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| courses:455-655:2025:fall-2025-schedule [2025/08/05 17:53] – created rtaylor2 | courses:455-655:2025:fall-2025-schedule [2025/08/11 18:13] (current) – [Week 4] rtaylor2 |
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| xxxxx | ===============CIS I (601.455/655) Fall 2025 Schedule=============== |
| | ~~NOTOC~~ |
| | |
| | =====Note: This page is subject to change===== |
| | |
| | * I am still working out the detailed schedule for 2025. In particular, I am still considering the dates for handing out assignments and when they are due. |
| | * Also, I have currently left some place-holders for guest lectures. I may need to juggle these a bit, depending on when people are available. |
| | |
| | =====Week 1===== |
| | *August 26 |
| | * {{ :courses:455-655:2025:2025_cis_i_organization.pdf |Fall 2025 Organization Lecture}} |
| | * {{ :courses:455-655:2024:2024_introductory_lecture.pdf |CIS I Introductory Lecture}} |
| | * August 28 |
| | * {{ :courses:455-655:lectures:robotic_joint_replacement_surgery.pdf |Surgical CAD/CAM Case Study - - Joint Reconstruction Surgery}} |
| | * Reference material |
| | * CIS Book Chapters 27-29 |
| | * [[https://www.cs.jhu.edu/cista/455/Movies/Robodoc1.mpg|Early Robodoc marketing video, |
| | showing pin process]] |
| | * [[https://www.cs.jhu.edu/cista/455/Movies/borner.mpg|Robodoc clinical case video (pins)]] |
| | * [[https://www.cs.jhu.edu/cista/455/Movies/Pinless.mpg|Robodoc pinless clinical case video]] |
| | * [[https://www.cs.jhu.edu/cista/455/Movies/ISS_knee_unedited.mpg|Robodoc TKA clinical case |
| | video]] |
| | * [[https://www.cs.jhu.edu/cista/455/Lectures/Robodoc903.pdf|Lecture on Robodoc (Dr. Kazanzides)]] |
| | * [[https://www.cs.jhu.edu/cista/455/Lectures/Stindel%20Summer%20School%202007.pdf|Lecture on computer-assisted joint surgery by Dr. Eric Stindel]] |
| | * [[https://www.cs.jhu.edu/cista/455/http://www.bluebelttech.com/videos.php|Blue Belt PFS system]] |
| | * [[http://www.youtube.com/watch?v=Wun4AJcFZS|Mako Rio System]] |
| | * [[https://www.cs.jhu.edu/cista/455/Lectures/Robotic%20Joint%20Replacement%20Surgery.pptx.pdf|2017 Lecture by Prof. Peter Kazanzides on Robotic Total Hip and Knee Replacement Surgery]] |
| | =====Week 2===== |
| | * September 2 |
| | * Begin {{ :courses:455-655:lectures:frames.pdf|Basic Mathematical Methods for CIS}} |
| | * Additional Reference Material |
| | * [[http://cs229.stanford.edu/section/cs229-linalg.pdf|Linear algebra review]] |
| | * [[https://benjamindkilleen.com/files/frame_transformations.pdf|Frame Transformations in Computer Integrated Surgery: A Graphical Introduction (Ben Killeen)]] |
| | |
| | * September 4 |
| | * Conclude {{ :courses:455-655:lectures:frames.pdf|Basic Mathematical Methods for CIS}} |
| | * **Hand out Homework Assignment 1** |
| | |
| | =====Week 3===== |
| | * September 9 |
| | * {{ :courses:455-655:lectures:rigid3d3dcalculations.pdf |Computing rigid 3D-3D transformations from point and line pairs}} |
| | * Reference material: [[https://en.wikipedia.org/wiki/Point-set_registration|Excellent Wikipedia article on point set registration]] |
| | * September 11 |
| | * {{ :courses:455-655:lectures:localizers.pdf |Localizers}} |
| | * Reference Material |
| | * CIS Book Chapters 21-23 |
| | * [[https://link.springer.com/content/pdf/10.1007/s10527-020-09980-8.pdf|Localizers for Frameless Neuronavigation Systems]] |
| | * [[https://web.stanford.edu/class/me328/lectures/lecture7-tracking.pdf|Slides from lecture by Allison Okamura (Stanford University)]] |
