Rapid miniaturization in robots used in a clinical/surgical setting necessitates the design of smart sensing techniques that can deliver reliable results in a compact form factor. Advances in sensing equipment and algorithms can improve state estimation, calibration, and haptics in dexterous surgical robotics. Furthermore, sensor fusion can provide the clinician/surgeon with a more complete picture than any isolated sensor and could enable AI integration into surgical robotics.

This workshop will focus on novel state sensing hardware and software for dexterous robots commonly used in a clinical or surgical setting. This may involve the design and modelling of sensors such as electromagnetic trackers, fiber Bragg gratings, force sensors, etc. as well as robot localization and state estimation. It will include the development of novel sensing hardware and software for the navigation and control of medical robots. In addition to these technologies, our workshop will include their appropriate software/algorithms for estimation, calibration, and sensor fusion.

The workshop on "Sensing and Feedback in Dexterous Medical/Surgical Robotics", is a half-day workshop at the International Symposium on Medical Robotics (2020 ISMR). It will be held on November 17, 2021 from 1:30 PM - 5:00 PM at the Marcus Nanotechnology Building on the Georgia Tech Campus (Room 1117).

List of Presentors:

• Dr. Pierre E. Dupont, Boston Children's /Harvard Medical School, Catheter navigation using haptic vision

• Dr. Ren Hongliang, National University of Singapore, Multidimensional Proprioceptive Sensing for Dexterous Medical Robotics

• Dr. Samuel Kadoury, Polytechnique Montreal, Going ROGUE: Towards low-cost and versatile optical sensors for image-guided interventions

• Dr. Emmanuel Vander Poorten, KU Leuven, TBD

• Dr. Ron Alterovitz, University of North Carolina at Chapel Hill, Towards Autonomous Steerable Needle Robots for Medical Procedures

• Dr. Iulian Iordachita, Johns Hopkins University, Shape Sensing Based Navigation of Flexible Medical Devices

• Dr. Farshid Alambeigi, UT Austin, SCADE: Simultaneous Sensor Calibration and Deformation Estimation of FBG-Equipped Unmodeled Continuum Manipulators

• Dr. Yash Chitalia and Nancy Deaton, Harvard Medical School and Georgia Tech, Towards Shape Sensing for Micro-scale and Meso-scale Continuum Robots with Large Deflection

Schedule of Events:

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