CIS I (601.455/655) Fall 2025 Schedule

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.

Link to CIS I course main page

Week 1

August 26
- Fall 2025 Organization Lecture
- CIS I Introductory Lecture
August 28
- Surgical CAD/CAM Case Study - - Joint Reconstruction Surgery
  - Reference material

Week 2

September 2
- Begin Basic Mathematical Methods for CIS
- Additional Reference Material
  - Linear algebra review
  - Frame Transformations in Computer Integrated Surgery: A Graphical Introduction (Ben Killeen)

September 4
- Conclude Basic Mathematical Methods for CIS
- Hand out Homework Assignment 1

Week 3

September 9
- Computing rigid 3D-3D transformations from point and line pairs
  - Reference material: Excellent Wikipedia article on point set registration
September 11
- 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”

Week 4

September 16
- Begin Calibration
  - Least Squares Review (if time)
  - Interpolation Review (if time)
  - Paper on scattered point set interpolation
- September 18
- FinishCalibration

Week 5

September 23 (Dr. Taylor at conference)
- Guest Lecture: Dr. Jose Porras
  - Neurosurgery
  - Computer-Integrated Surgery:Applications in Neurosurgery
- 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 Segmentation and Modeling
  - Supplemental material: 2018 Guest lecture by Prof. Jerry Prince #1
October 2
- Finish Segmentation and Modeling
  - 2018 Guest lecture by Prof. Jerry Prince #2
  - Surface simplification inside a tolerance volume (Andre Gueziec's method)

Week 7

October 7
- Hand out Homework #2
- 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
October 9
- Programming Assignment #1 due
- Guest lecture: Dr. Laura Connolly
  - Tumor bed inspection… and other technologies for positive margin prevention in breast conserving surgery

Week 8

October 14
- Finish Registration (Part 2)
  - Coherent Point Drift Slides
  - Reference and supplemental Material
October 16
- WSE Fall Break - No class

Week 9

October 21
- Registration (Part 3)
  - Supplemental material
October 23
- Homework 2 Due
- Hand out Programming Assignments #3 and #4}}
  - Programming Assignments 3, 4, and 5 Data}
- Finish Registration (Part 3)
  - Supplemental material
- Begin * Medical Robotics, Constrained Control and Virtual Fixtures (Part 1) (if time)

Week 10

October 28
- FinishMedical Robotics, Constrained Control and Virtual Fixtures (Part 1)
- Begin Medical Robotics, Constrained Control and Virtual Fixtures (Part 2)
  - Supplemental Material: Anatomical Mesh-Based Virtual Fixtures for Surgical Robots

October 30
- Finish Medical Robotics, Constrained Control and Virtual Fixtures (Part 2)
  - Supplemental Material: Anatomical Mesh-Based Virtual Fixtures for Surgical Robots
- Begin Human-Machine Partnerships in Surgical Robot Systems

Week 11

November 4
November 6
- Hand Out Optional Programming Assignment 5
  - Notes for PA#5: Deformable Registration to a Statistical Shape Model
- Case study: Craniofacial osteotomies
- Hand out Homework Assignment 4

Week 12

November 11
- Guest Lecture TBD
- Prof Taylor in Canada
November 13
- Guest Lecture TBD
- Prof Taylor in Canada
- Programming Assignment #3 due

Week 13

November 18
- Lecture TBD
November 20
- 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
- Safety Case Study: The Therac 25 Accidents
  - 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.
- 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.