The Robotic Ear Nose and Throat Microsurgery System (REMS): Calibration and IRB Study

Last updated: 9:00 PM 3/9/15


Our mission is to attack three distinct sub-projects relating to the Robotic ENT Microsurgery System developed by our mentors Kevin Olds, Russell Taylor, et al.

  1. Subproject 1: REMS Validation Study
  2. Subproject 2: Additional Calibration of REMS Tool Holder
  3. Subproject 3: Free Rotating Tool Holder Prototype
  • Students: Brian Gu, Barbara Kim, Kurt Lee
  • Mentor(s): Kevin Olds, Russell Taylor, Masaru Ishii

Background, Specific Aims, and Significance

A paragraph or so here. Give background of the problem. Explicitly state specific aims (numbered list is good) and explain why they are important


  • Minimum: (Expected by May 2)
    1. Completion of one of two sub-projects:
    2. * REMS study
    3. * Calibration
  • Expected: (Expected by May 2)
    1. Completion of two of three sub-projects:
    2. * REMS study AND
    3. * Calibration
  • Maximum: (Expected by May 8)
    1. Completion of all three sub-projects

Technical Approach

We will briefly describe our technical approach to attacking our goals:

IRB Study

Extensive discussions and experimental practice will take place among the students, Kevin Olds, Dr. Taylor, and the surgical study team in order to ensure that the proper study protocol is taking place. An IRB-approved study will then be carried out in which experts and novices will identify anatomical targets using a tracked instrument in the cadaver sinus areas with and without robotic assistance. Undergraduates, preferably with proper certification, will be recruited by the student group for the novice section of the study. After all data has been collected, statistical analysis such as ANOVA will be used to validate the efficacy of REMS in sinus surgery.

REMS Tool Tip Calibration

The tool holder of the robot does not have perfect stiffness. This leads to a small error in the position of the tool tip when the robot is used admittance style. In order to account and calibrate for this error, we will use a computer vision approach to track the tool tip when a force is applied to the tool. An AX=XB calibration will be used to register the computer vision coordinates to the robots. The tooltip will be deflected with multiple forces at multiple poses of the robot. The force data will be correlated with the motion of the tooltip which will be tracked optically.

Tool Holder Prototype

The current tool holder allows for free rotation of the tool. This is not a problem tracking when it comes to tracking a straight tool. However, many tools used by surgeons have angled tips. This creates a tracking problem as the robot currently cannot track the tip accurately given rotation of the tool is not tracked. To solve this, we will create a modified tool holder that will either guide rotation of the tool through a motor or track rotation through a sensor. Additionally, the tool holder must leave a small footprint as to not impair hand movement of the surgeon.


describe dependencies and effect on milestones and deliverables if not met

* Dependency name and short description

  • why important, effect on project if not met
  • plan for resolving and backup if not met
  • date for resolving
  • status

Milestones and Status

  1. Milestone name: Completed Project Proposal and Presentation
    • Planned Date: February 25, 2015
    • Expected Date: February 25, 2015
    • Status: Completed
  2. Milestone name: Preliminary Meeting with Dr. Ishii
    • Planned Date: March 10, 2015
    • Expected Date: March 10, 2015
    • Status: Done
  3. Milestone name: Working Computer Vision System
    • Planned Date: March 20, 2015
    • Expected Date: March 20, 2015
    • Status: Done
  4. Milestone name: 10 Undergraduates for Study Gathered
    • Planned Date: March 28, 2015
    • Expected Date: March 28, 2015
    • Status: Done
  5. Milestone name: Checkpoint Presentation
    • Planned Date: April 9, 2015
    • Expected Date: April 9, 2015
    • Status: Done
  6. Milestone name: Production of at least one CAD Design for Tool Holder
    • Planned Date: April 10, 2015
    • Expected Date: April 10, 2015
    • Status: Done
  7. Milestone name: Force Data and Position Data Gathered
    • Planned Date: April 15, 2015
    • Expected Date: April 15, 2015
    • Status: in progress
  8. Milestone name: Calibration Data fit to Polynomial
    • Planned Date: April 30, 2015
    • Expected Date: April 30, 2015
    • Status: Extended through summer
  9. Milestone name: Complete testing on undergraduates
    • Planned Date: April 30, 2015
    • Expected Date: April 30, 2015
    • Status: Extended through summer
  10. Milestone name: Poster Presentation
    • Planned Date: May 8, 2015
    • Expected Date: May 8, 2015
    • Status: Done

Reports and presentations

Project Bibliography

* Kevin Old's Thesis Draft

Other Resources and Project Files

Here give list of other project files (e.g., source code) associated with the project. If these are online give a link to an appropriate external repository or to uploaded media files under this name space.

courses/446/2015/446-2015-12/project_12_main_page.txt · Last modified: 2019/08/07 12:01 (external edit)