| | * [[https://www.oto.theclinics.com/article/S0030-6665(17)30012-9/fulltext|Next-Generation Surgical Navigation Systems in Sinus and Skull Base Surgery]] |
| | * Also, you can do web searches on "surgical navigation technology" |
| | |
| | =====Week 4===== |
| | * September 16 |
| | * Begin {{ :courses:455-655:lectures:calibration.pdf |Calibration}} |
| | * {{ :courses:455-655:lectures:leastsquaresreview.pdf |Least Squares Review}} (if time) |
| | * {{ :courses:455-655:lectures:leastsquaresreview.pdf |Least Squares Review}} |
| | * {{ :courses:455-655:lectures:interpolationreview.pdf |Interpolation Review}} |
| | * [[https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.8.6623&rep=rep1&type=pdf|Paper on scattered point set interpolation]] |
| | * September 18 |
| | * Finish{{ :courses:455-655:lectures:calibration.pdf |Calibration}} |
| | * {{ :courses:455-655:lectures:leastsquaresreview.pdf |Least Squares Review}} |
| | * {{ :courses:455-655:lectures:interpolationreview.pdf |Interpolation Review}} |
| | * [[https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.8.6623&rep=rep1&type=pdf|Paper on scattered point set interpolation]] |
| | * **Hand out Programming Assignments #1 and #2** |
| | * {{ :courses:455-655:2024:programmingassignments1and2_scenario.pdf |Scenario Slides}} |
| | * {{ :courses:455-655:2024:pa_general_expectations.pdf | PA general expectations}} |
| | * {{ :courses:455-655:2024:pa_1_student_data.zip |Data for Programming Assignment #1}} |
| | * {{ :courses:455-655:2024:pa_2_student_data.zip |Data for Programming Assignment #2}} |
| | =====Week 5===== |
| | * September 23 |
| | * Guest Lecture: TBD (Dr. Taylor at conference) |
| | * **Homework Assignment #1 Due** |
| | * September 25 (Dr. Taylor at conference) |
| | * Guest Lecture: Dr. Francis Creighton |
| | * Neurotology and lateral skull base surgery |
| | =====Week 6===== |
| | * September 30 |
| | * Begin {{ :courses:455-655:lectures:segmentation_-_2023.pdf |Segmentation and Modeling}} |
| | * Supplemental material: [[https://www.cs.jhu.edu/cista/455/Lectures/Segmentation%20-%202020.pdf|2018 Guest lecture by Prof. Jerry Prince #1]] |
| | * **Hand out Homework #2** |
| | * October 2 |
| | * Finish {{ :courses:455-655:lectures:segmentation_-_2023.pdf |Segmentation and Modeling}} |
| | * [[https://www.cs.jhu.edu/cista/455Lectures/Segmentation-2%20%28Rev%20D%29.pdf|2018 Guest lecture by Prof. Jerry Prince #2]] |
| | * {{ :courses:455-655:lectures:gueziecsimp.pdf |Surface simplification inside a tolerance volume (Andre Gueziec's method)}} |
| | |
| | |
| | =====Week 7===== |
| | * October 7 |
| | * {{ :courses:455-655:lectures:registration_part_1.pdf |Registration (Part 1)}} |
| | * {{ :courses:455-655:lectures:finding_point-pairs.pdf |Finding point pairs for Iterated Closest Point algorithms}} |
| | * Reference Material |
| | * CIS Book Chapters 5 & 7 |
| | * CIS Book pp 3-75 |
| | * [[https://en.wikipedia.org/wiki/Point_set_registration|Wikipedia article on point set registration]] |
| | * October 9 |
| | * **Programming Assignment #1 due** |
| | * Guest lecture TBD or continue with Registration |
| | =====Week 8===== |
| | * October 13 |
| | * Finish {{ :courses:455-655:lectures:registration_part_2.pdf |Registration (Part 2)}} |
| | * {{ :courses:455-655:lectures:coherent_point_drift_registration.pdf |Coherent Point Drift Slides}} |
| | * Reference and supplemental Material |
| | * [[http://www.robots.ox.ac.uk/%7Eavsegal/resources/papers/Generalized_ICP.pdf|Paper on Generalized ICP Method]] |
