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research.rems [2013/11/11 14:41]
kolds1@johnshopkins.edu [Advisors:]
research.rems [2019/08/07 12:01] (current)
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   * easily re-configurable for different surgery types   * easily re-configurable for different surgery types
 =====Approach===== =====Approach=====
 +{{ :​research:​rems-laryngo.png?​300|}}
 Our approach is to work closely with surgeons to determine how the system can add the most value in different head and neck surgeries, translate these specifications into a prototype, then validate this prototype using experiments designed to replicate real surgical situations. Three main surgeries are currently under investigation:​ Our approach is to work closely with surgeons to determine how the system can add the most value in different head and neck surgeries, translate these specifications into a prototype, then validate this prototype using experiments designed to replicate real surgical situations. Three main surgeries are currently under investigation:​
  
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 We are also currently investigating microvascular surgery as a possible application. We are also currently investigating microvascular surgery as a possible application.
 =====Status and Results to Date===== =====Status and Results to Date=====
-{{ :​dsc_0297.jpg?​200|}}+/* {{ :​dsc_0297.jpg?​200|}} 
 +*/ 
 +{{ :​research:​rems_allen.png?​300|}}
  
-To date, specifications for different surgery types have been collected, and a prototype ​has been built. This prototype has undergone preliminary evaluation using precision needle insertion task+We have constructed ​a prototype ​manipulator and have performed ​number of evaluation experiments on phantoms and cadavers These include: 
-Further evaluations are in progress.+ 
 +  * Basic dexterity assessment and assessment of stable-hand manipulation of long instruments ​in a micro-laryngeal phantom. 
 +  * A cadaver study of micro-laryngeal surgery 
 +  * A cadaver study of image-guided sinus surgery 
 +  * A study of microsurgical anastomosis of 3 mm vessels on a chicken leg phantom 
 + 
 +Work is underway on engineering enhancements of the prototype manipulator,​ development of an adjustable support structure, and on development of additional application testbed demonstrations.
 ===== Project Personnel ===== ===== Project Personnel =====
-====Students:==== +====Technical Team==== 
-  * Kevin Olds, BME PhD candidate +===Current=== 
-  * Preetham Chalasani, CS Masters Candidate+  * Russell Taylor 
 +  * Yunus Sevimli (Research Engineer) 
 +  * Paul Wilkening (Ph.D. Student) 
 +  * Lihang Feng (Visiting Ph.D. Student) 
 +  * Kevin Olds (Technical consulting) 
 +===Past=== 
 +  * Kevin Olds (Ph.D. & Postdoc) 
 +  * Marcin Balicki (Postdoc) 
 +  * Preetham Chalasani ​(MS Student)
 ====Advisors:​==== ====Advisors:​====
   * Jeremy Richmon MD   * Jeremy Richmon MD
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   * Masaru Ishii MD   * Masaru Ishii MD
   * Wade Chien MD   * Wade Chien MD
 +  * Matt Stewart MD
 +  * Henry Brem MD
   * Russell Taylor   * Russell Taylor
   * Iulian Iordachita   * Iulian Iordachita
 +  * Kevin Olds
  
 +=====CIS 2 Course Projects=====
 +  * [[courses:​446:​2015:​446-2015-03:​project_3_main_page|Surgical Instruments for Robotic Microsurgery]] (2015, Zaid Ashai, Pranav Lakshminarayanan)
 +  * [[courses:​446:​2015:​446-2015-12:​project_12_main_page|The Robotic Ear Nose and Throat Microsurgery System (REMS): Calibration and IRB Study]] (2015, Brian Gu, Barbara Kim, Kurt Lee)
 ===== Funding ===== ===== Funding =====
-  * Project is supported by the JHMI Department of Otolaryngology  +  * Project is supported by JHU internal ​funds 
-===== Other Links ===== +
-  * [[:​research:​RoboELF_JHU_Only|Access to RoboELF Developers page (internal ​use only)]] +
-  * [[https://​svn.lcsr.jhu.edu/​robotorium/​trunk/​apps/​ThroatRobot/​ | Code Repository(Robotorium access required)]]+
 ===== Publications ===== ===== Publications =====
-  * Olds, K., HillelAT., ChaE., CurryM., Akst, L. M., Taylor, R. H. and RichmonJD(2011), “Robotic endolaryngeal flexible ​(Robo-ELFscope: A preclinical feasibility study.” The Laryngoscope,​ 121: 2371–2374+  * K. Olds, Robotic Assistant Systems for Otolaryngology-Head and Neck Surgery, PhD thesis in Biomedical Engineering,​ Johns Hopkins University, Baltimore, March 2015. 
-  * Olds, Kevin; HillelAlexander; KrissJonathan; NairArchana; KimHongho; ​Cha, Elizabeth; ​Curry, ​Martin; ​Akst, Lee; Yung, Rex; Richmon, ​Jeremy; ​Taylor, ​Russell. ​"​A ​robotic assistant ​for trans-oral surgerythe robotic endo-laryngeal flexible ​(Robo-ELF) ​scope." ​Journal of Robotic Surgery vol6 issue 1 March 2012p. 13 18risks into the procedure+  * K. C. Olds"​Global Indices for Kinematic and Force Transmission Performance in Parallel Robots"​IEEE Transactions on Robotics, vol31- 2, pp494-500April 2015    
 +  * K. OldsP. ChalasaniPLopezI. Iordachita, L. Akst, R. H. Taylor, “Preliminary Evaluation of a New Microsurgical Robotic System for Head and Neck Surgery” IEEE International Conference on Robotics and Automation (ICRA) 2014. 
 +  * C. HeKOlds, IIordachita, R. H. Taylor, “A New ENT Microsurgery Robot: Error Analysis and Implementation” IEEE International Conference on Robotics and Automation ​(ICRAMay 2013
 +  * C. He, K. Olds, L. M. AkstW. W. ChienM. IshiiI. Iordachitaand R. H. Taylor, “Evaluation,​ Optimization,​ and Verification of the Wrist Mechanism of a New Cooperatively Controlled Bimanual ENT Microsurgery Robot,” In Proceedings of ASME International Mechanical Engineering Congress & Exposition, IMECE2012, Houston, Texas, USA, Nov. 2012. 
 +  * K. Olds, A. Hilel, E. Cha, M. Curry, ​L. Akst, J. Richmon, ​and R. Taylor, "​A ​Robotic Assistant ​for Trans-Oral SurgeryThe Robotic Endo-Laryngeal Flexible ​(Robo-ELF) ​Scope  ​", in Hamlyn Symposium on Medical Robotics, London, June 19-20, 2011 pp75-77.   
research.rems.1384198879.txt.gz · Last modified: 2019/08/07 12:03 (external edit)




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