CIIS Wiki

about.us

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

About Us The Computer Integrated Interventional Systems Laboratory Engineering Research Center for Computer-Integrated Surgical Systems and Technology (CISST ERC Laboratory for Computational Sensing and Robotics Lab Director Professor Russell H. Taylor Location B08 Hackerman Hall (Robotorium in the Laboratory for Computational Sensing and Robotics) B08H Hackerman Hall (CIIS laboratory)

ciis_lab_administration

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:36+00:00

CiiS Lab Administration Contact * PI: Russell Taylor * rht@jhu.edu * Machine Shop: Iulian Iordachita * iordachita@jhu.edu * Ordering: Jamie Meehan * jmeehan@jhu.edu * Executive Director: Elisa Ahmanson * elisa@jhu.edu * Jcard Access/ Scheduling: Alison Morrow

ciis_wiki_todo_list

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

CiiS Lab Wiki To Do List General Items * Lab Administration (LIZ) Research Pages To use multimedia files (e.g. YouTube clip or AVI file), see this page Please use this template: Template Project. The list below shows those still needing at least minimal work * High Dexterity Robot Manipulators

courses

Anonymous (anonymous@undisclosed.example.com) — 2022-11-29T17:45:51+00:00

Important Note on Course Numbers The Computer Science Department has changed its course numbering. Note the new numbers 601.455/655 Computer Integrated Surgery (CIS I) The CS Department has changed the numbers of this course sequence. It was formerly 600.445/645.

intranet

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:36+00:00

Intranet This is a private section -- No anonymous access allowed. All wiki pages created under intranet namespace will be set as private. * Link to lab meeting schedule and documents * Potential New Projects or Sub-Projects * Notes for people maintaining this wiki Resources and Links * Stereo vision library tutorial * Conference Proceedings * [Intuitive Surgical API non-disclosure and software access agreement] Documentation * LARS Documents * [LARS Mechanical Drawings] …

people.russell.taylor

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Russell H. Taylor * Professor * Department of Computer Science * Whiting School of Engineering * The Johns Hopkins University * Director * Engineering Research Center for Computer-Integrated Surgical Systems and Technology (CISST ERC) * Joint Appointments * Mechanical Engineering * Radiology * Surgery Research For many years, my research has focused on all aspects of computer-integrated interventional medicine. Broadly, this research has included:

people

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:36+00:00

People Lab Director/Principal Investigator Professor Russell H. Taylor Professor of Computer Science Joint Appointments in Mechanical Engineering, Radiology, and Surgery Current Lab Members Picture Name Email Major Research Area

positions

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Open Positions Post-Doc Positions Please inquire about possible positions. Graduate Student Positions For students interested in graduate admissions, there may be a position available. For consideration, you must submit a complete official application.

project_summary_todo_list

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

CiiS Lab Wiki To Do List To use multimedia files (e.g. YouTube clip or AVI file), see this page Please use this template: Template Project. The list below shows those still needing at least minimal work * Image Overlay - SueSue * MRI Robots - Reza * LARS - Seth + RHT

publications

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Publications In the Media 2011 The CiiS lab was shown in a business story in Time Magazine: Where the Jobs Are: Finding the Right Spots in the Recovery (January 6, 2011) 2010 Our EyeRobot II is featured on NSF's Science Nation (Video) : Robots help surgeons transcend human limits.(October 2010) 2009 Our EyeRobot II is featured on IEEE Spectrum

research.3dus_robot

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:31+00:00

3D Ultrasound-Guided Robot Problem Explosions and similar incidents generate fragmented debris that can become lodged in the body of a patient. By way of the venous system or direct penetration, particles such as thrombi, bullet fragments, and shrapnel can become trapped in the heart and disrupt cardiac function. Injuries of this nature are common in both civilian and military populations. Symptomatic foreign bodies are conventionally removed through open heart surgery, which comes with…

research.acl_tunnel

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

3D ACL Tunnel Position Estimation We are developing a 2D-3D registration method using post-operative radiographs to estimate the tunnel positions in Anterior Cruciate Ligament (ACL) reconstructions by registering a patient-specific 3D model of knee with two post-operative X-rays. This could facilitate the precise identification of the tunnel locations as well as the perception of their relationship to the topographical osseous anatomic landmarks. The success in developing and validating the pro…

research.bone_augmentation

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:36+00:00

Osteoporotic Bone Augmentation Our goal is to develop a software workstation to assist in performing femoral augmentation for osteoporotic patients. The surgical procedure consists of a series of bone cement injections into the femur. The bone augmentation system features preoperative biomechanical planning to determine the most advantageous cement injection site(s) and injection protocol to increase the strength of the femur. During the surgery, we will navigate the injection device and inraop…

research.deformable_human_anatomical_models

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Deformable Human Anatomical Models

research.eyerobots

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Steady-Hand Eye Robot The Steady-Hand Eye Robot is a cooperatively-controlled robot assistant designed for retinal microsurgery. Cooperative control allows the surgeon to have full control of the robot, with his hand movements dictating exactly the movements of the robot. The robot can also be a valuable assistant during high-risk procedures, by incorporating virtual fixtures to help protect the patient, and by eliminating physiological tremor in the surgeon's hand during surgery.

