Poster Teasers

1.! M. P. Chapman, T. Yokota, T. Ota, S. Tully, D. Schwartzman, B. Zubiate, C. Wright, H. Choset, and M. A. Zenati , A Highly Articulated Robotic System (CardioARM) is Safer than a Rigid System for Intrapericardial Intervention in a Porcine Model

2.! M. Ho, A. Ananthanarayanan, L. Ehrlich, R. Gullapalli, J. M. Simard, S. K. Gupta, and J. P. Desai , Towards a Minimally Invasive Neurosurgical Intracranial Robot

3.! S. Iqbal, S. Mohammed, Y. Amirat, and G. Fried , Uncertainty Analysis in Continuum Robot Kinematics

4.! S. B. Kesner, and R. D. Howe , Ultrasound Image-Controlled Robotic Cardiac Catheter System

5.! W. Park, and G. S. Chirikjian , Stochastic Modeling and Path Planning for Steerable Needles 6.! B. Rosa, P. Mozer and Jérôme Szewczyk, Robotization of a Ureteroscope for Efficient Semi-automatic

Vaporization of Kidney Stones

7.! J. Zhang, J. Thomas Roland Jr., S. Manolidis and N. Simaan, Steerable Continuum Robot Design for Cochlear Implant Surgery

8.! W. Wei, H. F. Fine, S. Chang, and N. Simaan, A Pilot Study on Using a Flexible Cannula Robot for Micro-Vascular Stenting

9.! H. Su, K. Harrington, G. Cole, Y. Wang, and G. S. Fischer, Modular Needle Steering Driver for MRI-guided Transperineal Prostate Intervention

10.! I. Tunay, Distributed Parameter Statics of Magnetic Catheters

11.! N. A. Wood, K. Shahrour, M. C. Ost, and C. N. Riviere , Closed-Loop Control of Needle Steering for Percutaneous Kidney Access

12.! H. S. Yoon, Y. Choi, and B. J. Yi , A 4-DOF Bendable Endoscope Mechanism for Single Port Access Surgery

2

A Highly Articulated Robotic System

(CardioARM) is Safer than a

Rigid System for Intrapericardial

Intervention in a Porcine ModelM. P. Chapman1, T. Yokota1, T. Ota1, S. Tully2, D. Schwartzman1, B. Zubiate2, C. Wright2

H. Choset2, M. A. Zenati1

1 2

Towards a Minimally Invasive Neurosurgical Intracranial Robot

• Challenges

─ How to electrocauterize the tumor using the robot?

─ How to obtain continuous imaging and control during

surgery?

─ How to fabricate a disposable device in a cost effective

manner?

• Results

─ Developed a minimally invasive snake like

manipulator which can be operated in MRI

─ Controllable using shape memory alloy based

actuation

─ Fabricated using In-mold assembly methods

Brain tumor: One of the most feared

complications of cancer

Mingyen Ho1,3, Arvind Ananthanarayanan2,3 (Ph.D), Leicester Ehrlich2,3, Rao Gullapalli4 (Ph.D), J. Marc Simard4 (MD),

and Satyandra K. Gupta2,3 (Ph.D), Jaydev P. Desai1,3 (PI, Ph.D), 1Robotics, Automation, and Medical Systems (RAMS) Laboratory, University of Maryland, College Park, MD 20742

2Advanced Manufacturing Laboratory (AML), University of Maryland, College Park, MD 207423Maryland Robotics Center, Institute for Systems Research, University of Maryland, College Park, MD 20742

4University of Maryland School of Medicine, Baltimore, MD, USA

MINIR made by In-mold assembly

4-Links brass prototype moves in gelatin

U t i t A l i i C ti R b t Ki ti

S I b l S M h d Y A i t d G F i d

Uncertainty Analysis in Continuum Robot KinematicsApplications to Minimal Invasive Surgery

S ll h i l U i i b i l h

S. Iqbal, S. Mohammed, Y. Amirat, and G. FriedLISSI Robotics Lab, University of Paris-Est, France

Small physical Uncertainties become crucial when robot is used for the surgical procedures.

Use of Interval Analysis to take into account such system uncertainties Continuum robot with its modelsystem uncertainties.

Impact of uncertainties on the joint space and in

Continuum robot with its model

Impact of uncertainties on the joint space and in the task space.

Guaranteed Kinematics

Samuel B. Kesner1 and Robert D. Howe1,21Harvard School of Engineering and Applied Sciences, Cambridge, MA

2 Division of Health Sciences and Technology, MIT/Harvard, Cambridge, MA

Ultrasound ImageUltrasound Image--Controlled Robotic Cardiac Catheter SystemControlled Robotic Cardiac Catheter System

Can catheters operate on the inside of a beating heart?

How can catheters manipulate moving cardiac tissue?

Are catheters the future of Cardiac Surgery?

Can catheters operate on the inside of a beating heart?

How can catheters manipulate moving cardiac tissue?

Are catheters the future of Cardiac Surgery?

