Medical and Biological Applications
Simulation and Control of Steerable Needles in Deformable Tissue
Using imaging feedback we can control a new type of steerable needles with high accuracy in deformable tissue. New interactive simulators and motion planners can also be used for training medical personnel to use these new medical devices.
N. Chentanez, R. Alterovitz, D. Richie, J. Cho, K. Hauser, K. Goldberg, J.R. Shewchuk, and J. O'Brien, Interactive Simulation of Surgical Needle Insertion and Steering. In ACM SIGGRAPH, New Orleans, LA, 2009.
K. Hauser, R. Alterovitz, N. Chentanez, A. Okamura, and K. Goldberg, Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths. In Robotics: Science and Systems, Seattle, WA, 2009.
Planning and Control of Soft Tissue Manipulation
Tissue manipulation tasks in robotic laparoscopic surgery can be automated to help relieve surgeon fatigue and enable new medical procedures that involve the simultaneous control of many hands. Tissue manipulation can also be used in conjunction with needle insertion procedures to improve targeting accuracy. Preoperative planning algorithms use finite element models of deformable tissue to select contact points that achieve the desired task robustly while avoiding tissue damage.
R. Jansen, K. Hauser, N. Chentanez, F. van der Stappen, and K. Goldberg, Surgical Retraction of Non-Uniform Deformable Layers of Tissue: 2D Robot Grasping and Path Planning. In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, Oct. 2009.
M. Torabi, K. Hauser, R. Alterovitz, V. Duindam, and K. Goldberg, Guiding Medical Needles Using Single-Point Tissue Manipulation. In proceedings of IEEE Intl. Conf. of Robotics and Automation (ICRA), Kobe, Japan, May 2009. Best Medical Robotics Paper Finalist
Robotic Manipulation and Legged Locomotion
Precise Pushing on the Asimo Humanoid
K. Hauser and V. Ng-Thow-Hing. Multi-Modal Motion Planning for Precision Pushing on a Humanoid Robot. In K. Harada, E. Yoshida, and K. Yokoi (eds), Motion Planning for Humanoid Robots, Springer, 2010.
V. Ng-Thowhing, E. Drumwright, K. Hauser, Q. Wu, and J. Wormer, Expanding Task Functionality in Established Humanoid Robots. In proceedings of IEEE Conference on Humanoid Robots, 2007.
Legged Locomotion in Rough Terrain
K. Hauser, T. Bretl, J.-C. Latombe, Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots. In proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR) 2006