[robotics-worldwide] Call for Short Papers - IEEE ICRA 2010 Workshop - Snakes, Worms and Catheters: Continuum and Serpentine Robots for Minimally Invasive Surgery

Pierre Dupont pierre at bu.edu
Thu Feb 4 13:21:24 PST 2010


CALL FOR SHORT PAPERS
 
Full Day Workshop on Snakes, Worms and Catheters:
Continuum and Serpentine Robots for Minimally Invasive Surgery
 
2010 IEEE International Conference on Robotics & Automation,
http://icra2010.grasp.upenn.edu/
Date: May 3, 2010
Location: Anchorage, Alaska USA
 
Workshop website: http://biorobotics.bu.edu/icra10workshop
 
We are soliciting short papers representing work in progress on continuum
and serpentine robots. The work may be theoretical or applied and should
have the potential to be adapted to medical applications. The papers should
be 2-3 pages long and submitted in the ICRA10 pdf paper format. Papers will
be reviewed for quality and relevance. At least one author of all accepted
papers must attend the workshop. All accepted papers will be included in the
workshop CD and will be presented as posters during the workshop. The
important dates are as follows:
 
March 3   - Paper submission deadline
March 8   - Notification of acceptance
March 12  - Final paper due
 
Papers should be submitted by email to:
mohsen.mahvash-mohammady at childrens.harvard.edu
 
GOALS AND SCOPE:
 
ABSTRACT 
A broad variety of serpentine and continuum robots have been developed for
minimally invasive surgical applications. These vary in size from less than
a millimeter to several centimeters in diameter and include flexible
needles, robotic catheters, multi-segmented sheaths for NOTES applications,
snake-like robots capable of suturing and inchworm devices that can move
over the heart. While these devices share many common features, little
effort has been devoted to exploring and exploiting these commonalities.
This workshop focuses on bringing together interested researchers in
academia and industry to identify unifying research questions and approaches
for these types of devices.
 
MOTIVATION AND OBJECTIVES
Many surgical applications require reaching tissue deep within the body.
Examples include surgery in the throat, inside the heart and in the stomach.
Achieving minimally invasive access to these locations imposes unique
constraints on robot design. Many ingenious serpentine and continuum robot
mechanisms have been developed to satisfy these constraints. Some of these
designs consist of multiple miniaturized stages that are connected in
series. Many others employ flexible links that function as both link and
joint. Developing any of these robots for clinical use poses a common set of
problems: design optimization, choice of sensing, kinematic modeling,
procedure planning and real-time control. To date, however, researchers
interested in a particular design have pursued solutions to these problems
independently. This workshop will bring researchers together to identify
unifying themes and solution strategies for this class of medical robots.
What methods can be shared to enhance telemanipulation capabilities, access
to confined surgical spaces and safety? Is there a general kinematic
modeling framework that encompasses steerable catheters and snake-like
robots? What are the common challenges to clinical acceptance and commercial
success for such robots? The goals of the workshop will be to identify such
common themes and strategies, to build new partnerships between researchers
and to spark new ideas for moving the field forward.
 
INVITED SPEAKERS
- Federico Barbagli, Hansen Medical (commercialization)
- David Camarillo, Hansen Medical (robotic catheters)
- Howie Choset, Carnegie Mellon University (snakes)
- Pierre Dupont, Harvard Medical School (continuum robots)
- Koji Ikuta, Nagoya University (robotic catheters)
- Mohsen Mahvash, Harvard Medical School (continuum robots)
- Rajni Patel, University of Western Ontario (robotic catheters)
- Cameron Riviere, Carnegie Mellon University (worm robots)
- Nabil Simaan, Columbia University (NOTES)
- Russell Taylor, Johns Hopkins University (snake robots)
- Robert Webster, Vanderbilt University (continuum robots)
- Guang-Zhong Yang, Imperial College (snake robots)
 
TOPICS
- Active catheters
- Continuum robots
- Serpentine robots
- Snake-like robots
- Worm-like robots
 
PRIMARY / SECONDARY AUDIENCE
The primary audience of the workshop consists of those researchers and their
students who are currently investigating serpentine and continuum robots for
surgical applications. The secondary audience consists of those researchers
who are interested in applying this class of robots to medical applications.
 
ORGANIZERS:
 
Pierre E. Dupont   
Director of Pediatric Cardiac Bioengineering
Visiting Professor of Surgery
Children¹s Hospital Boston, Harvard Medical School
Pierre.Dupont at childrens.harvard.edu
biorobotics.bu.edu
 
Mohsen Mahvash
Instructor of Surgery
Children¹s Hospital Boston, Harvard Medical School
mohsen.mahvash-mohammady at childrens.harvard.edu




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