research.forcesensinginstruments

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Force-Sensing Microsurgical Intruments Vitreoretinal surgery is a technically demanding ophthalmologic discipline. It requires extremely delicate manipulation of retinal tissue. One of the main technical challenges in vitreoretinal surgery is the lack of force sensing since the surgical maneuvers fall below the human sensory threshold.

research.image_overlay

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Image Overlay Aim The aim of this research is to investigate the feasibility of implementing a head-mounted tracking system with an augmented reality environment to provide the surgeon with visualization of both the tumor margin and the surgical instrument in order to create a more accurate and natural overlay of the affected tissue versus healthy tissue. It allows the surgeon to see the precise boundaries of the tumor for neurosurgical procedures, while at the same time providing contextual o…

research.imlop

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Iterative Most Likely Oriented Point Registration (IMLOP) Project Overview The iterative closest point (ICP) algorithm is a popular method for registering geometric representations of 3D shapes and has been extensively applied to problems of rigid body shape alignment in medical research. Many variants of ICP have been introduced. All ICP-based algorithms seek optimal alignment by iterating two key algorithmic steps: a correspondence phase that computes a match on the target shape for each poi…

research.imlp

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Placeholder for when this project is moved from the intranet site.

research.lars

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:36+00:00

LARS

research.laryngeal_robot

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Robotic Laryngeal Surgery Over 25,000 new cases of throat cancer are reported every year in the US, resulting in approximately 6,000 deaths per year . Since the throat area is fraught with complications for many cancer treatment techniques, such as radiation and chemotherapy, but relatively accessible to surgical techniques, a surgical approach is often taken. Two main surgical techniques are used: conventional surgery, and intra-airway surgery. Intra-airway surgery has many advantages over…

research.mri_compatible_robotics

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

---------- MRI Compatible Robotics Problem Prostate cancer is the most common male cancer in North America. MRI-guided prostate interventions (biopsy and brachytherapay) is proved to provide better results due to the superior image quality of MRI. Up to date, a handful of robotic systems have been introduced to assist manual MRI-guided percutaneous prostate needle placement. These systems range from fully manual systems to fully actuated systems. However, no system has been able to meet all…

research.multispectral_light_source

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:31+00:00

Multispectral Light Source for Retinal Surgery Project Goals [Egg Membrane Illuminated by Light Source] It has been shown that retinal surgical procedures often incur phototoxicity trauma of the retina as a result of illuminators used in surgery. In answer to this problem, we have developed a computer-controlled multispectral light source that drastically reduces retinal exposure to toxic white light during surgery.

research.optical_sensing_instruments

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:31+00:00

Optical Sensing Instruments Optical Coherence Tomography (OCT) OCT provides very high resolution (micron scale) images of anatomical structures within the tissue. Within Ophthalmology, OCT systems typically perform imaging through microscope optics to provide 2D cross-sectional images (“B-mode”) of the retina. These systems are predominantly used for diagnosis, treatment planning, and in a few cases, for optical biopsy and image guided laser surgery. We are developing intra-ocular instruments …

research.prior_knowledge

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Fusion of Images with Prior Data One common theme in research in our laboratory and elsewhere is combinining prior information about an individual patient or patient populations with new images to produce an improved model of the patient. Examples may be found throughout our research writeups(e.g.,

research.radiation_oncology

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

E-Science Meets Radiation Oncology This joint project between the JHU CS Department and the JHU Radiation Oncology Department explores the statistical relationship between anatomic shape and treatment planning in radiation oncology. In one current project, our goal is to use a database of previously treated patients to improve radiation therapy planning for new patients. The key idea is that the geometric relationship between the tumor and surrounding critical anatomic structures has a crucia…

research.rems

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Robotic Ear nose and throat Microsurgery System (REMS) There has recently been a significant movement in head and neck surgery toward minimally invasive techniques, particularly those utilizing natural orifices. However, while these techniques can reduce the risk of complications encountered with classic open approaches such as scarring, infection, and damage to healthy tissue in order to access the surgical site, there remain significant challenges, including small scale anatomy, hand tremor…

research.robot_assisted_laparoscopic_ultrasound_elastography

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:36+00:00

Robot Assisted Laparoscopic Ultrasound Elastography (RALUSE) Project Goals The goal of this project is to facilitate robot-assisted minimally invasive ultrasound elastography (USE) for surgeries involving the daVinci surgical robot. Information from USE images will extend the range of applicable procedures and increase the robot’s capabilities. The daVinci system brings many surgical advantages, including minimal invasiveness, precise and dexterous motion control, and an excellent visual field…

research.robot_assisted_microsurgery

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Microsurgical Assistant System Overview of Research Our research aims to develop techniques to enhance the surgeon's ability to perform surgeries safely and effectively. We mainly focus on combining the various functions of microsensors, high precision robots, software design, and novel surgical techniques with the ordinary tools and equipment used by surgeons to perform new and innovative surgeries that will help to revolutionize medicine.

