Contact Us
CiiS Lab
Johns Hopkins University
112 Hackerman Hall
3400 N. Charles Street
Baltimore, MD 21218
Directions
Lab Director
Russell Taylor
127 Hackerman Hall
rht@cs.jhu.edu
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| * easily re-configurable for different surgery types | * easily re-configurable for different surgery types | ||
| =====Approach===== | =====Approach===== | ||
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| 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===== | ||
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| - | To date, specifications for different surgery types have been collected, and a prototype has been built. This prototype has undergone preliminary evaluation using a precision needle insertion task. | + | We have constructed a prototype manipulator and have performed a 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 | ||
| Line 35: | Line 52: | ||
| * 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., Hillel, A. T., Cha, E., Curry, M., Akst, L. M., Taylor, R. H. and Richmon, J. D. (2011), “Robotic endolaryngeal flexible (Robo-ELF) scope: 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; Hillel, Alexander; Kriss, Jonathan; Nair, Archana; Kim, Hongho; Cha, Elizabeth; Curry, Martin; Akst, Lee; Yung, Rex; Richmon, Jeremy; Taylor, Russell. "A robotic assistant for trans-oral surgery: the robotic endo-laryngeal flexible (Robo-ELF) scope." Journal of Robotic Surgery vol. 6 issue 1 March 2012. p. 13 - 18risks into the procedure | + | * K. C. Olds, "Global Indices for Kinematic and Force Transmission Performance in Parallel Robots", IEEE Transactions on Robotics, vol. 31- 2, pp. 494-500, April, 2015. |
| + | * K. Olds, P. Chalasani, P. Lopez, I. 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. He, K. Olds, I. Iordachita, R. H. Taylor, “A New ENT Microsurgery Robot: Error Analysis and Implementation” IEEE International Conference on Robotics and Automation (ICRA) May 2013. | ||
| + | * C. He, K. Olds, L. M. Akst, W. W. Chien, M. Ishii, I. Iordachita, and 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 Surgery: The Robotic Endo-Laryngeal Flexible (Robo-ELF) Scope ", in Hamlyn Symposium on Medical Robotics, London, June 19-20, 2011. pp. 75-77. | ||
