Undergrad Research Project - Minimally invasive laser scanning for improved situational awareness

Spring 2018

Sara Misra
Howie Choset
Project description

Current SLAM techniques, even though efficient and accurate for outdoor visualization and modeling, fall short when applied inside of a human body during minimally invasive surgeries. The environment inside the body provides several challenges including variable lighting conditions, specular reflection of tissue surface and the presence of tight space constraints. The project focuses on researching and investigating the movement of a robotic arm in constrained space to extract accurate and meaningful geometric data from a custom build laser scanning sensor attached to the end of the robot. The obtained data will be processed to generate a geometric model which will be fused with preoperative information obtained from CT/ MRI scan to develop a better situational awareness.

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