitive Based Neural Prosthetics" Proceedings of the 2005 Intl. Conf. Robotics and Automation, 2005. [Brendan Walters]
M. C. Cavusoglu, F. Tendick, M. Cohn, and S. S. Sastry, "A laparoscopic telesurgical workstation," IEEE Trans. Robotics and Automation, vol. 15, pp. 728-739, Aug. 1999. (pdf)
A. Degani, H. Choset, A. Wolf, and M. A. Zenati, "Highly articulated robotic probe for minimally invasive surgery," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 4167-4172, 2006. (pdf)
G. Fichtinger, T. L. DeWeese, A. Patriciu, A. Tanacs, D. Mazilu, J. H. Anderson, K. Masamune, R. H. Taylor, and D. Stoianovici, "System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance," Academic Radiology, vol. 9, no. 1, pp. 60-74, 2002.
M. Kitagawa, D. Dokko, A. M. Okamura, and D. D. Yuh, "Effect of sensory substitution on suture-manipulation forces for robotic surgical systems," Journal of Thoracic and Cardiovascular Surgery, vol. 129, no. 1, pp. 151-158, 2005.
S. Okazawa, R. Ebrahimi, J. Chuang, S. E. Salcudean, and R. Rohling, "Hand-held steerable needle device," IEEE/ASME Trans. Mechatronics, vol. 10, pp. 285-296, June 2005.
L. Phee, D. Xiao, J. Yuen, C. F. Chan, H. Ho, C. H. Thng, C. Cheng, and W. S. Ng, "Ultrasound guided robotic system for transperineal biopsy of the prostate," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 1327-1332, Apr. 2005.
D. Stoianovici, D. Song, D. Petrisor, D. Ursu, D. Mazilu, M. Mutener, M. Schar, and A. Patriciu, ""MRI Stealth" robot for prostate interventions," Minimally Invasive Therapy & Allied Technologies, vol. 16, no. 4, pp. 241-248, 2007.
R. H. Taylor, B. D. Mittelstadt, H. A. Paul, W. Hanson, P. Kazanzides, J. F. Zuhars, B. Williamson, B. L. Musits, E. Glassman, and W. L. Bargar, "An image-directed robotic system for precise orthopaedic surgery," IEEE Trans. Robotics and Automation, vol. 10, pp. 261-275, June 1994.
R. J. Webster III, N. J. Cowan, G. Chirikjian, and A. M. Okamura, "Nonholonomic modeling of needle steering," in Proc. 9th Int. Symp. on Experimental Robotics, June 2004. (pdf)
R. J. Webster III, A. M. Okamura, and N. J. Cowan, "Toward active cannulas: Miniature snake-like surgical robots," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 2857-2863, 2006. (pdf)

Motion Planning

J. J. Abbott and A. M. Okamura, "Stable forbidden-region virtual fixtures for bilateral telemanipulation," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 128, pp. 53-64, 2006. (pdf)
R. Alterovitz, T. Simeon, and K. Goldberg, "The Stochastic Motion Roadmap: A sampling framework for planning with Markov motion uncertainty," in Proc. Robotics: Science and Systems, 2007. (pdf) [Lavar Askew]
B. Burns and O. Brock, "Toward optimal configuration space sampling," in Proc. Robotics: Science and Systems, (Cambridge, MA), June 2005. (pdf)
V. Duindam, J. Xu, R. Alterovitz, S. Sastry, and K. Goldberg, "3d motion planning algorithms for steerable needles using inverse kinematics," in Proc. Workshop on the Algorithmic Foundations of Robotics, 2008. (pdf)
K. Hauser and J.-C. Latombe, "Multi-modal planning for non-expansive configuration spaces," in Workshop on the Algorithmic Foundations of Robotics, 2008.(pdf) [David Wilkie]
R. Tombropoulos, J. Adler, and J. Latombe, "Carabeamer: A treatment planner for a robotic radiosurgical system with general kinematics," vol. 3, no. 3, pp. 237-264, 1999. (pdf)
M. Zucker, J. Kuffner, and M. Branicky, "Multipartite RRTs for Rapid Replanning in Dynamic Environments," in Proc. IEEE Int. Conf. on Robotics and Automation, 2007, pp. 1603-1609. [Lisa Lyons]

