Detailed Program

<h1><a href="https://www.ismr.gatech.edu/sites/default/files/pdfs/FINAL-2019SSMR-2019I... target="_blank">Download a PDF copy of Detailed Program</a>.</h1>

<h2>Monday, April 1, 2019</h2>

<hr />
 
8:00am – 8:30am – Registration

Location: Marcus Nanotechnology Building, Georgia Institute of Technology, USA

SSMR Speakers – Session 1

8:30am-9:15am – Jaydev P. Desai, Georgia Institute of Technology, USA Flexible, 3D-printed Robotic Systems for Surgical Interventions

9:15am-10:00am – Aaron Young, Georgia Institute of Technology, USA Control and human performance evaluation of lower limb wearable robotic systems

10:00am-10:45am – Jun Ueda, Georgia Institute of Technology, USA Neuromodulations via Robotic Mechanical Stimulation and Paired Brain Stimulation

10:45pm – 11:15pm – Break, Refreshments, and Poster Session

SSMR Speakers – Session 2

11:15am-12:00pm – Dominic Papandria, Emory University, USA Surgical Robotics – Opportunities and Challenges in General Surgery

12:00pm - 1:00pm – Lunch

SSMR Speakers – Session 3

1:00pm-1:45pm –Muralidhar Padala, Emory University, USA Experimental platforms for development and validation of cardiovascular robotic systems

1:45pm-2:30pm – Zion Tse, University of Georgia, USA MRI-guided Therapy for Prostate, Cardiovascular and Spinal Treatment

2:30pm-3:15pm – Simon DiMaio, Intuitive Surgical, Inc., USA Medical Robots – From Bench to Bedside

3:15pm-3:45pm – Break, Refreshments, and Poster Session

SSMR Speakers – Session 4

3:45pm-4:30pm – Cameron Riviere, Carnegie Mellon University, USA Active and passive compensation of physiological motion for accuracy enhancement in surgery

4:30pm-5:15pm – Ann Majewicz Fey, UT Dallas, USA From Tool to Assistant: Developing Adaptive Surgical Robots for the Operating Room

5:15pm-6:00pm – Nabil Simaan, Vanderbilt University, USA Towards Continuum Robots with Surgical Situational Awareness: Modeling and Control Challenges with Applications

<h2>Tuesday, April 2, 2019</h2>

<hr />

8:000am – 8:30am – Registration

Location: Marcus Nanotechnology Building, Georgia Institute of Technology, USA

SSMR Speakers – Session 5

8:30am-9:15am – Tamas Ungi, Queen’s University, Canada Perk Tutor: An Open-Source Platform for Ultrasound Guided Intervention Training

9:15am-10:00am – Mahdi Tavakoli, University of Alberta, Canada Robotics Learning and Imitation of Physical Therapy

10:00am-10:45am – Nabil Zemiti, Université de Montpellier, France Some recent translational research activities on augmented reality and robot assisted surgery gesture guidance

10:45pm – 11:15pm – Break, Refreshments, and Poster Session

SSMR Speakers – Session 6

11:15am-12:00pm – Antoine Ferreira, INSA Centre Val de Loire, France

Recent Progress in Magnetically Actuated Microrobotics for Endovascular Therapies

12:00pm - 1:00pm – Lunch

SSMR Speakers – Session 7
1:00pm-1:45pm – Pretesh Patel, Emory University, USA Anti-Cancer Brachytherapy – Challenges and Opportunities

1:45pm-2:30pm – Paolo Fiorini, University of Verona, Italy Automation and Autonomy in Robotic Surgery

2:30pm-3:15pm – Russell H. Taylor, Johns Hopkins University, USA A Thirty Year Perspective on Medical Robotics: Yesterday, Today, and Tomorrow

3:15pm-3:45pm – Break, Refreshments, and Poster Session

SSMR Speakers – Session 8

3:45pm-4:30pm – Zachary Bercu, Emory University, USA Minimally Invasive Image-Guided Procedures (MIIP’s): A Primer for Medical Robotics Specialists

4:30pm-5:15pm – Arianna Menciassi, Scuola Superiore Sant`Anna, Italy Robotics for wireless surgery and targeted therapy

5:15pm-6:00pm – Elena De Momi, Politecnico di Milano, Italy Smart assistance for surgical training and surgical practice

