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)
  • 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
    • Slides from 2018 guest lecture on Dexterity and Autonomy in Medical Robotics
• November 30 (by 11:59pm)
  • Homework Assignment #5 due
• December 1
  • TBD

• December 6
  • TBD
  • Homework Assignment #6 due
• December 8 (Last Class)
  • Programming Assignment #4 due
  • 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.