RSS 2012 Workshop on Algorithmic Frontiers in Medical Robotics: Manipulation in Uncertain, Deformable, Heterogenous Environments

Webcast: http://webconf.ucc.usyd.edu.au/r8ykg9f5xu1/

Abstract

Medical robotics is a rapidly-growing field with new devices and methods emerging from industry, academia, and the medical community. One of the great frontiers in this field lies at the algorithmic level. How can we model and simulate 3D deformable tissues? How do we overcome the uncertainty inherent in surgical interventions? How can we integrate motion planning and control with an intuitive user interface? What advances in hardware can be enhanced with algorithmic components? The purpose of this workshop is to bring together researchers, engineers, and physicians studying the above questions and also to discuss applications of methods in robotics to problems in medicine.

 

Location, Date, and Time

The workshop will be held during the Robotics Science and Systems (RSS) 2012 Conference in Sydney, Australia. The workshop will take place on the mornings of July 9th and 10th.

The workshop will be held in Room S421. Please see the directions for how to get there here: http://roboticsconference.org/pmwiki/index.php?n=Main.Venue#RoomS421

 

Workshop Overview

The purpose of this workshop is to provide a forum for researchers, engineers, and physicians across various fields to discuss emerging algorithmic frontiers in medical robotics.

Medical robotics is a rapidly-growing field with new devices and methods emerging from industry, academia, and the medical community. Advances in hardware such as the Da Vinci system from Intuitive Surgical, the recently-developed Raven open tele-surgery robots, and robots for specialized procedures such as brachytherapy open up new application areas.

One of the great frontiers in this field, and the one this workshop will primarily focus on, lies at the algorithmic level. For example: How can we model and simulate 3D deformable tissues? How do we overcome, or are successful despite, the uncertainty inherent in surgical interventions? How can we integrate motion planning and control with an intuitive user interface? What advances in hardware can be enhanced with algorithmic components? How to most effectively have humans work side-by-side with medical robots?

This workshop will bring together researchers, engineers, and physicians to identify and discuss new opportunities for algorithms and computation to advance the state of the art in medical robotics. We will explore algorithms that improve the planning, control, and effectiveness of existing systems as well as emerging devices. We will also explore how improvements in modeling and simulation can enable more accurate and robust pre- and intra-operative planning. Finally, we will explore new algorithms for interfacing humans and medical robots both at the high and low levels.

There will be a mix of invited speakers and presentations of submitted papers. Audience participation will be encouraged through discussion sessions that will address specific questions on the state of the art in medical robotics and the proposed directions of new research efforts. An interactive poster session will be organized if there is a larger number of submissions allowing more contributors to present their work and have more detailed discussions with the workshop attendees. In this way, we hope to include as many contributors as possible and make the workshop an open forum for fruitful discussions between invited speakers, active contributors, and the attending audience.


Invited Speakers

Karol Miller (University of Western Australia)
Sarthak Misra (University of Twente)
Stephane Cotin (University of Lille)
Allison Okamura (Stanford University)
Howard Chizeck (University of Washington)
Noah Cowan (Johns Hopkins University)
Jur van den Berg (University of Utah)

 

Schedule

Monday July 9th, 2012

8:30 Welcome  
8:40 Howard Chizeck Algorithms for Haptic Rendering and Virtual Fixtures for Robotic Surgery (abstract)
9:05 Karol Miller Computational Biomechanics for Planning & Navigation in Image-guided Surgery (abstract)
9:30 Allison Okamura Human-robot Interfaces for Needle Steering (abstract)
9:55 Coffee Break  
10:30 Contributed Abstract Surgical Telerobotics Meets Information Security
T. Bonaci and H.J. Chizeck
10:50 Contributed Abstract A Computer Vision Approach to Virtual Fixtures in Surgical Robotics
F. Ryden, S.N. Kosari, and H.J. Chizeck
11:10 Ron Alterovitz Safe Motion Planning for Medical Robots in Uncertain, Deformable Environments (abstract)
11:35 Discussion  
12:00 Lunch  

 

 

 

 

 

 

 

 

 

 

 

Tuesday July 10th, 2012

8:30 Welcome  
8:40 Sarthak Misra Predicting Target Motion for Planning of Medical Interventions (abstract)
9:05 Noah Cowan Needle Steering Points to New Problems in Estimation and Control (abstract)
9:30 Stephane Cotin Soft-tissue Interactions and Their Application to Real-time Medical Simulation (abstract)
9:55 Coffee Break  
10:30 Jur van den Berg TBD
10:55 Dmitry Berenson Enabling Precise Dose Delivery and Surgical Sub-task Automation through Optimization, Machine Learning, and Motion Planning (abstract)
11:20 Discussion  
12:00 Lunch  

 

 

 

 

 

 

 

 

Call for Abstracts

Submission deadline: June 15th, 2012
Notification of acceptance: June 19th, 2012

We solicit 2 page abstract submissions, optionally accompanied by a video, both of which will be reviewed (not double-blind) by the organizers. An interactive poster session will be organized if there is a larger number of submissions. Accepted abstracts and videos will be distributed on the workshop website.

Topics of interest include (but are not limited to):

* Perception and modeling of anatomy
* Haptic and other user interfaces
* Perception/planning/control for deformable object manipulation
* Perception/planning/control of needle insertion/steering
* Planning and control in the presence of uncertainty
* New algorithms and hardware for surgical robotics
* New clinical applications for robotics
* Learning methods applied to medical robotics
* Human-robot interaction/collaboration in medical tasks
* Hardware advances that can be enhanced with algorithmic components

Abstracts should be in PDF, conform to the RSS regular conference paper style guidelines, and be a maximum of 2 pages in length. Videos should be in the MP4 format, 3-5 minutes in length, and easily viewed with free video players (please try playing your video on a couple of different machines before submitting).

Email submissions to: berenson [at] eecs.berkeley.edu. Please do not attach video files to email; include a URL instead.

Organizers

Dmitry Berenson (Worcester Polytechnic Institute), dberenson [at] wpi.edu (contact with questions)
Ron Alterovitz (UNC Chapel Hill), ron [at] cs.unc.edu
Pieter Abbeel (UC Berkeley), pabbeel [at] cs.berkeley.edu
Ken Goldberg (UC Berkeley), goldberg [at] berkeley.edu