<h2>Wednesday, April 3, 2019</h2>

<hr />

8:00am – 8:30am – Registration

Workshops for 2019 SSMR and 2019 ISMR

Title: Convergence of IP, Tech Transfer, and Translation, for Medical Robotics Research 
Organizers:  
Yash Chitalia, Georgia Institute of Technology, USA 
Matt Harrow, Stryker, USA 
Hussein Akhavannik, Baker Law, Washington D.C., USA 
Nobuhiko Hata, Bringham and Women's Hospital, USA

Half-day (8:30am – 12:00pm); Break and Refreshments: 10:00am – 10:30am

Location: Marcus 1118

Title: Improving the Utility and Adoption of Human Augmentation Devices 
Organizer: Frank L. Hammond III, Georgia Institute of Technology, USA

Half-day (8:30am – 12:00pm); Break and Refreshments: 10:00am – 10:30am

Location: Marcus 1117

Title: Robot-assisted eye surgery: steps toward operating room 
Organizers: 
Iulian Iordachita, Johns Hopkins University, USA 
Emmanuel Vander Poorten, KU Leuven, Belgium 
Ali Nasseri, Technical University of Munich, Germany

Half-day (8:30am – 12:00pm); Break and Refreshments: 10:00am – 10:30am

Location: Whitaker 3115

Title: Open Platforms for Medical Robotics Research 
Organizers: 
Peter Kazanzides, Johns Hopkins University, USA 
Blake Hannaford, University of Washington, USA 
Gregory S. Fischer, Worcester Polytechnic Institute, USA

Full-day (8:30am – 5:00pm); Break and Refreshments: 10:00am – 10:30am / 3:00pm – 3:30pm

Location: 1128 Suddath Room, Institute for Bioengineering and Bioscience (IBB)

12:00pm – 1:30pm – Lunch

Title: Building Software System for Image-Guided Robot-Assisted Interventions 
Organizers: 
Junichi Tokuda, Brigham and Women’s Hospital and Harvard Medical School, USA 
Tamas Ungi, Queen’s University, Canada 
Axel Krieger, University of Maryland, USA 
Simon Leonard, Johns Hopkins University, USA

Half-day (1:30pm – 5:00pm); Break and Refreshments: 3:00am – 3:30pm

Location: Marcus 1118

Title: Sensorimotor Augmentation in NeuroRehabilitation Robotic and Prosthetic Technologies 
Organizers: 
S. Farokh Atashzar, Imperial College London, UK 
Mahdi Tavakoli, University of Alberta, Canada 
Dario Farina, Imperial College, London, UK 
Rajni V. Patel, Western University, Canada

Half-day (1:30pm – 5:00pm); Break and Refreshments: 3:00am – 3:30pm

Location: Marcus 1117

5:30pm - 7:00pm – 2019 SSMR and 2019 ISMR Reception

7:30pm - 10:00pm – 2019 SSMR and 2019 ISMR Dinner (By Invitation only)

<h2>Thursday, April 4, 2019</h2>

<hr />

8:00am – 8:30am – Registration

Welcome and Opening Remarks (8:30am – 9:00am)

8:30am - 8:45am - Jaydev P. Desai, Director, Georgia Center for Medical Robotics, Georgia Institute of Technology, USA

8:45am - 9:00am – Chaouki Abdallah, Executive VP Research, Georgia Institute of Technology, USA

09:00am – 9:45am – KEYNOTE

Rajni Patel, Ph.D., Western University, Canada – Teleoperation, Haptics and Control Issues in Medical Robotic Applications

9:45am - 10:00am - Rapid Fire Poster Presentations (2 mins each)

Session Chair: Jaydev P. Desai, Georgia Center for Medical Robotics, Georgia Institute of Technology, USA

<ul>
<li>Marzieh Ershad, Robert Rege, Ann Majewicz Fey. Surgical Robotic Training using Real-Time Force Feedback Based on Stylistic Behavior</li>
</ul>

<ul>
<li>Yi Zheng, Ann Majewicz Fey. Effect of Stressors on Surgical Training Performance</li>
</ul>

<ul>
<li>Ziheng Wang, Ann Majewicz Fey. Operative Difficulty Assessment in Robot-assisted Teleoperation with Domain Adaptation</li>
</ul>

<ul>
<li>Daniel Naftalovich, Annie Yang, Yuman Fong, Joel Burdick, Yanghee Woo. Comparison of semantic and lower-level segmentations of robotic-assisted gastrectomies</li>
</ul>

<ul>
<li>Keshav Bimbraw, Elizabeth Fox, Frank L. Hammond III, Gil Weinberg. Sonomyography based real-time hand grasp configuration identification via supervised learning to control a soft robotic gripper</li>
</ul>

