Cameron Forbrigger on Magnetic Robots for Minimally Invasive Neurosurgery | Toronto AIR Seminar скачать в хорошем качестве

Cameron Forbrigger on Magnetic Robots for Minimally Invasive Neurosurgery | Toronto AIR Seminar

Abstract: Magnetic actuation presents a novel approach to robot surgical tool actuation. Large electromagnets outside of the patient generate magnetic fields that are used to control tools with embedded magnetic material inside the patient. This wireless form of actuation eliminates the need for power transmission cables or wires to pass through the keyhole access to the patient, so tool size can be reduced while leaving space for other critical components, such as force sensors. Tool miniaturization is especially critical for surgical domains on the frontiers of existing robot-assisted surgery, such as neurosurgery. This presentation focuses on the technical challenges of magnetic actuation and the theory underlying the design and control of magnetic serial robots for neurosurgical applications. The size, orientation, and placement of magnetic material on each robot must be carefully designed to ensure that the robots are fully actuated throughout their configuration space. Recent magnetic robot designs are presented, and future work testing and evaluating these tools will be discussed. Successful magnetic robot tools could pave the way to entirely new minimally-invasive surgical approaches in previously inaccessible surgical domains. Paper: https://doi.org/10.1109/TBME.2020.300... https://doi.org/10.1109/ICRA48506.202... Bio: Cameron Forbrigger is a PhD student in the Microrobotics Lab at the University of Toronto headed by Professor Eric Diller. His research interests are in magnetic microrobots and robot-assisted surgery. The aim of his PhD work is to develop miniature tools for minimally invasive neurosurgery in collaboration with researchers and clinicians from the Hospital for Sick Children (SickKids) in Toronto, ON. He is responsible for the control theory and design methodology of the novel magnetic surgical tools (end-effectors) in the project. Cameron is passionate about research projects that harness technological development for improving of the wellbeing of people and their communities. He completed his bachelor’s of engineering and master’s of applied science at Dalhousie University in his hometown of Halifax, NS. Toronto AIR Seminar: The Toronto AI Robotics Seminar Series is a set of events featuring young robotics and AI experts. The talks are given by local as well as global speakers and organized by the Faculty and Students at University of Toronto’s Department of Computer Science. We welcome students, researchers and robotics enthusiasts from around the world to join us and interact with the Toronto Robotics Community. Find out more at: https://robotics.cs.toronto.edu/toron...