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courses:446:2013:446-2013-14:446-2013-14 [2013/05/11 02:42]
pchalas1@johnshopkins.edu [Micron Range-of-Motion Visualization]
courses:446:2013:446-2013-14:446-2013-14 [2019/08/07 16:01] (current)
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 \\ \\
 ======Background,​ Specific Aims, and Significance====== ======Background,​ Specific Aims, and Significance======
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 Peeling delicate retinal membranes, which are often less than five microns thick, is one of the most challenging retinal surgeries. Preventing rips and tears caused by tremor and excessive force can decrease injury and reduce the need for follow up surgeries. So to address issues in the delicate micromanipulation of retinal membranes, a fully handheld micromanipulator,​ Micron was developed in the lab at Carnegie Mellon University, Pittsburgh. \\ \\ Peeling delicate retinal membranes, which are often less than five microns thick, is one of the most challenging retinal surgeries. Preventing rips and tears caused by tremor and excessive force can decrease injury and reduce the need for follow up surgeries. So to address issues in the delicate micromanipulation of retinal membranes, a fully handheld micromanipulator,​ Micron was developed in the lab at Carnegie Mellon University, Pittsburgh. \\ \\
 **__Significance and Importance__** \\ **__Significance and Importance__** \\
 Microsurgical tools play a very significant role in very small and critical anatomies. Tremor compensation is a key component of many surgical robots and tries to eliminate the frequency bands dominated by tremor in order to remove unwanted motion while preserving the operators’ intended movements. Micron is one such microsurgical tool. It has been developed with actuators not on robot arm, but between the handle grip and the tool tip. Micron can move the tool tip independently of the hand motion, allowing it to perform behaviors such as tremor reduction, motion scaling and virtual fixtures. \\ Microsurgical tools play a very significant role in very small and critical anatomies. Tremor compensation is a key component of many surgical robots and tries to eliminate the frequency bands dominated by tremor in order to remove unwanted motion while preserving the operators’ intended movements. Micron is one such microsurgical tool. It has been developed with actuators not on robot arm, but between the handle grip and the tool tip. Micron can move the tool tip independently of the hand motion, allowing it to perform behaviors such as tremor reduction, motion scaling and virtual fixtures. \\
 {{:​courses:​446:​2013:​446-2013-14:​vf.png?​400x300|}} {{:​courses:​446:​2013:​446-2013-14:​vf.png?​400x300|}}
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 ======Deliverables====== ======Deliverables======
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 Following are the deliverables that were discussed at the Following are the deliverables that were discussed at the
 beginning of the semester, which have been successfully beginning of the semester, which have been successfully
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     * Develop an overlay to display the workspace of the micron     * Develop an overlay to display the workspace of the micron
     * Conduct rigorous testing     * Conduct rigorous testing
- ======Technical Approach======+\\ 
 +======Technical Approach====== 
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 **Phase I**  **Phase I** 
   * Installation :- Installing all the dependent librarires like cisst, openCV etc.   * Installation :- Installing all the dependent librarires like cisst, openCV etc.
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    ​Kindly go through the final report attached below, for detailed description.    ​Kindly go through the final report attached below, for detailed description.
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- ​======Block Diagram======+======Flow Diagram======
 \\ \\
 \\ \\
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 ======Milestones and Status ====== ======Milestones and Status ======
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   - Milestone name: Test Application   - Milestone name: Test Application
     * Planned Date: Feb 25      * Planned Date: Feb 25 
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 ======Problems Faced====== ======Problems Faced======
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    * **Access to micron** – Not always did I have the access to the micron.    * **Access to micron** – Not always did I have the access to the micron.
    * **Build/ Compile delay** – There are a lot of sleeps in the code, which delays the build time, as well as the compile time.    * **Build/ Compile delay** – There are a lot of sleeps in the code, which delays the build time, as well as the compile time.
