CIS I (601.455/655) Fall 2021 Schedule

NOTE: This page is still under construction and is subject to change

• August 31
  • Fall 2021 Organization Lecture
  • Introductory Lecture
• September 2
  • Introductory Lecture (concluded)
  • Hand out Homework Assignment 1
    • Supplemental Materials:
      • factors_contributing_to_mammography_failure.pdf
      • combined_screening_with_ultrasound_and_mammography.pdf

• September 7
  • Surgical CAD/CAM Case Study - - Joint Reconstruction Surgery
    • Reference material
      • CIS Book Chapters 27-29
      • Early Robodoc marketing video, showing pin process
      • Robodoc clinical case video (pins)
      • Robodoc pinless clinical case video
      • Robodoc TKA clinical case video
      • Lecture on Robodoc (Dr. Kazanzides)
      • Lecture on computer-assisted joint surgery by Dr. Eric Stindel
      • Blue Belt PFS system
      • Mako Rio System
      • 2017 Lecture by Prof. Peter Kazanzides on Robotic Total Hip and Knee Replacement Surgery
  • September 9
    • Localizers
      • Reference Material
        • CIS Book Chapters 21-23
        • Localizers for Frameless Neuronavigation Systems
        • Slides from lecture by Allison Okamura (Stanford University)
        • Next-Generation Surgical Navigation Systems in Sinus and Skull Base Surgery
        • Also, you can do web searches on “surgical navigation technology”

• September 14
  • Guest Lecture by Xingtong Liu on quantitative sinus endoscopy (Prof.Taylor at Center Review Panel)
• September 16
  • Homework Assignment 1 due
  • Begin Mathematical Methods for CIS
  • Additional Reference Material
    • Introduction to Coordinate Transformations - lecture by Gabor Fichtinger
    • Linear algebra review
  • Hand out Homework Assignment #2
• September 16 (Optional Discussion Section at 5:30 P.M. with Benjamin)
  • In person: Krieger 306.
  • Online: https://jhubluejays.zoom.us/my/benjamindkilleen

• September 21
  • Conclude Basic Mathematical Methods for CIS
  • Hand out Homework Assignment #2
  • Present Possible student project involving surgical simulator
• September 23
  • Computing rigid 3D-3D transformations from point and line pairs
  • Begin Calibration
    • Least Squares Review (if time)
• September 23 (Optional Discussion Section at 5:30 P.M. with Maia)
  • In person: Krieger 306.
  • Online: https://jhubluejays.zoom.us/my/maiastiber
  • Section HW2 Practice Questions

• September 28
  • Homework Assignment #2 due
  • Hand out Homework Assignment #3
  • Continue Calibration
    • Least Squares Review
    • Interpolation Review
    • Paper on scattered point set interpolation
• September 30
  • Guest Lecture on spine surgery by Dr. Amit Jain
• September 30 (Optional Discussion Section at 5:30 P.M. with Benjamin)
  • In person: Krieger 306.
  • Online: https://jhubluejays.zoom.us/my/benjamindkilleen

• October 5
  • Hand out Programming Assignments #1 and #2
    • Scenario Slides
    • Data for Programming Assignments #1 and #2
  • Finish Calibration
    • Interpolation Review
• October 7
  • (Homework Assignment #3 due date extended to October 11)
  • Begin Segmentation and Modeling
    • Supplemental material: 2018 Guest lecture by Prof. Jerry Prince #1
• October 7 (Optional Discussion Section at 5:30 P.M. with Maia)
  • In person: Krieger 306.
  • Online: https://jhubluejays.zoom.us/my/maiastiber

• October 11
  • Homework Assignment #3 Due at noon
• October 12
  • Hand out Homework Assignment #4
  • Finish Segmentation and Modeling
    • 2018 Guest lecture by Prof. Jerry Prince #2
• October 14
  • Begin Registration (Part 1)
    • Finding point pairs for Iterated Closest Point algorithms
  • Reference Material
    • CIS Book Chapters 5 & 7
    • CIS Book pp 3-75
    • Wikipedia article on point set registration
  • Possible student project (recruiting now)

• October 19
  • Finish Registration (Part 1)
    • Finding point pairs for Iterated Closest Point algorithms
    • Coherent Point Drift Algorithm
    • Reference and supplemental Material
      • Paper on Generalized ICP Method
      • Wikipedia article on point set registration
• October 21
  • Begin Registration (Part 2)
  • Reference and supplemental Material
    • Paper on Generalized ICP Method
    • Wikipedia article on point set registration
    • Statistical Atlases Construction and Application (G. Chintalapani)
    • Statistical Atlas Validation (G. Chintalapani)
    • Improving mesh vertices (S. Seshamani)

• October 26
  • Hand out Homework Assignment #5
  • Finish Registration (Part 2)

• October 28
  • Programming Assignment #1 due
  • Begin Registration (Part 3)
    • Active appearances

• November 2 (Election Day in US - Vote if you are eligible)
  • Homework Assignment #4 due
  • Hand out Programming Assignments #3 and #4
    • Data for PA 3,4,5
  • Finish Registration (Part 3)
  • Begin Medical Robotics, Constrained Control and Virtual Fixtures (Part 1)
• November 4
  • Finish Medical Robotics, Constrained Control and Virtual Fixtures (Part 1)
  • Begin Robotics, Constrained Control and Virtual Fixtures (Part 2)
    • Supplemental Material: Anatomical Mesh-Based Virtual Fixtures for Surgical Robots

• November 4 (Optional Discussion Section at 5:30 P.M. with Maia)
  • In person: Krieger 306.
  • Online: https://jhubluejays.zoom.us/my/maiastiber

• November 9
  • Programming Assignment #2 due
  • Hand out Homework Assignment #6
  • Medical Robotics, Constrained Control and Virtual Fixtures (Part 2)
• November 11
  • Guest Lecture from Dr. Francis Creighton on Lateral Skull Base Surgery

• November 16
  • Homework Assignment #5 due
  • Robotically-assisted imaging (Boctor)
• November 18
  • Programming Assignment #3 due
  • Begin Autonomy and Semi-Autonomous Behavior in Surgical Robot Systems
    • Slides from 2018 guest lecture on Dexterity and Autonomy in Medical Robotics
  • Hand out Programming Assignment #5
    • (5:15PM special session for early people ready to start)
    • Notes for PA#5: Deformable Registration to a Statistical Shape Model

• November 23 - Thanksgiving Break (No Classes)
• November 23 - Thanksgiving Break (No Classes)

• November 30
  • Guest Lecture from Nassir Navab
    • Robotic Imaging, Machine Learning and Augmented Reality for Computer Assisted Intervention
• December 2 (Last class)
  • Programming Assignment #4 due
  • Hand out Programming Assignment #5
    • Notes for PA#5: Deformable Registration to a Statistical Shape Model
  • Finish Autonomy and Semi-Autonomous Behavior in Surgical Robot Systems
  • Safety Case Study: The Therac 25 Accidents (time permitting)
    • Background Material:
      • Nancy Levenson and Clark Turner, "The Investigation of the Therac 25 Accidents", Computer 26(7) pp18-41
      • Therac-25 Accidents: An Updated Version of the Original Accident Investigation Paper (by Nancy Leveson) from Dr. Leveson's Book, Software, System Safety, and Computers, Addison Wesley, 1995.
    • Video links to 2019 lecture (split and may not be available): Part 1, Part 2
• December 4 (Saturday)
  • Homework Assignment #6 due (11:39PM)

• Optional Programming Assignment 5 due on final exam day (TBD)

(Homework Repository)