Half-day Workshop at ISMR

8:30 am - 12 pm, November 17th, 2021

Marcus Nanotechnology Building, Room 1116

345 Ferst Dr NW, Atlanta, GA 30318

ismr_overview_fig

Background

Continuum manipulators and robotic flexible instruments have rapidly become a rich and interdisciplinary area of research, with many designs and applications demonstrated. These robots can traverse confined spaces, manipulate objects in complex environments, and conform to curvilinear paths in space. Examples include autonomous needle insertion robots for prostate brachytherapy and biopsy of tumors, concentric tube robots for beating-heart intracardiac surgery and lung biopsy, continuum/soft robots for resection of bladder tumors, and cable-driven catheter robots for theranostic procedures in upper urinary tract and kidney. However, there are several challenges hampering the integration of continuum manipulators in practice. Such challenges include design complexity, compatible sensing technologies, situational awareness of operators, and safe control of highly articulated multi-arm or continuum robots.

Objective

 

To address these challenges, this workshop will aim to focus on the importance of model-based approaches in design, sensing, and control for continuum manipulators and robotic flexible instruments. Our objective is to discuss the current analytical approaches in the literature, focusing on their advantages and disadvantages. These models include various mechanics- and equilibrium-based approaches, such as modal representation, cosserat rod theory, boundary value problems, and energy-based approaches. Additionally, we will highlight current challenges in modeling certain phenomena, including friction and backlash, which are important to consider during not only the design and fabrication steps, but also during the sensing and control of these robots.

 

Model-less control and data-driven learning approaches are rapidly emerging and have generated impactful initial results. In this workshop, we plan to have a panel discussion on how model-based approaches (analytical kinematics, mechanics, shape representations) would be complementary and helpful in improving model-less/learning methods. We also welcome speakers to present works on model-less and learning based approaches, which would be great conversation starters for in-depth discussions.

Organizers

Farshid Alambeigi

University of Texas at Austin

Long Wang

Stevens Institute of Technology

Tania Morimoto

University of California San Diego

Join Remotely

Meeting URL: https://bluejeans.com/636310470/0926

(Only for registered attendees.)

Post Questions!

Please post questions using the following link, and we'll try best to accommodate the questions to be discussed live.

https://forms.gle/i6tSf1FAwHPDJ2mu5

Invited Speakers

Jessica Burgner-Kahrs

University of Toronto Mississauga

Gregory S. Chirikjian

National University of Singapore

Nabil Simaan

Vanderbilt University

Robert J. Webster III

Vanderbilt University

Ren Hongliang

Chinese University of Hong Kong

Pierre Dupont

Boston Children's Hospital

Kaspar Althoefer

Queen Mary University of London

Workshop Schedule

8:30 - 8:50, Towards Autonomy for Surgical Continuum Robots

Jessica Burgner-Kahrs

8:50 - 9:10, Hyper-Redundancy Resolution: A Concept Whose Time Has Come (Again)

Gregory S. Chirikjian

9:10 - 9:30, Limitation of Model-Based Approaches, Calibration, and Machine Learning for Continuum and Soft Robots

Nabil Simaan

9:30 - 9:50, Steerable Needles in the Lung: Design, Sensing, and Control of a Multi-Stage Continuum Robot Embedded in Tissue

Robert J. Webster III

9:50 - 10:05, Coffee Break

10:05 - 10:25, Flexible Endoluminal Robotics with Minimal Invasiveness and Exposure

Ren Hongliang

10:25 - 10:45, How Important Are Models for the Design and Control of Medical Continuum Robots?

Pierre Dupont

10:45 - 11:05, Talk title 7

Kaspar Althoefer

11:05 - 11:45, Panel Discussion:

Model-based approaches vs. Model-less approaches.

11:45 - 12:00, Workshop Wrap-up

Farshid Alambeigi, Long Wang, Tania Morimoto


 

Workshop Building Address:

Marcus Nanotechnology Building, Room 1116

345 Ferst Dr NW, Atlanta, GA 30318

ISMR_workshop_location