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    * **Integration of the tool-tracker**    * **Integration of the tool-tracker**
 ======Reports and Presentations====== ======Reports and Presentations======
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   * Project Plan   * Project Plan
     * {{:​courses:​446:​2013:​446-2013-14:​proposalproject_planpresetation_5.pdf| Project plan presentation}}     * {{:​courses:​446:​2013:​446-2013-14:​proposalproject_planpresetation_5.pdf| Project plan presentation}}
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   * Project Final Presentation   * Project Final Presentation
     * {{:​courses:​446:​2013:​446-2013-14:​poster_teaser1.pdf|Poster (Teaser)}}     * {{:​courses:​446:​2013:​446-2013-14:​poster_teaser1.pdf|Poster (Teaser)}}
-    * {{:​courses:​446:​2013:​446-2013-14:​finalposter.pdf|Poster}}+    * {{:​courses:​446:​2013:​446-2013-14:​finalposter1.pdf|Poster}}
   * Project Final Report   * Project Final Report
-    * {{:​courses:​446:​2013:​446-2013-14:​finalreport_3.pdf|Final Report}}+    * {{:​courses:​446:​2013:​446-2013-14:​finalreport6.pdf|Final Report}}
  
 ======Acknowledgements====== ======Acknowledgements======
 +\\
 I would like to thank my mentors, Dr.Russel Taylor, Marcin Balicki and Balzs Vagvolgyi, for their support I would like to thank my mentors, Dr.Russel Taylor, Marcin Balicki and Balzs Vagvolgyi, for their support
 throughout the project. Their input and guidance was immeasurable. // I would specially like to thank Balazs for his valuable help and suggestions along the way. // throughout the project. Their input and guidance was immeasurable. // I would specially like to thank Balazs for his valuable help and suggestions along the way. //
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 \\ [9]     B. Becker, R. MacLachlan, L. Lobes, G. Hager, and C. Riviere, "​Vision-Based Control of a Handheld Surgical Micromanipulator with Virtual Fixtures",​ IEEE Transactions on Robotics, pp. Acepted Nov 27, 2012,  2013. NIHMSID: 429749. \\ \\ [9]     B. Becker, R. MacLachlan, L. Lobes, G. Hager, and C. Riviere, "​Vision-Based Control of a Handheld Surgical Micromanipulator with Virtual Fixtures",​ IEEE Transactions on Robotics, pp. Acepted Nov 27, 2012,  2013. NIHMSID: 429749. \\
 \\ [10]   M. Balicki, J.-H. Han, I. Iordachita, P. Gehlbach, J. Handa, R. H. Taylor, and J. Kang, "​Single Fiber Optical Coherence Tomography Microsurgical Instruments for Computer and Robot-Assisted Retinal Surgery",​ in Medical Image Computing and Computer Assisted Surgery (MICCAI 2009), London, September 20-24, 2009.  pp. 108-115. PMID: 20425977 \\ \\ [10]   M. Balicki, J.-H. Han, I. Iordachita, P. Gehlbach, J. Handa, R. H. Taylor, and J. Kang, "​Single Fiber Optical Coherence Tomography Microsurgical Instruments for Computer and Robot-Assisted Retinal Surgery",​ in Medical Image Computing and Computer Assisted Surgery (MICCAI 2009), London, September 20-24, 2009.  pp. 108-115. PMID: 20425977 \\
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 ======Other Resources and Project Files====== ======Other Resources and Project Files======
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   Username/​Password Required for Eye-Brp   Username/​Password Required for Eye-Brp
   Only Authorized users can access by repo   Only Authorized users can access by repo
 +  ​
 +======Download======  ​
 +To download all the files regarding this project, please click on the below link
 +
 +[[https://​www.dropbox.com/​sh/​gyoa5exuwhu1buc/​Y9gEe8ifW_ | Download]]
courses/446/2013/446-2013-14/446-2013-14.1368240176.txt.gz · Last modified: 2019/08/07 16:05 (external edit)




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