Medical Simulation

J. Brown, S. Sorkin, J. Latombe, K. Montgomery, and M. Stephanides, "Algorithmic tools for real-time microsurgery simulation," vol. 6, pp. 289-300, Sept. 2002. (pdf)
S. Cotin, H. Delingette, and N. Ayache, "Real-time elastic deformations of soft tissues for surgery simulation," IEEE Trans. Visualization and Computer Graphics, vol. 5, no. 1, pp. 62-73, 1999.
S. P. DiMaio and S. E. Salcudean, "Needle insertion modelling and simulation," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 2098-2105, May 2002. [Not to be selected for paper presentation]
A. G. Gallagher, E. M. Ritter, H. Champion, G. Higgins, M. P. Fried, G. Moses, C. D. Smith, and R. M. Satava, "Virtual reality simulation for the operating room: proficiency-based training as a paradigm shift in surgical skills training," Annals of Surgery, vol. 241, pp. 364-372, Feb. 2005.
M. Mahvash, L. Voo, D. Kim, K. Jeung, and A. M. Okamura, "Modeling the forces of cutting with scissors," IEEE Trans. Biomedical Engineering, vol. 55, no. 3, pp. 848-856, 2007. (pdf)
H.-W. Nienhuys and A. F. van der Stappen, "A surgery simulation supporting cuts and finite element deformation," in Medical Image Computing and Computer Assisted Intervention (MICCAI), pp. 153-160, Oct. 2001.
D. Pai, "Strands: Interactive simulation of thin solids using Cosserat models," Computer Graphics Forum (Eurographics) vol. 21, 347-352, 2002.
N. E. Seymour, A. G. Gallagher, S. A. Roman, M. K. O'Brien, V. K. Bansal, D. K. Andersen, and R. M. Satava, "Virtual reality training improves operating room performance: results of a randomized, double-blinded study," Annals of Surgery, vol. 236, pp. 458-463, Oct. 2002.

Simulation-based Planning

R. Alterovitz, J. Pouliot, R. Taschereau, I.-C. Hsu, and K. Goldberg, "Sensorless planning for medical needle insertion procedures," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), vol. 3, pp. 3337-3343, Oct. 2003. [Not to be selected for paper presentation]
R. Alterovitz, K. Goldberg, J. Pouliot, I.-C. J. Hsu, Y. Kim, S. M. Noworolski, and J. Kurhanewicz, "Registration of MR prostate images with biomechanical modeling and nonlinear parameter estimation," Med. Phys., vol. 33, pp. 446-454, Feb. 2006.
R. Alterovitz, K. Goldberg, and A. M. Okamura, "Planning for steerable bevel-tip needle insertion through 2D soft tissue with obstacles," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 1652-1657, Apr. 2005.
F. S. Azar, D. N. Metaxas, and M. D. Schnall, "A deformable finite element model of the breast for predicting mechanical deformations under external perturbations.," Academic Radiology, vol. 8, pp. 965-975, Oct 2001.
J. R. Crouch, S. M. Pizer, E. L. Chaney, Y.-C. Hu, G. S. Mageras, and M. Zaider, "Automated finite-element analysis for deformable registration of prostate images," IEEE Trans. Medical Imaging, vol. 26, pp. 1379-1390, Oct. 2007.
S. P. DiMaio and S. E. Salcudean, "Needle steering and model-based trajectory planning," in Medical Image Computing and Computer Assisted Intervention (MICCAI), pp. 33-40, 2003.
E. Dehghan and S. E. Salcudean, "Needle insertion point and orientation optimization in non-linear tissue with application to brachytherapy," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 2267-2272, Apr. 2007.
V. Mallapragada, N. Sarkar, and T. Podder, "A robotic system for real-time tumor manipulation during image guided breast biopsy," in Proc. IEEE Int. Conf. Bioinformatics and Bioengineering, 2007.
M. Moll and L. E. Kavraki, "Path Planning for Deformable Linear Objects," vol. 22, no. 4, pp. 625-636, Aug. 2006.
H.-P. Lee, M. C. Lin, and M. Foskey, "Physically-based validation of deformable medical image registration," in Medical Image Computing and Computer Assisted Intervention (MICCAI), 2008.
R. Gayle, W. Segars, M. C. Lin, and D. Manocha, "Path planning for deformable robots in complex environments," in Proc. Robotics: Science and Systems, 2005. (pdf)
Andrew M. Ladd and Lydia E. Kavraki, "Motion Planning in the Presence of Drift, Underactuation and Discrete System Changes," Robotics: Science and Systems I, MIT Press, Boston, MA, p. 233-241, 2005. (pdf)
Tim McInerney, Ghassan Hamarneh, Martha Shenton, and Demetri Terzopoulos, "Deformable organisms for automatic medical image analysis," Medical Image Analysis, vol. 6, 2002, pp. 251-266.
Samuel Rodriguez, Jyh-Ming Lien, N. M. Amato, "Planning Motion in Completely Deformable Environments," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 2466-2471, May 2006. (pdf)

Relevant Textbooks

H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, 2005.
S. M. LaValle, Planning Algorithms. Cambridge, U.K.: Cambridge University Press, 2006.
Available for free: http://planning.cs.uiuc.edu
Richard M. Murray, Zexiang Li, and S. Shankar Sastry, A Mathematical Introduction to Robotic Manipulation, 1994.
Dimitri P. Bertsekas, Dynamic Programming and Optimal Control, Athena Scientific, 2007.

Advice on Presentations

Giving an Academic Talk by Jonathan Shewchuk