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Techno-Sciences Inc. Robotics Seminar Series: Alison Okamura
Techno-Sciences Inc. Robotics Seminar Series
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Alison M. Okamura
First, I will discuss the development of minimally invasive systems that deliver therapy by steering needles through deformable tissue and around internal obstacles to precisely reach specified targets. This approach invokes robot control, modeling, and imaging in order to optimize needle design, perform needle motion planning, and enable image-guided intra-operative needle control.
Second, I will review the design and evaluation of methods for haptic feedback in robot-assisted teleoperated surgery. Unconventional uses of feedback can improve the sensitivity of force information provided to the user and increase responsiveness, but must be considered in light of attendant costs such as poor sensitivity to hardware dynamics and potential for instability.
Finally, I will describe recent work characterizing the use of internal dynamic models in human motor control, which may drive novel rehabilitation strategies. All of these systems incorporate one or more key elements of robotic medical interventions: (1) quantitative descriptions of patient state, (2) the use of models for planning, (3) the design of devices and control systems that connect information to physical action, and (4) the inclusion of human input in a natural way.
This Event is For: Graduate • Undergraduate • Faculty • Post-Docs • Alumni • Corporate