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Robotics in Minimally Invasive Surgery: Planning, Training and Intervention

Education - Colloquium - WPI Only

Tuesday, November 13, 2012
9:00 AM-10:00 AM

Higgins Laboratories
HL102

Dr. Andrew H. Gosline
Post Doctoral Research Fellow, Pediatric Cardiac Bioengineering
Children's Hospital Boston, Harvard Medical School

Robotic technology in medical practice has experienced vast progress in recent years. The move to minimally invasive procedures that offer faster recovery times, minimized infection risk, and smaller incisions means that clinicians interact with tissues and deliver therapies using long, slender tools that both reduce the available visual information and interfere with accurate tactile perception at the surgical site. Robotic technology has helped clinicians overcome these limitations in training and intervention scenarios.

In this talk I will provide examples of how straightforward technological advances can have a positive effect in medical practice. For example, the use of eddy current brakes in conjunction with DC motors can provide a hybrid haptic interface that is ideal for surgical simulation and training of physicians. This design has shown various advantages over conventional haptic interfaces that use DC motors alone for rendering interaction with viscous environments. The hybrid actuation showed a reduction in rendering artifacts, and an improvement in the stable impedances that a haptic interface can display.

In the operating room, we have had great success with the use of a concentric tube robot to perform in vivo beating-heart surgery in a porcine model. This delivery platform and a novel metal MEMS tissue approximation tool was specifically designed for robot deployment. Concentric tube robots have a cross section comparable to catheters (the current standard of care), but a substantially higher stiffness, which improves both the force capabilities and position resolution. This distinction allows for direct tissue manipulation, and deployment of the adjustable device that leaves behind far less foreign material than the conventional therapy. In vivo experiments in a porcine model have confirmed the efficacy of the approach using 3D ultrasound and fluoroscopic image guidance. In the future, the pairing of concentric tube robots with novel miniature tools will be used in various parts of the body, across several medical specialties.

Dr. Gosline received his B.Sc from Queen's University in Mechanical Engineering, his M.A.Sc from the University of British Columbia in Electrical Engineering, and his Ph.D in Electrical Engineering from McGill University. Prior to joining Children's Hospital Boston, he was a member of Immersion Corporation's research team, in Montreal, QC. His research interests include medical robotics, haptics, applied control, simulation, virtual reality, and mechatronics.

Suggested Audiences: College

E-mail: rbe@wpi.edu

Last Modified: November 9, 2012 at 1:15 PM

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