<ul>
<li>Zhaoshuo Li, Mahya Shahbazi, Niravkumar Patel, Eimear O’ Sullivan, Preetham Chalasani, Haojie Zhang, Khushi Vyas, Anton Deuget, Peter L. Gehlbach, Iulian Iordachita, Guang-Zhong Yang, Russell H. Taylor. An Image-Based Control Framework for Teleoperated Semi-Autonomous Retina Endomicroscopy Scanning</li>
</ul>

<ul>
<li>Siobhan Rigby, Daniel Buckland. Challenges of Autonomous IV insertion</li>
</ul>

10:00am – 10:30am – Break, Refreshments, and Poster Session

10:30am - 12:30pm - Oral Presentations – Session 1 (15mins/paper: 13 mins presentation + 2 mins Q&A)

Session Chair: Aaron Young, Georgia Institute of Technology, USA

<ul>
<li>Renz Ocampo and Mahdi Tavakoli. Visual-Haptic Colocation in Robotic Rehabilitation Exercises Using a 2D Augmented-Reality Display</li>
</ul>

<ul>
<li>Nafiseh Ebrahimi, Gautham Muthukumaran and Amir Jafari. Reduction in The Metabolic Cost of Human Walking Gaits Using Quasi-Passive Upper Body Exoskeleton</li>
</ul>

<ul>
<li>Shrey Pareek, Hemanth Manjunath, Ehsan Esfahani and Thenkurussi Kesavadas. MyoTrack: Tracking Subject Participation in Robotic Rehabilitation using sEMG and IMU</li>
</ul>

<ul>
<li>Veena Jayasree-Krishnan, Dhruv Gamdha, Brian Goldberg, Shramana Ghosh, Preeti Raghavan and Vikram Kapila. A Novel Task-Specific Upper-Extremity Rehabilitation System with Interactive Game-Based Interface for Stroke Patients</li>
</ul>

<ul>
<li>Vijeth Rai, Abhishek Sharma and Eric Rombokas. Mode-free Control of Prosthetic Lower Limbs</li>
</ul>

<ul>
<li>Rui Li, Christopher Modlesky and Zion Tse. Smartphone-enabled Trackers for Lower-body Monitoring</li>
</ul>

<ul>
<li>Bahareh Abbasi, Mehdi Sharifzadeh, Ehsan Noohi, Sina Parastegari and Milos Zefran. Grasp Taxonomy for Robot Assistants Inferred from Finger Pressure and Flexion</li>
</ul>

<ul>
<li>Waiman Meinhold and Jun Ueda. Tendon Tapping Location Detection Through Impact Modeling</li>
</ul>

12:30pm – 1:30pm – Lunch

1:30pm – 3:00pm - Oral Presentations – Session 2 (15mins/paper: 13 mins presentation + 2 mins Q&A)

Session Chair: Mahdi Tavakoli, University of Alberta, Canada

<ul>
<li>Yun-Hsuan Su, Kevin Huang and Blake Hannaford. Multicamera 3D Reconstruction of Dynamic Surgical Cavities: Camera Grouping and Pair Sequencing</li>
</ul>

<ul>
<li>Di Wu, Gang Li, Niravkumar Patel, Jiawen Yan, Reza Monfaredi, Kevin Cleary and Iulian Iordachita. Remotely Actuated Needle Driving Device for MRI-guided Percutaneous Interventions</li>
</ul>

<ul>
<li>Shahriar Sefati, Rachel Hegeman, Farshid Alambeigi, Iulian Iordachita and Mehran Armand. FBG-Based Position Estimation of Highly Deformable Continuum Manipulators: Model-Dependent vs. Data-Driven Approaches</li>
</ul>

<ul>
<li>Ali Ebrahimi, Changyan He, Niravkumar Patel, Marin Kobilarov, Peter Gehlbach and Iulian Iordachita. Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback</li>
</ul>

<ul>
<li>Xuefeng Wang, Phillip Tran, Sarah Callahan, Steven Wolf and Jaydev Desai. Towards the development of a voice-controlled exoskeleton system for restoring hand function</li>
</ul>

<ul>
<li>Brooks McKinney, Will McKinney, Shivanand Pattanshetti and Seok Chang Ryu. Feasibility Study of In Vivo Robotic Plasma Medicine Devices</li>
</ul>

3:00pm – 3:15pm - Rapid Fire Poster Presentations (2 mins each)

Session Chair: Jaydev P. Desai, Georgia Center for Medical Robotics, Georgia Institute of Technology, USA