research.robot_assisted_ultrasound

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Robot Assisted Ultrasound

research.saw

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Surgical Assistant Workstation

research.skullbase_drilling

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:31+00:00

Skullbase Drilling Project Overview of Research Project goals We have developed an image-guided robot system to provide mechanical assistance for skull base drilling, which is performed to gain access for some neurosurgical interventions, such as tumor resection. The motivation for introducing this robot is to improve safety by preventing the surgeon from accidentally damaging critical neurovascular structures during the drilling procedure.

research.smart_surgical_instruments

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:31+00:00

Smart Surgical Instruments

research.snake_robot

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:31+00:00

Snake Robot Problem The throat is a long, narrow, and irregularly shaped organ, and is often operated on using open surgery. Minimally invasive surgery can be beneficial to patients, but such a procedure presents a number of technical challenges, among them: (1) the throat presents a constrained workspace; (2) existing manual instruments are long, rigid, and awkward to manipulate; and (3) existing tools allow for only four degrees of freedom (dof) with no distal dexterity. Thus there…

research.surgical_control_and_planning

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Surgical Control and Planning

research.template

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Template Project Here provide a short overview of the project, with a picture or so. also feel free to add links to related projects and add additional pages if more information is needed * project goals * approach * status and results to date

research.tors

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Intraoperative Image-Guided TransOral Robotic Surgery TransOral robotic surgery (TORS) is a minimally invasive surgical intervention to treat oropharyngeal cancer, including resection of base of tongue tumors. It is a progressively more viable option in addressing a national trend, where cancers associated with the human papilloma virus (HPV) has resulted in younger patients (40 to 60 years), whose treatment options must equally consider cure and longer term quality of life. TORS offers an incr…

research

Anonymous (anonymous@undisclosed.example.com) — 2020-01-23T00:58:30+00:00

Research Unifying Theme: Closed loop Interventional Medicine We view the basic paradigm of patient-specific interventional medicine as a closed loop process, consisting of 1) combining specific information about the patient with the physician’s general knowledge to determine the patient’s condition; 2) formulating a plan of action; 3) carrying out this plan; and 4) evaluating the results. Further, the experience gathered over many patients may be combined to improve treatment plans and prot…

research_davinci_virtual_fixtures

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:36+00:00

rht.cv

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Russell H. Taylor PERSONAL DATA Birth date 4 June 1948 Birth place Newport News, Virginia Citizenship US Family Married, one son Professional Address Department of Computer Science The Johns Hopkins University Baltimore, Maryland 21218

rht.research

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

Russell H. Taylor - RESEARCH Vision: Computer-Integrated Interventional Medicine [[**//Interventional medicine as a closed-loop process://** This basic process of 1) combining specific information about the patient with the physician’s general knowledge to determine the patient’s condition; 2) formulating a plan of action; 3) carrying out this plan; and 4) evaluating the results has existed since ancient times. Traditionally, all these steps have taken place in the physicians head. The ability…

sidebar

Anonymous (anonymous@undisclosed.example.com) — 2022-12-21T18:21:28+00:00

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

someotherpage

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:31+00:00

someotherpage

start

Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:31+00:00

Computer Integrated Interventional Systems Laboratory [[Typical day in the robotorium]] The Computer Integrated Interventional Systems (CIIS) laboratory exists to develop surgical systems that integrate novel computer and human/machine interface technologies that will revolutionize surgical procedures, extending the surgeon's abilities to achieve better outcomes at lower costs.

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Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

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Anonymous (anonymous@undisclosed.example.com) — 2019-08-07T16:01:32+00:00

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CIIS Wiki

about.us

ciis_lab_administration

ciis_wiki_todo_list

courses

intranet

menu

people.russell.taylor

people

positions

project_summary_todo_list

publications

research.3dus_robot

research.acl_tunnel

research.bone_augmentation

research.deformable_human_anatomical_models

research.eyerobots

research.forcesensinginstruments

research.image_overlay

research.imlop

research.imlp

research.lars

research.laryngeal_robot

research.mri_compatible_robotics

research.multispectral_light_source

research.optical_sensing_instruments

research.prior_knowledge

research.radiation_oncology

research.rems

research.robot_assisted_laparoscopic_ultrasound_elastography

research.robot_assisted_microsurgery

research.robot_assisted_ultrasound

research.saw

research.skullbase_drilling

research.smart_surgical_instruments

research.snake_robot

research.surgical_control_and_planning

research.template

research.tors

research

research_davinci_virtual_fixtures

rht.cv

rht.research

sidebar

someotherpage

start

subpage1

subpage2