|Prof. Pierre E. Dupont, Boston Children Hospital, Harvard Medical School|
Pierre E. Dupont is Chief of Pediatric Cardiac Bioengineering and holder of the Edward P. Marram Chair at Boston Childrenís Hospital. His research group develops robotic instrumentation and imaging technology for minimally invasive surgery. He received the BS, MS and PhD degrees in Mechanical Engineering from Rensselaer Polytechnic Institute, Troy, NY, USA. After graduation, he was a Postdoctoral Fellow in the School of Engineering and Applied Sciences at Harvard University, Cambridge, MA, USA. He subsequently moved to Boston University, Boston, MA, USA where he was a Professor of Mechanical Engineering and Biomedical Engineering. His group has received a number of paper awards including the King-Sun Fu Best Paper Award of the IEEE Transactions on Robotics in 2010 and the IEEE ICRA Best Medical Robotics Paper Award in 2012. He is an IEEE Fellow who has served in many capacities with the IEEE Robotics and Automation Society.
|Exteroceptive and Proprioceptive Sensing for Co-robotic Control of Surgical Continuum Robots|
Continuum robots provide the
potential to perform interventions with substantially less trauma
compared to current robotic technologies employing straight rigid
instrument shafts. The 3D curvature and flexibility of continuum
robots that bestow this advantage, however, substantially complicate
the clinicianís task of controlling robot-tissue interaction Ė
not only at the robotís tip, but along its entire length.
Co-robotic controllers that automatically adjust tissue contact
forces and compensate for robot deflection can improve safety and
enhance performance while enabling the clinician to focus on the task
being performed at the robotís tip. A major challenge, though, is
that sensing technology has not kept pace with developments in
continuum robot design. To address this, we have been exploring
concepts for creating exteroceptive
to measure tissue contact, pressure or force. These are embodied as
robot fingertips and as thin elastic skins covering the robotís
surface. We have also been exploring proprioceptive
measure 3D robot shape. In this talk, I will share our clinical
motivations for this work, describe our progress and outline the
N, Gosline A, Butler E, Lang N, Codd P, Yamauchi H, Feins E, Folk C,
Cohen A, Chen R, del Nido P, Dupont P. Percutaneous Steerable
Robotic Tool Delivery Platform and Metal MEMS Device for Tissue
Manipulation and Approximation: Initial Experience with Closure of
Patent Foramen Ovale. Circulation: Cardiovascular Interventions
P, Arabagi V, Gosline A, Dupont P. Design and Initial
Characterization of a Novel Pressure-Sensing Skin for Detecting
Impending Tissue Damage during Neuroendoscopy. Journal of
Neurosurgery: Pediatrics 2014;13(1):114-121.
A, Vasilyev N, Veeramani A, Wu MT, Schmitz G, Chen R, Arabagi V, del
Nido P, Dupont P. Metal MEMS Tools for Beating-heart Tissue Removal.
Conf Proc IEEE International Conference on Robotics and Automation
V, Gosline A, Wood R, Dupont P. Simultaneous Soft Sensing of Contact
Orientation and Force for Millimeter-scale Medical Robots. Conf Proc
IEEE Int. Conf. Robotics and Automation 2013:4381-4387.
S, Dupont P. FBG-based Shape Sensing Tubes for Continuum Robots.
IEEE Int. Conf. Robotics and Automation 2014. (in press)
B, Ha J, Park F, Dupont P. Optimizing Curvature Sensor Placement for
Fast, Accurate Shape Sensing of Continuum Robots. IEEE Int. Conf.
Robotics and Automation 2014. (in press)