| | * [[https://en.wikipedia.org/wiki/Point_set_registration|Wikipedia article on point set registration]] |
| | * {{ :courses:455-655:lectures:defense_presentation_cong_gao_-_handouts.pdf |Fluoroscopic Navigation for Robot-Assisted Orthopedic Surgery (Cong Gao)}} |
| | * October 16 |
| | * **WSE Fall Break - No class** |
| | =====Week 9===== |
| | * October 21 |
| | * {{ :courses:455-655:lectures:registration_part_3.pdf |Registration (Part 3)}} |
| | * Supplemental material |
| | * [[https://www.cs.jhu.edu/cista/455/Lectures/Gouthami_StatisticalAtlas_CIS446-converted.pptx.pdf|Statistical Atlases Construction and Application (G. Chintalapani)]] |
| | * [[https://www.cs.jhu.edu/cista/455/Lectures/AtlasValidation%20-%20Chintalapani%202010.pptx.pdf|Statistical Atlas Validation (G. Chintalapani)]] |
| | * [[https://www.cs.jhu.edu/cista/455/Lectures/Miccai_2011_TALK_Sharmi.pdf|Improving mesh vertices (S. Seshamani)]] |
| | * October 23 |
| | * **Hand out Programming Assignments #3 and #4}}** |
| | * Programming Assignments 3, 4, and 5 Data} |
| | * Finish {{ :courses:455-655:lectures:registration_part_3.pdf |Registration (Part 3)}} |
| | * Supplemental material |
| | * [[https://www.cs.jhu.edu/cista/455/Lectures/Gouthami_StatisticalAtlas_CIS446-converted.pptx.pdf|Statistical Atlases Construction and Application (G. Chintalapani)]] |
| | * [[https://www.cs.jhu.edu/cista/455/Lectures/AtlasValidation%20-%20Chintalapani%202010.pptx.pdf|Statistical Atlas Validation (G. Chintalapani)]] |
| | * [[https://www.cs.jhu.edu/cista/455/Lectures/Miccai_2011_TALK_Sharmi.pdf|Improving mesh vertices (S. Seshamani)]] |
| | * Begin * {{ :courses:455-655:lectures:medical_robots_part_1.pdf |Medical Robotics, Constrained Control and Virtual Fixtures (Part 1)}} (if time) |
| | =====Week 10===== |
| | * October 29 |
| | * **Homework 2 Due** |
| | * Finish{{ :courses:455-655:lectures:medical_robots_part_1.pdf |Medical Robotics, Constrained Control and Virtual Fixtures (Part 1)}} |
| | * Begin {{ :courses:455-655:lectures:medical_robots_part_2.pdf |Medical Robotics, Constrained Control and Virtual Fixtures (Part 2)}} |
| | * Supplemental Material: {{ :courses:455-655:lectures:max_li_iros_2020_presentation.pdf |Anatomical Mesh-Based Virtual Fixtures for Surgical Robots}} |
| | |
| | * October 31 |
| | * Finish {{ :courses:455-655:lectures:medical_robots_part_2.pdf |Medical Robotics, Constrained Control and Virtual Fixtures (Part 2)}} |
| | * Supplemental Material: {{ :courses:455-655:lectures:max_li_iros_2020_presentation.pdf |Anatomical Mesh-Based Virtual Fixtures for Surgical Robots}} |
| | * Begin {{ :courses:455-655:lectures:medical_robots_part_3_-_autonomy.pdf |Human-Machine Partnerships in Surgical Robot Systems}} |
| | * [[ https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9805578 | R. H. Taylor, N. Simaan, A. Menciassi, and G. Z. Yang, "Surgical Robotics and Computer-Integrated Interventional Medicine", Proceedings of the IEEE, vol. 110- 7, pp. 823-834, 2022.]] |
| | * [[ https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9805576| P. Fiorini, K. Y. Goldberg, Y. Liu, and R. H. Taylor, "Concepts and Trends in Autonomy for Robot-Assisted Surgery", Proceedings of the IEEE, vol. 110- 7, pp. 993-1011, 2022.]] |
| | * [[ https://doi.org/10.1117/12.2550198 10.1117/12.2550198 | T. Xie, M. Shahbazi, Y. Wu, R. H. Taylor, and E. M. Boctor, "Stabilized ultrasound imaging of a moving object using 2D B-mode images and convolutional neural network", in Proc.SPIE, 2020.]] |