<ul>
<li>Austin J. Taylor, Sheng Xu, Bradford J. Wood, Zion T. H. Tse. Rapid Prototyping of Patient Specific CT Markers</li>
</ul>

<ul>
<li>Zhuo Zhao, Rui Li, Sheng Xu, Bradford J. Wood, Zion Tsz Ho Tse. Angular Tracking Device for Assisting Image-guided Needle Placement</li>
</ul>

<ul>
<li>Rui Li, Sheng Xu, Bradford Wood, Zion Tsz Ho Tse. 3D-printed Template for Assisting MRI-guided Needle Biopsy</li>
</ul>

<ul>
<li>Rui Li, Kate Schutz, Zion Tsz Ho Tse. Studying Lunge Movement for Fencing Injury Rehabilitation</li>
</ul>

<ul>
<li>Lingbo Cheng, Mahdi Tavakoli. Neural network-based physiological organ motion prediction and robot impedance control for teleoperated beating-heart surgery</li>
</ul>

<ul>
<li>Xiaolong Liu, Jindong Tan. A Generic In Vivo In Situ Camera Cleaning Module for Laparoscopic Surgery</li>
</ul>

<ul>
<li>Nahian Rahman, Nancy Deaton, Jun Sheng, Jaydev P. Desai. A Novel Bending Sensor for Measuring the Deflections of a Continuum Robot</li>
</ul>

3:15pm – 3:45pm – Break, Refreshments, and Poster Session

3:45pm – 4:15pm – Semi-Plenary Talk

Nabil Zemiti, Ph.D., University of Montpellier, France – Some recent translational research activities on augmented reality and

robot assisted surgical gesture guidance

4:15pm – 4:45pm – Semi-Plenary Talk

Zachary Bercu, MD, Emory University Hospital Midtown, USA – Medical Robotics in Endovascular Procedures - Challenges and              Opportunities

4:45pm – 5:30pm - Oral Presentations – Session 3 (15mins/paper: 13 mins presentation + 2 mins Q&A)

Session Chair: Jun Ueda, Georgia Institute of Technology, USA

<ul>
<li>Mohammad Yasar, David Evans and Homa Alemzadeh. Context-aware Monitoring in Robotic Surgery</li>
</ul>

<ul>
<li>Ada Zhang, Liheng Guo and Anthony Jarc. Prediction of task-based, surgeon efficiency metrics during robotic-assisted minimally invasive surgery</li>
</ul>

<ul>
<li>Christopher Schlenk, Andrea Schwier, Michael Heiss, Thomas Bahls and Alin Albu-Schäffer. Design of a robotic instrument for minimally invasive waterjet surgery</li>
</ul>

5:30pm – 7:30pm – 2019 ISMR Networking Social

7:30pm – 9:30pm – 2019 ISMR Banquet

<h2>Friday, April 5, 2019</h2>

<hr />

8:00am – 8:30am – Registration

8:30am – 9:00am – Semi-Plenary Talk

Cameron Riviere, Ph.D., Carnegie Mellon University, USA – Handheld robotics for microsurgery in the eye and brain

9:00am - 10:30am - Oral Presentations – Session 4 (15mins/paper: 13 mins presentation + 2 mins Q&A)

Session Chair: Blake Hannaford, University of Washington, Seattle, USA

<ul>
<li>Dogancan Temel, Melvin Mathew, Ghassan Alregib and Yousuf Khalifa. Automated Pupillary Light Reflex Test on a Portable Platform</li>
</ul>

<ul>
<li>Niveditha Kalavakonda and Blake Hannaford. Augmented Reality Application for Aiding Tumor Resection in Skull-Base Surgery<a name="16"></a></li>
</ul>

<ul>
<li>Shivanand Pattanshetti and Seok Chang Ryu. On the Kinematic Model of Continuum Robots with Spatially Varying Nonlinear Stiffness</li>
</ul>

<ul>
<li>Ruipeng Chen, David Folio and Antoine Ferreira. Study of robotized electromagnetic actuation system for magnetic microrobots devoted to minimally invasive ophthalmic surgery</li>
</ul>

<ul>
<li>Brijen Thananjeyan, Ajay Tanwani, Jessica Ji, Danyal Fer, Vatsal Patel, Sanjay Krishnan and Ken Goldberg. Optimizing Robot-Assisted Surgery Suture Plans to Avoid Joint Limits and Singularities</li>
</ul>

<ul>
<li>Francesco Piqué, Mohamed Nassim Boushaki, Margherita Brancadoro, Elena De Momi and Arianna Menciassi. Dynamic Modeling of the Da Vinci Research Kit Arm for the Estimation of Interaction Wrench</li>
</ul>

