Description

Robotic surgery is one of the most fascinating as well as challenging fields today facing both computer scientists and surgeons. This seminar aims to give an overview of the fundamentals and as well as the current developments in the areas of computer vision, control theory and human machine interaction that are relevant to robotic surgery. Here students will prepare a self selected topic for discussion from a set of predetermined aspects of one of the previously mentioned fields as it relates to robotic surgery.

General Information

• The course will be held in English. The primary literature will be in English, and the presentation and term paper are expected to be completed in English.
• The maximum number of participants is limited to 12, so register early!
• The course will be conducted in a block format, with meetings about once a month during the semester. The exact dates will be determined at the beginning of WS 2014 / 2015.
• Requirements: General interest in computer vision, control theory, human machine interaction or robotics. Basic mathematical skills in linear algebra, probability theory, and calculus will likely be helpful.

Organization

• Each participant is required to complete a 8 - 15 page term paper. This term paper is due at the latest two weeks before the participant's scheduled presentation
• An outline of the term paper is due at the latest three weeks before the scheduled presentation.
• Each participant is required to give a 20 min presentation and prepare for 10 minutes of follow up discussion. The presentation slides are due at the latest one week prior to the scheduled presentation.

Grading

• All participants will be assessed a grade on both the presentation and the term paper.
• The term paper will contribute two thirds (2/3) of the total grade in the course.
• The presentation will contribute one third (1/3) of the total grade in the course.

Potential Topics

• Survey of Robotic Software Platforms
• Motion Planning and Collision Detection
• Motion Control (Joint / Operational Space)
• Force Control (Impedance / Admittance)
• Foce-Feedback and Haptic Rendering
• Gravity Compensation for Haptic Input Device
• Survey of Feature Detectors and Descriptors
• Visual Tracking of Surgical Tools
• 3D Reconstruction
• Enhanced Visualization of Medical Data
• Motion Tracking of Organs during Surgery
• Tele Surgical Systems
• Surgical simulators/Telerobotic systems for training
• Safety/ sterility / Standards
• Percutaneous Needle Placement Systems
• Endoluminal operations
• Motion Compensation for Surgical Robots
• Human Robot Interaction/Collaboration in Robotic Surgery
• What Accuracies are Needed for Surgery and how they are Achieved by Robotic Systems?
• Robotic Imaging Systems for Surgical Applications
• Reliability of Real-time System for Surgical Device

Assigned Topics

• The choise of Topic and Date will follow after screening

Materials

• Will follow soon

-- Main.nasseri - 08 Oct 2014. -- Revise.zhoum - 01 Jul 2016