<html><head><style type='text/css'>p { margin: 0; }</style></head><body><div style='font-family: arial,helvetica,sans-serif; font-size: 12pt; color: #000000'><a href="http://maeseminars.princeton.edu/show.php?id=355&sem=cur">Mechanical and Aerospace Engineering Seminar</a><br><div><span name="x"></span><span class="Title">Modeling, Planning, and Control for Robot-Assisted Medical Interventions</span></div>
Allison Okamura, <span class="Affiliation">Stanford University<br>Friday, November 13, 3:30pm<br>Bowen Hall Room 222<br><br><br></span><p class="Abstract">Many medical interventions today are qualitatively
and quantitatively limited by human physical and cognitive capabilities.
This talk will discuss several robot-assisted intervention techniques
that will extend humans’ ability to carry out interventions more
accurately and less invasively. First, I will describe the development
of minimally invasive systems that deliver therapy by steering needles
through deformable tissue and around internal obstacles to reach
specified targets. Second, I will review recent results in haptic
(touch) feedback for robot-assisted teleoperated surgery, in particular
the display of tissue mechanical properties. Finally, I will demonstrate
the use of dynamic models of the body to drive novel rehabilitation
strategies. All of these systems incorporate one or more key elements of
robotic interventions: (1) quantitative descriptions of patient state,
(2) the use of models to plan interventions, (3) the design of devices
and control systems that connect information to physical action, and (4)
the inclusion of human input in a natural way. <br></p><p class="Abstract"><br></p>
<p class="Bio">Allison M. Okamura received the BS degree from the
University of California at Berkeley in 1994, and the MS and PhD degrees
from Stanford University in 1996 and 2000, respectively, all in
mechanical engineering. She is currently a professor in the mechanical
engineering department at Stanford University, with a courtesy
appointment in Computer Science. She is Editor-in-Chief of the IEEE
International Conference on Robotics and Automation and an IEEE Fellow.
Her academic interests include haptics, teleoperation, virtual and
augmented reality, medical robotics, neuromechanics and rehabilitation,
prosthetics, and engineering education. Outside academia, she enjoys
spending time with her husband and two children, running, and playing
ice hockey. For more information about her research, please see the
Collaborative Haptics and Robotics in Medicine (CHARM) Laboratory
website: http://charm.stanford.edu.
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