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research.rems [2016/01/18 17:08]
rtaylor2@johnshopkins.edu [Advisors:]
research.rems [2019/08/07 16:01] (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|}}
  
-We have constructed a prototype manipulator+We have constructed a prototype manipulator ​and have performed a number of evaluation experiments on phantoms and cadavers. ​ These include: 
 + 
 +  * 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 & Postdocs:==== +====Technical Team==== 
-  * Kevin Olds +===Current=== 
-  * Marcin Balicki +  * Russell Taylor 
-  * Preetham Chalasani+  * 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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   * 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 JHU internal funds   * Project is supported by JHU internal funds
-===== Other Links ===== 
-Thesis Documents: {{::​appendices_merged.pdf|}} 
-===== Publications ===== 
-  * 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 (Under Review). 
- 
-  * K. Olds, “Global Indices for Kinematic and Force Transmission Performance in Parallel Robots” IEEE Transactions on Robotics (Under Review). 
  
 +===== Publications =====
 +  * K. Olds, Robotic Assistant Systems for Otolaryngology-Head and Neck Surgery, PhD thesis in Biomedical Engineering,​ Johns Hopkins University, Baltimore, March 2015.
 +  * 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, 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.   * 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.  ​
  
research.rems.1453136936.txt.gz · Last modified: 2019/08/07 16:03 (external edit)




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