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

Pierre Dupont pierre at bu.edu
Tue Mar 30 13:43:16 PDT 2010


IEEE ICRA 2010 Full Day Workshop on Snakes, Worms and Catheters:
Continuum and Serpentine Robots for Minimally Invasive Surgery
May 3, 2010, Anchorage, Alaska, USA

Early Registration Deadline:
March 31, 2010

Workshop website: http://biorobotics.bu.edu/icra10workshop

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
- David Camarillo, Hansen Medical
- Howie Choset, Carnegie Mellon University
- Pierre Dupont, Harvard Medical School
- Koji Ikuta, Nagoya University
- Joseph Madsen, MD, Children¹s Hospital, HMS
- Mohsen Mahvash, Harvard Medical School
- Rajni Patel, University of Western Ontario)
- Cameron Riviere, Carnegie Mellon University
- Nabil Simaan, Columbia University
- Russell Taylor, Johns Hopkins University
- Robert Webster, Vanderbilt University
- Guang-Zhong Yang, Imperial College
 
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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