Algorithmic Motion Planning Meets Min-Invasive Robotic Surgery (Oren Salzman, Israel Inst. of Tech.) скачать в хорошем качестве

Algorithmic Motion Planning Meets Min-Invasive Robotic Surgery (Oren Salzman, Israel Inst. of Tech.)

Spring 2021: Robotics Research Colloquium Robots for minimally-invasive surgery such as steerable needles and concentric-tube robots have the potential to dramatically alter the way common medical procedures are performed. They can decrease patient-recovery time, speed healing and reduce scarring. However, manually controlling such devices is highly unintuitive and automatic planning methods are in need. For the automation of such medical procedures to be clinically accepted, it is critical from a patient care, safety, and regulatory perspective to certify the correctness and effectiveness of the motion-planning algorithms involved in procedure automation. In this talk I will survey some of the recent work I have been involved in where, together with colleagues at UNC, UW and UoU, we developed efficient and effective planning capabilities for medical robots that provide provable guarantees on various planner attributes. Bio: Oren Salzman is an Assistant Professor at the Computer Science department at the Technion - Israel Institute of Technology. His research focuses on revisiting classical computer science algorithms, tools and paradigms to address the computational challenges that arise when planning motions for robots. Combining techniques from diverse domains such as computational geometry, graph theory and machine learning, he strives to provide efficient algorithms with rigorous analysis for robot systems with many degrees of freedom moving in tight quarters. Oren completed a PhD in the School of Computer Science at Tel Aviv University under the supervision of Prof. Dan Halperin. He then continued his studies as a postdoctoral researcher at Carnegie Mellon University working with Siddhartha Srinivasa and Maxim Likhachev and as a research scientist at the National Robotics Engineering Center (NREC). Oren has published over forty peer-reviewed conference and journal papers. He has received the best paper and best student paper in ICAPS 18 and ICAPS 19, respectively. More information is available at https://www.cs.washington.edu/events/.... This lecture was recorded on April 30, 2021 and is closed captioned.