CIS I (601.455/655) Fall 2023 Schedule

Note: This page is subject to change

I am still working out the detailed schedule for 2023. 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 29
- Fall 2023 Organization Lecture
- Introductory Lecture
August 31
- Surgical CAD/CAM Case Study - - Joint Reconstruction Surgery
  - Reference material

Week 2

September 5
- Begin Basic Mathematical Methods for CIS
- Additional Reference Material
  - Linear algebra review
  - Frame Transformations in Computer Integrated Surgery: A Graphical Introduction (Ben Killeen)
September 7
- Conclude Basic Mathematical Methods for CIS

Week 3

September 12
- Computing rigid 3D-3D transformations from point and line pairs
  - Reference material: Excellent Wikipedia article on point set registration
- Hand out Homework Assignment #1
September 14
- Localizers (Dr. Peter Kazanzides)
  - 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 19
- Guest Lecture from Dr. Shameema Sikder (Prof. Taylor out of town)
September 21
- Guest Lecture from Dr. Todd McNutt (Prof. Taylor out of town)

Week 5

September 26
- Homework 1 Due
- Begin Calibration
September 28
- FinishCalibration
- Hand out Programming Assignments #1 and #2

Week 6

October 3 (Hisashi is at IROS Conference)
- Begin Segmentation and Modeling
  - Supplemental material: 2018 Guest lecture by Prof. Jerry Prince #1
October 5 (Hisashi is at IROS Conference)
- 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 10
- **Guest Lecture: Dr. Tito Porras** (Prof. Taylor at MICCAI Conference)
October 12
- Programming Assignment #1 due
- **Guest Lecture: Dr. Deepa Galaiya** (Prof. Taylor at MICCAI Conference)

Week 8

October 17
- 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 19
- Fall break (no class)

Week 9

October 24
- Hand out Programming Assignments #3 and #4
  - Data for PA 3,4,5
- Begin Registration (Part 2)
  - Coherent Point Drift Slides
  - Reference and supplemental Material

October 26
- Finish Registration (Part 2)
  - Coherent Point Drift Slides
- Discuss Programming Assignment 1

Week 10

October 31
- Homework 2 Due
- Hand out Homework Assignment #3
- Registration (Part 3)
- Supplemental material
November 2
- Programming Assignment #2 due
- Medical Robotics, Constrained Control and Virtual Fixtures (Part 1)

Week 11

Week 12

November 14
- Homework Assignment 3 due
  - However we will accept late assignments up to Nov. 20 without penalty
- Hand out Homework Assignment #4
- In-class discussion of Homework #2

November 16
- Programming Assignment #3 due
- Hand Out Optional Programming Assignment 5
  - New PA5 Data (see also Piazza announcement)
  - New high resolution data for PA5 (See also Piazza announcement and followup to Question 239)
  - Notes for PA#5: Deformable Registration to a Statistical Shape Model
- Case study: Craniofacial osteotomies

Week 13

November 21 - NO Class (Thanksgiving Week)
November 23 - NO Class (Thanksgiving Week)

Week 14

November 28
- 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.
November 30
- Homework Assignment 4 due
- Guest Lectures:
  - Dr. Suxi Gu - Endoscopic Spine Surgery
  - Prof. Iulian Iordachita - Robot-Assisted Eye Surgery

Week 15

December 5
- Guest Lecture on Medical Device Development - Dave Saunders (Galen Robotics)

December 7 (Last Class)
- Programming Assignment #4 due
- Guest Lecture on Augmented Reality and Robotic Surgery - Dr. Alejandro Martin-Gomez

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 is December 14 at 1:30PM.
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.