10:30am – 11:00am – Break, Refreshments, and Poster Session

11:00am – 11:45am – KEYNOTE

Lee M. Akst, MD, Johns Hopkins University, USA – Robotic Microlaryngeal Surgery – Where We Are and Where We’re Going

11:45am - 12:30pm - Oral Presentations – Session 5 (15mins/paper: 13 mins presentation + 2 mins Q&A)

Session Chair: Riccardo Muradore, University of Verona, Italy

<ul>
<li>Giovanni Menegozzo, Diego Dall'Alba, Chiara Zandonà and Paolo Fiorini. Surgical Gesture Recognition with Time Delay Neural Network based on kinematic data</li>
</ul>

<ul>
<li>Francesco Setti, Elettra Oleari, Alice Leporini, Diana Trojanello, Alberto Sanna, Umberto Capitanio, Francesco Montorsi, Andrea Salonia and Riccardo Muradore. A Multirobots Teleoperated Platform for Artificial Intelligence Training Data Collection in Minimally Invasive Surgery</li>
</ul>

<ul>
<li>Jay Carriere, Jason Fong, Tyler Meyer, Ron Sloboda, Siraj Husain, Nawaid Usmani and Mahdi Tavakoli. An Admittance-Controlled Robotic Assistant for Semi-Autonomous Breast Ultrasound Scanning</li>
</ul>

12:30pm – 1:30pm – Lunch

1:30pm – 2:15pm – KEYNOTE

Stanley Duke Herrell, MD, Vanderbilt University, USA – Engineering the future of Urology and MIS: The role of the Surgical Innovator

2:15pm - 3:15pm - Oral Presentations – Session 6 (15mins/paper: 13 mins presentation + 2 mins Q&A)

Session Chair: Ravikiran B. Singapogu, Clemson University, USA

<ul>
<li>Zhuo Zhao and Zion Tsz Ho Tse. A Smartphone and Permanent Magnet-based Needle Guidance System</li>
</ul>

<ul>
<li>Mahdieh Babaiasl, Fan Yang, Yao Chen, Jow-Lian Ding and John Swensen. Predicting Depth of Cut of Water-jet in Soft Tissue Simulants based on Finite Element Analysis with the Application to Fracture-directed Water-jet Steerable Needles</li>
</ul>

<ul>
<li>Kihan Park, Phillip Tran, Nancy Deaton and Jaydev Desai. Multi-walled Carbon Nanotube (MWCNT)/PDMS-based Flexible Sensor for Medical Applications</li>
</ul>

<ul>
<li>Irfan Kil, Ravikiran B. Singapogu and Richard E. Groff. Needle Entry Angle & Force: Vision-enabled Force-based Metrics to Assess Surgical Suturing Skill</li>
</ul>

3:15pm – 3:45pm – Break, Refreshments, and Poster Session

3:45pm – 5:15pm - Oral Presentations – Session 7 (15mins/paper: 13 mins presentation + 2 mins Q&A)

Session Chair: Sang-Eun Song, University of Central Florida, USA

<ul>
<li>Arpita Routray, Robert MacLachlan, Joseph Martel and Cameron Riviere. Real-Time Incremental Estimation of Retinal Surface Using Laser Aiming Beam</li>
</ul>

<ul>
<li>Eric Wilde, Sumit Dan, Nathan A. Wood, Michael J. Passineau, M. Scott Halbreiner, Marco A. Zenati and Cameron Riviere. Parallel Position/Force Control of Epicardial Wire Robot Based on Ellipsoid Geodesy</li>
</ul>

<ul>
<li>Jianxin Gao, Irfan Kil, Richard E. Groff and Ravikiran B. Singapogu. Automatic Detection of Needle Puncture in a Simulated Cannulation Task</li>
</ul>

<ul>
<li>Sakura Sikander, Pradipta Biswas, Pankaj Kulkarni, Christopher Harrington, Neil Chang and Sang-Eun Song.  Concept Development of Fixed Geometry Tactile Display using Granular Jamming</li>
</ul>

<ul>
<li>Yingqiao Yang, Kai-Leung Yung and Robert Tin Wai Hung. Surface Model Extraction from Indentation Curves of Hyperelastic Simulation for Abnormality Detection</li>
</ul>

<ul>
<li>Adolfo Perrusquia and Wen Yu. Task space human-robot interaction using angular velocity Jacobian</li>
</ul>

5:15pm – 5:30pm – Closing Remarks

Georgia Institute of Technology

2019 SSMR &
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