Seminar 2008 04 30 Haptics
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CISST ERC Seminar
Haptics in Medical Robotics: Surgery, Simulation, and Rehabilitation
Date: Wednesday, April 30, 2008
Time: 12:00pm
Place: CSEB B17 (Lunch will be served at 11:30am)
Speaker: Allison Okamura
Johns Hopkins University
Title: Haptics in Medical Robotics: Surgery, Simulation, and Rehabilitation
Presentation: PDF, not yet uploaded
Abstract
Haptics is the science and technology of experiencing and creating touch sensations in human operators. This talk will examine the role of haptics in three types of systems: surgical robotics, surgical simulators, and rehabilitation robotics. Robot-assisted surgery can improve the outcomes of medical procedures by enhancing accuracy and minimally invasive access, thereby reducing patient trauma and recovery time. However, the current lack of force and tactile information is hypothesized to compromise system performance. With approaches ranging from psychophysical studies to control systems engineering, we are designing teleoperated robots capable of providing haptic feedback in challenging surgical environments. Haptic information is also needed for accurate surgical simulation. Surgical simulators present a safe and potentially effective method for surgical training, and can also be used in robot-assisted surgery for pre- and intra-operative planning. I will describe experiments to determine the mechanics of interaction between surgical instruments and tissues, as well as techniques for accurate patient-specific modeling. Finally, rehabilitation through robotically enabled orthotics and prosthetics inherently requires understanding and appropriate generation of haptic interactions. Our current work in this area includes motor control augmentation with an exoskeleton robot, and studies of the role of haptic proprioception in prosthetic limb use.
Bio
Allison M. Okamura received the B.S. degree from the University of California at Berkeley in 1994, and the M.S. and Ph.D. degrees from Stanford University in 1996 and 2000, respectively, all in Mechanical Engineering. She is currently an Associate Professor of Mechanical Engineering and a thrust leader of the National Science Foundation's Engineering Research Center for Computer-Integrated Surgical Systems and Technology at Johns Hopkins University. Her research awards include the 2004 National Science Foundation CAREER Award and the 2005 IEEE Robotics Automation Society Early Academic Career Award, and her Johns Hopkins educational awards include the 2003 Diversity Recognition Award and the 2004 George E. Owen Teaching Award. Her research interests include teleoperation, medical robotics, virtual environments and simulators, smart prosthetics, rehabilitation engineering, and engineering education.