CIS I (601.455/655) Fall 2022 Schedule

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

• August 30
  • Fall 2022 Organization Lecture
  • Introductory Lecture
• September 1
  • 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 6
  • Begin Basic Mathematical Methods for CIS
  • Additional Reference Material
    • Linear algebra review
    • Frame Transformations in Computer Integrated Surgery: A Graphical Introduction (Ben Killeen)
• September 8
  • Conclude Basic Mathematical Methods for CIS
  • Hand out Homework Assignment #1
  • Hand out Homework Assignment #2

• September 13
  • Guest Lecture from Dr. Amit Jain on Spine Surgery (Prof. Taylor in London for a Center Review)
• September 15
  • Guest Lecture from Drs. Masaru Ishii and Tito Porras on endoscopic sinus and skull base surgery (Prof. Taylor in London for a Center Review)

• September 20
  • Homework Assignment #1 due
  • Computing rigid 3D-3D transformations from point and line pairs
    • Reference material: Excellent Wikipedia article on point set registration
  • 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 22
  • Begin Calibration
    • Least Squares Review (if time)

• September 27
  • Homework Assignment #2 due
  • FinishCalibration
    • Least Squares Review
    • Interpolation Review
    • Paper on scattered point set interpolation
  • Hand out Homework Assignment #3
  • Hand out Programming Assignments #1 and #2
    • Scenario Slides
    • Data for Programming Assignment #1
    • Data for Programming Assignment #2
• September 29
  • Begin Segmentation and Modeling
    • Supplemental material: 2018 Guest lecture by Prof. Jerry Prince #1
• September 30 (section)
  • Topic: Programming assignment 1
  • Time: 3PM
  • Place: Hackerman 320

• October 4
  • Guest lecture on ultrasound imaging by Dr. Jeeun Kang
    • [Y. Wu, J. Kang], W. G. Lesniak, H. K. Zhang, R. H. Taylor, M. G. Pomper, E. M. Boctor, “System-level optimization in spectroscopic photoacoustic imaging of prostate cancer,” Photoacoustics 27, 100378, 10 Jun., 2022 [equally contributed]
    • H. Song, (J. Kang*, E. M. Boctor*), “A novel design framework of radial synthetic aperture focusing for volumetric transrectal ultrasound imaging,” Journal of Computational Design and Engineering 9, 1774-1787, 24 Aug., 2022 (*co-corresponding authors)
    • J. Kang, H. N. D. Le, S. Karakus, J. U. Kang, A. L. Burnett, and E. M. Boctor, “Real-time, functional intra-operative localization of rat cavernous nerve network using near-infrared cyanine voltage-sensitive dye imaging,” Scientific Reports 10, 6618, 20 Apr. 2020
• October 6
  • Finish Segmentation and Modeling
    • 2018 Guest lecture by Prof. Jerry Prince #2
    • Surface simplification inside a tolerance volume (Andre Gueziec's method)

• October 11
  • Guest lecture from Prof. Peter Kazanzides (Prof. Taylor in Hong Kong)
• October 13
  • Programming Assignment #1 due
  • Guest lecture from Dr. Todd McNutt (Prof. Taylor in Hong Kong)

• October 18
  • Homework Assignment #3 due
  • Guest lecture from Dr. Deepa Galaiya (Prof. Taylor in Hong Kong)
• October 20
  • Fall Break (No Class)

• October 25
  • Discuss Programming Assignment 1
  • 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
• October 27
  • Programming Assignment #2 due
  • Finish 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

• November 1
  • Hand out Homework Assignment #4
  • 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
    • Paper on Generalized ICP Method
    • Wikipedia article on point set registration
    • Fluoroscopic Navigation for Robot-Assisted Orthopedic Surgery (Cong Gao)
• November 3
  • Finish Registration (Part 2)
    • Coherent Point Drift Slides

• November 8
  • Registration (Part 3)
  • Supplemental material
    • Statistical Atlases Construction and Application (G. Chintalapani)
    • Statistical Atlas Validation (G. Chintalapani)
    • Improving mesh vertices (S. Seshamani)
• November 10
  • Homework Assignment #4 due
  • Finish Registration (Part 3) (if needed)
  • Begin Medical Robotics, Constrained Control and Virtual Fixtures (Part 1)

• November 15
  • Finish Medical 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
• November 17
  • Hand out Homework Assignment #5
  • Hand out Homework Assignment #6
  • Finish Medical Robotics, Constrained Control and Virtual Fixtures (Part 2)
  • Hand Optional Programming Assignment #5
    • Notes for PA#5: Deformable Registration to a Statistical Shape Model
• November 19 (Saturday, 9PM)
  • Programming Assignment #3 due

• November 22 - NO Class (Thanksgiving Week)
• November 24 - NO Class (Thanksgiving Week)

• November 29
  • Autonomy and Semi-Autonomous Behavior in Surgical Robot Systems
    • 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.
    • 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.
    • 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.
    • Slides from SPIE talk on stabilized ultrasound imaging
• November 30 (Wednesday, 11:59pm)
  • Homework Assignment #5 due
• December 1
  • 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.

• December 6
  • Homework Assignment #6 due
  • Guest lecture on Extended Reality from Prof. Mathias Unberath
• December 8 (Last Class)
  • Programming Assignment #4 due
  • Guest lecture from Prof. Emad Boctor
• December 16 (11:59pm)
  • Optional PA#5 due
  • Note: If you have a final exam on December 16, 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.