IEEE/RSJ International Conference on

 Intelligent Robots and Systems

Vancouver, BC, Canada

September 24–28, 2017

Full-day Workshop on Continuum Robots in Medicine – Design, Integration, and Applications

September 24, 2017, Vancouver, BC, Canada

About the workshop

Continuum robotics has rapidly become a rich and diverse area of research, with many designs and applications demonstrated. Continuum robots can traverse confined spaces, manipulate objects in complex environments, and conform to curvilinear paths in space.  Recently, we have seen increasing efforts aimed at implementing continuum robots to push the frontiers of minimally invasive surgical interventions. The access and dexterity they afford is an important factor enabling increasingly less invasive procedures. The rapid expansion of continuum robotics calls for innovative research in developing new designs, models, sensors, and control methods. From this perspective, this workshop will bring together engineers and scientists of different backgrounds and provide an opportunity to discuss several open issues related to deployment of continuum robots in clinical settings. The workshop will also feature poster presentations related to its topic.

Content

In this workshop we discuss the state of the art in continuum robot manipulators and systems intended for application to interventional medicine. This workshop will bring together world-class researchers to present pioneer research results in continuum robotics and the potential challenges for creating and implementing continuum robots for clinical applications. The workshop will be started by a brief overview of the topics and will be continued by 14 invited talks. A poster presentation session will be held during the brakes and a round-table discussion and Q&A session is considered for the end of the workshop.

Speakers

Ron Alterovitz,  University of North Carolina at Chapel Hill

Jessica Burgner-Kahrs, Leibniz Universität Hannover

Howie Choset, Carnegie Mellon University

Jaydev Desai, Georgia Institute of Technology

Elliot Hawkes,  University of California, Santa Barbara

Iulian Iordachita, Johns Hopkins University  

Ann Majewicz, University of Texas at Dallas

Arianna Menciassi, BioRobotics Institute, SSSA

Sarthak Misra, University of Twente

Rajni Patel, University of Western Ontario

Nabil Simaan, Vanderbilt University

Mahdi Tavakoli, University of Alberta

Robert J. Webster,  Vanderbilt University

Michael Yip,  University of California San Diego

Organizing Committee

Mahdi Tavakoli, Professor, PhD, P.Eng.

Department of Electrical & Computer Engineering, University of Alberta

Email: mahdi.tavakoli@ualberta.ca

Rajni Patel, Professor, PhD, P.Eng.

Canadian Surgical Technologies & Advanced Robotics (CSTAR), Electrical & Computer Engineering Department, University of Western Ontario

Email: rvpatel@uwo.ca

Sarthak Misra, Associate Professor, PhD

Department of Biomechanical Engineering, University of Twente

Email: s.misra@utwente.nl

Michael Yip, Assistant Professor, PhD

Department of Electrical and Computer Engineering, University of California San Diego

Email: yip@ece.ucsd.edu

Mohsen Khadem, PhD

Department of Electrical & Computer Engineering, University of Alberta,

Email: mohsen.khadem@ualberta.ca

Call For Posters

We invite participants to take the opportunity to present their recent research on the topic of the workshop in the form of posters. 1-page proposals in the standard format for IEEE IROS conference for poster presentations should be submitted before August 15, 2017. All the submissions will be judged based on relevance to the workshop topics, technical quality, and novelty. Authors of accepted abstracts are expected to attend the workshop and to present their work as posters during the interactive session with posters prepared in advance. The topics of interest include:

Authors are required to submit a 1-page proposal by August 15.

Please send the submission to https://easychair.org/conferences/?conf=crm2017

Schedule (Tentative)

08:15 -- 8:30  

Introductions, Opening Discussions

08:30 -- 09:00

Dr. Arianna Menciassi, The Biorobotics Institute

Flexible Actuators and Technologies for Continuum Robots in Surgery

09:00 -- 09:30    

Dr. Rajni Patel, University of Western Ontario

Simultaneous Shape and Force Sensing in Torsionally Compliant Continuum Robots

09:30 -- 10:00  

Dr. Nabil Simaan, Vanderbilt University

Multi-Backbone Continuum Robots: Force Sensing, Contact Detection and Estimation and Hybrid Force-Motion Control.

10:00 -- 10:30  

Dr. Howie Choset, Carnegie Mellon University

Minimally Invasive Situational Awareness

10:30 -- 11:00

Coffee Break and Poster Session

11:00 -- 11:30  

Dr. Robert J. Webster, Vanderbilt University

Creating Reconfigurable Parallel Continuum Robots Inside the Patient’s Body

11:30 -- 12:00    

Dr. Ron Alterovitz, University of North Carolina at Chapel Hill

Motion Planning for Continuum Medical Robots

12:00 -- 12:30

Dr. Michael Yip,  University of California San Diego

Wrestling with Continuum Robot Control: Towards Online Learning Based Approaches

12:30 – 13:30

Lunch

13:30 -- 14:00  

Dr. Jaydev Desai, Georgia Institute of Technology

Steerable Systems for Intravascular and Neurosurgical Interventions

14:00 -- 14:30    

Dr. Elliot Hawkes, University of California, Santa Barbara

Apical extension: A new paradigm for minimally invasive medical continuum robots

14:30 -- 15:00  

Dr. Jessica Burgner-Kahrs, Leibniz Universität Hannover

Minimally Invasive Interventions: Through Small Holes and on Tortuous Paths

15:00 -- 15:30  

Dr. Iulian Iordachita, Johns Hopkins University  

Dexterous Continuum Manipulators for Robot-Assisted Surgery: Challenges in Retinal Surgery and Orthopedics Applications

15:30 -- 16:00  

Coffee Break and Poster Session

16:00 -- 16:30  

Dr. Mahdi Tavakoli, University of Alberta

Closed-loop Control of Steerable Needles

16:30 – 17:00  

Dr. Sarthak Misra, University of Twente

TBA

17:00 – 17:30

Dr. Ann Majewicz, University of Texas at Dallas

Evaluation of Teleoperation Algorithms for Steerable Needles using Quantitative Metrics and Intuitiveness Models

17:30 – 18:30  

Round-table Discussions