Visual Servoing

SystemSystem

Stochastic Modeling and Path Planning for Steerable Needles

• Flexible needles with bevel tips are steered in soft tissue using two inputs : pushing and rotating.

• How can we model the needle insertion?• How can we solve the path planning problem?• How can we determine the model parameters?

Wooram Park and Gregory S. ChirikjianDepartment of Mechanical Engineering, Johns Hopkins University, USA

Robotization of a ureteroscope for efficient semi-automatic vaporization of kidney stones

B. Rosa, P. Mozer and J. Szewczyk are with UPMC Univ Paris 06, UMR 7222, ISIR, F-75005, Paris, FranceP. Mozer is also with AP-HP, Pitié-Salpétrière Hospital, Department of Urology, F-75013, Paris, France

Benoit Rosa, P. Mozer, and J. Szewczyk

ProblemUreteroscopic treatment of kidney stones with laser directly inside the

kidney :mini invasive, but not precise enough.

Problem: stones fragmentation instead of vaporization

Proposed solution Laser fiber

Algorithm search zone

Algorithm starting point

Algorithm result

Stone limits

Results

SMA wires

4mm inner diameter sheath

Electrical mass wire

Bushing

Ureteroscope

120°SMA wire

A

AA-A Section

Operational active ureteroscope prototype

Efficient segmentation algorithm

Steerable Continuum Robot Design for Cochlear Implant SurgerySteerable Continuum Robot Design for Cochlear Implant Surgery

Jian Zhang1, J. Thomas Roland Jr.2, Spiros Manolidis3, Nabil Simaan1

1ARMA, Department of Mechanical Engineering, Columbia University 2Department of Otolaryngology and Neurosurgery, New York University School of Medicine

3Department of Otology and Neurotology, Beth Israel Medical Center

This research is supported by Grant #0651649 from National Science Foundation (CBET).

Actuation strand

Electrode array

Optimal design of under-actuated continuum robot with an embedded strand

Elastic modeling of steerable electrode array

Fitting a target curve with a given shape by analytically solving embedded strand placement

Fitting a series of target curves at different insertion depths using optimization algorithm

Non-Optimized Electrode

Optimized ElectrodeElectrode Insertion Robot

Pilot Study on Using Novel Flexible Cannula Robot for MicroPilot Study on Using Novel Flexible Cannula Robot for Micro--Vascular StentingVascular Stenting

• Design a 3-DoF novel flexible cannula robot (concentric tubing robot)

• Enable retinal micro-vascular stenting procedures

• Present preliminary experiment results for micro-stent delivery into mockup micro blood vessel models

• Provide a potential cure for retinal vein occlusion (CRVO/BRVO)

Wei Wei1, Howard F. Fine2, Stanley Chang3, Nabil Simaan11ARMA Lab, Department of Mechanical Engineering, Columbia University, New York, NY 10027

2Robert Wood Johnson University Hospital, 125 Paterson Street, New Brunswick, NJ 08901 3Department of Ophthalmology, Columbia University Medical Center, New York, NY 10032

Micro-stent delivery into agar-based blood vessel model:

Micro-stent delivery into CAM-based blood vessel model:

Modular Needle Steering Driver for MRI-guidedTransperineal Prostate Intervention

Hao Su, Kevin Harrington, Gregory Cole, Yi Wang and Gregory S. Fischer Automation and Interventional Medicine (AIM) Robotics Laboratory, Worcester Polytechnic Institute, USA

Needle Driver with Force Sensing

Force SensorTiming Belt

System Architecture

g

Needle ColletStylet Motor

Carriage Motor

Preloaded Spring

No Robot Robot Present Difference

1

MR Compatibility ResultsMRI TestPhantom

Needle Driver

T1T2

RE

FGR

EPI

Positioning Stage

Distributed Parameter Statics of Magnetic Catheters

Ilker Tunay, D.Sc. Stereotaxis, Inc.

•Cosserat rod model for elongate devices: bending, twisting and shear

•DOF: Centroid position and unit quaternion for rotation, total 7

•Variational derivation of weak equations for FEM

•Penalty term to enforce unity constraint

•Constitutive relationships of polymer tubes from experiments

•Transversely isotropic: Four stiffness constants for each segment

•Compared to 3D FEM:

40-fold reduction in DOF, 100-fold reduction in exec time

Closed-Loop Control of Needle Steering for Percutaneous Kidney Access

N. A. Wood1, K. Shahrour2, M. C. Ost2, C. N. Riviere1

1The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 152132Department of Urology, University of Pittsburgh, Pittsburgh, PA 15213

• Duty-cycled Spinning of Bevel-Tip Needles– Enables Control of Curvature

• How can this be put to use clinically?

A 4-DOF Bendable Endoscope MechanismpFor Single Port Access SurgeryHyun-Soo Yoon, Youngjin Choi, and Byung-Ju Yi

School of Electrical Engineering and Computer Science, Hanyang University, KOREA