| | * {{ :courses:455-655:lectures:tx-stable-us-spie.pdf |Slides from SPIE talk on stabilized ultrasound imaging}} |
| | |
| | =====Week 11===== |
| | * November 4 |
| | * **Programming Assignment #2 due** |
| | * Hand out Homework Assignment #3 |
| | * Finish {{ :courses:455-655:lectures:medical_robots_part_3_-_autonomy.pdf |Human-Machine Partnerships in Surgical Robot Systems}} |
| | * [[ https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9805578 | R. H. Taylor, N. Simaan, A. Menciassi, and G. Z. Yang, "Surgical Robotics and Computer-Integrated Interventional Medicine", Proceedings of the IEEE, vol. 110- 7, pp. 823-834, 2022.]] |
| | * [[ https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9805576| P. Fiorini, K. Y. Goldberg, Y. Liu, and R. H. Taylor, "Concepts and Trends in Autonomy for Robot-Assisted Surgery", Proceedings of the IEEE, vol. 110- 7, pp. 993-1011, 2022.]] |
| | * [[ https://doi.org/10.1117/12.2550198 10.1117/12.2550198 | T. Xie, M. Shahbazi, Y. Wu, R. H. Taylor, and E. M. Boctor, "Stabilized ultrasound imaging of a moving object using 2D B-mode images and convolutional neural network", in Proc.SPIE, 2020.]] |
| | * {{ :courses:455-655:lectures:tx-stable-us-spie.pdf |Slides from SPIE talk on stabilized ultrasound imaging}} |
| | * November 6 |
| | |
| | * **Hand Out {{ :courses:455-655:2024:programming_5_600-445-2024.pdf |Optional Programming Assignment 5}}** |
| | *{{ :courses:455-655:2023:pa5_notes.pdf | Notes for PA#5: Deformable Registration to a Statistical Shape Model}} |
| | * Case study: {{ :courses:455-655:lectures:craniofacial_surgery.pdf |Craniofacial osteotomies}} |
| | * **Hand out Homework Assignment 4** |
| | |
| | =====Week 12===== |
| | * November 11 |
| | * Guest Lecture TBD |
| | * Prof Taylor in Canada |
| | * November 14 |
| | * Guest Lecture TBD |
| | * Prof Taylor in Canada |
| | * **Programming Assignment #3 due** |
| | |
| | |
| | =====Week 13===== |
| | * November 19 |
| | * Lecture TBD |
| | * November 21 |
| | * **Homework Assignment 3 Due** |
| | * Lecture TBD |
| | |
| | =====Week 14===== |
| | |
| | * November 25 - **NO Class (Thanksgiving Week)** |
| | * November 27 - **NO Class (Thanksgiving Week)** |
| | |
| | =====Week 15===== |
| | |
| | * December 2 |
| | * Lecture TBD |
| | * **Homework Assignment 4 Due** |
| | * December 4 |
| | * {{ :courses:455-655:lectures:therac.pdf |Safety Case Study: The Therac 25 Accidents}} |
| | * Background Material: |
| | * [[https://web.stanford.edu/class/cs240/old/sp2014/readings/therac-25.pdf|Nancy Levenson and Clark Turner, "The Investigation of the Therac 25 Accidents", Computer 26(7) pp18-41]] |
| | * [[http://sunnyday.mit.edu/papers/therac.pdf|Therac-25 Accidents: An Updated Version of the Original Accident Investigation Paper (by Nancy Leveson)]] from Dr. Leveson's Book, [[http://sunnyday.mit.edu/book.html|Software, System Safety, and Computers]], Addison Wesley, 1995. |
| | * **Programming Assignment 4 Due** |
| | |
| | |
| | =====Optional Programming Assignment #5 ===== |
| | * There will be no written final exam for CIS I. Instead, there is an optional programming assignment that can be used to improve a student's grade. |
| | * The due date (subject to change) is **December 13 at 10:00PM**. |
| | * If this due date conflicts with another final exam on the same date, then contact the TA. We will give an extension until the first day on which you do **not** have an exam, but no further. We have very limited flexibility for this, since the assignments can require considerable time to grade. |
