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Wearable Robotics, Surgical Robotics, Soft Robots, Reinforcement Learning, Computer Vision

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Experience & Education

  • North Carolina State University

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Publications

  • Reconfigurable Fiducial-Integrated Modular Needle Driver for MRI-Guided Percutaneous Interventions

    Design of Medical Devices Conferences (DMD)

    This paper designed and evaluated a compact, reconfigurable MRI-compatible needle driver, using modular design approach, to support various needle-based interventions, such as straight needle insertion, asymmetric tipbased needle steering, and concentric-tube needle deployment.

    Other authors

  • A Fabry-Perot Interferometry Based MRI-Compatible Miniature Uniaxial Force Sensor for Percutaneous Needle Placement.

    Proceedings of IEEE Sensors / IEEE International Conference on Sensors ; sponsored by the IEEE Sensor Council. IEEE International Conference on Sensors

    Robot-assisted surgical procedures, taking advantage of the high soft tissue contrast and real-time imaging of magnetic resonance imaging (MRI), are developing rapidly. However, it is crucial to maintain tactile force feedback in MRI-guided needle-based procedures. This paper presents a Fabry-Perot interference (FPI) based system of an MRI-compatible fiber optic sensor which has been integrated into a piezoelectrically actuated robot for prostate cancer biopsy and brachytherapy in 3T MRI…

    Robot-assisted surgical procedures, taking advantage of the high soft tissue contrast and real-time imaging of magnetic resonance imaging (MRI), are developing rapidly. However, it is crucial to maintain tactile force feedback in MRI-guided needle-based procedures. This paper presents a Fabry-Perot interference (FPI) based system of an MRI-compatible fiber optic sensor which has been integrated into a piezoelectrically actuated robot for prostate cancer biopsy and brachytherapy in 3T MRI scanner. The opto-electronic sensing system design was minimized to fit inside an MRI-compatible robot controller enclosure. A flexure mechanism was designed that integrates the FPI sensor fiber for measuring needle insertion force, and finite element analysis was performed for optimizing the correct force-deformation relationship. The compact, low-cost FPI sensing system was integrated into the robot and calibration was conducted. The root mean square (RMS) error of the calibration among the range of 0-10 Newton was 0.318 Newton comparing to the theoretical model which has been proven sufficient for robot control and teleoperation.

    See publication

  • Compact Registration and Tracking assistant system for MRI-guided Neurosurgery robot

    IEEE Transactions on Biomedical Engineering (TBME)

    This paper presents a single-slice based stereoscopic registration and tracking technic along with corresponding modular system for assisting robotic mechanism or interventional instrument to perform needle intervention under live MRI guidance.

    Other authors

  • CHIC: Cylindrical Helix Imaging Coordinate Registration Fiducial for MRI-Guided Interventions

    IEEE Engineering in Medicine and Biology Society (EMBC)

    This paper presents a compact Cylindrical Helix Imaging Coordinate Registration Fiducial (CHIC) design and exclusive algorithm to precisely and robustly localize the frame in 6 degree of freedom (DOF). The mathematical model of the frame is developed and evaluated with simulation.

    Other authors

  • CHIC: Cylindrical Helix Imaging Coordinate Registration Fiducial for MRI-Guided Interventions

    IEEE Engineering in Medicine and Biology Society (EMBC)

    This paper presents a compact Cylindrical Helix Imaging Coordinate Registration Fiducial (CHIC) design and exclusive algorithm to precisely and robustly localize the frame in 6 degree of freedom (DOF). The mathematical model of the frame is developed and evaluated with simulation.

    Other authors

  • A networked modular hardware and software system for MRI-guided robotic prostate interventions

    SPIE Medical Imaging

    Other authors
    • Junichi Tokuda
    • Gregory Fischer

  • MRI-Guided Concentric Tube Continuum Robot with Piezoelectric Actuation: A Feasibility Study

    IEEE ICRA 2012 International Conference on Robotics and Automation

    Best Medical Robotics paper finalist ICRA2012

    Other authors
    • Robert Webster III

  • Real-time MRI-Guided Needle Placement Robot with Integrated Fiber Optic Force Sensing

    IEEE ICRA 2011 International Conference on Robotics and Automation, Shanghai, China

Patents

  • Apparatus and Methods for MRI Compatible Haptic Interfaces

    Issued US PCT/US2010/056020

    Other inventors
    • Greg Fischer
    See patent

  • System and Method for Underactuated Control of Insertion Path for Asymmetric Tip Needles

    Filed US 10172012

  • System and Method for Autism Spectrum Disorder Interventions

    Filed US 20110829

    Other inventors
    • Greg Fischer

Courses

  • Digital Image Processing

    CS/ECE 545

Projects

Honors & Awards

  • Best Medical Robotics Paper Finalist

    IEEE International Conference on Robotics and Automation

    First authored paper "MRI-Guided Concentric Tube Continuum Robot with Piezoelectric Actuation (top 4 out of 2040 submitted papers)!

  • National Science Foundation Travel Fellowship

    International Conference on Robotics and Automation (ICRA)

  • Advanced Simulation and Training Fellowship

    Link Foundation

    The award ($25,000) supports proposed work on "Haptic Training and Interventional System for MRI-guided Percutaneous Needle Placement". 1 of 2 recipients in North America

  • Dr. Richard J. Schlesinger Award

    American Society for Quality

    This award ($7,800) supports the work on “Quantification of Robot-Assisted Needle Placement for MRI-guided Transperineal Prostate Interventions”

  • Judges' Award for "Innovation Most Affecting the Quality of Life"

    Robotics Innovations Competition and Conference

    For "a robotic system to assist in the surgical procedure of deep brain stimulation"

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