{"672837":{"#nid":"672837","#data":{"type":"event","title":"PhD Proposal by Anthony L. Gunderman","body":[{"value":"\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cstrong\u003E\u003Cspan\u003ETitle: \u003C\/span\u003E\u003C\/strong\u003E\u003Cspan\u003EDesign, Modeling, and Control of a Concentric Tube Robot for MR-Guided Intracerebral Hemorrhage Evacuation\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cstrong\u003E\u003Cspan\u003EStudent Name:\u003C\/span\u003E\u003C\/strong\u003E\u003Cspan\u003E Anthony L. Gunderman\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cspan\u003E\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp; Robotics Ph.D. Student\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cspan\u003E\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp; School of Electrical and Computer Engineering\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cspan\u003E\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp; Georgia Institute of Technology\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cstrong\u003E\u003Cspan\u003EDate:\u003C\/span\u003E\u003C\/strong\u003E\u003Cspan\u003E 02\/21\/2024 (Wednesday)\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cstrong\u003E\u003Cspan\u003ETime:\u003C\/span\u003E\u003C\/strong\u003E\u003Cspan\u003E 3:00 PM - 5:00 PM EST\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cstrong\u003E\u003Cspan\u003EIn-Person Location:\u003C\/span\u003E\u003C\/strong\u003E\u003Cspan\u003E UAW 3115 \u2013 McIntire Conference Room\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cstrong\u003E\u003Cspan\u003EVirtual Link:\u003C\/span\u003E\u003C\/strong\u003E\u003Cspan\u003E \u003Ca href=\u0022https:\/\/gatech.zoom.us\/j\/2585925197?pwd=MFFmVUQvWmZOaGJydlZyZ3FtRGRodz09\u0022\u003EZoom\u003C\/a\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cspan\u003E\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp; Meeting ID: 258 592 5197\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cspan\u003E\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp; Passcode: 043355\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cstrong\u003E\u003Cspan\u003ECommittee:\u003C\/span\u003E\u003C\/strong\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cspan\u003EDr. Yue Chen (Advisor) \u2013 Department of Biomedical Engineering, Georgia Institute of Technology\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cspan\u003EDr. Jaydev P. Desai \u2013 Department of Biomedical Engineering, Georgia Institute of Technology\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cspan\u003EDr. Jun Ueda \u2013 Department of Mechanical Engineering, Georgia Institute of Technology\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cspan\u003EDr. Kevin Cleary \u2013 Sheikh Zayed Institute for Pediatric Surgical Innovation, Children\u2019s National Hospital\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cspan\u003EDr. Saikat Sengupta \u2013 Vanderbilt University Institute of Imaging Science, Vanderbilt University Medical Center\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cstrong\u003E\u003Cspan\u003EAbstract:\u003C\/span\u003E\u003C\/strong\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003E\u003Cspan\u003EIntracerebral hemorrhage (ICH) is a type of hemorrhagic stroke that is caused by the rupture of a cerebral blood vessel. Recently, the ENRICH trial has confirmed that minimally invasive surgery (MIS) can improve functional outcomes. While MIS offers advantages, challenges remain, including limited instrumentation dexterity and inadequate intraprocedural visualization. This work proposes the development of a MR-guided concentric tube robot (CTR) for ICH evacuation. The system hardware consists of nylon, pre-curved tubes for increased dexterity, turbine-based pneumatic actuators for MR-safe actuation, fiber-optic limit switches, and a compact, manually operated aiming device. For task-space control, a model is derived using strain-energy methods with friction-based torsional compensation to model the CTR shape. For actuation-space control, a comprehensive model and control strategy are developed that considers the dynamics of the (1) motor, (2) pneumatic transmission line, and (3) valve. In the proposed work, the CTR system is used \u003Cem\u003Eex vivo \u003C\/em\u003Eand \u003Cem\u003Ein vivo\u003C\/em\u003E sheep trials with surgeon-in-loop intraoperative MR-guidance. The contributions of the proposed work include improvement of the robot hardware, (ii) a method for MR-tracking of the shape of continuum robots, (iii) a method of ICH hematoma production, and (iv) an evaluation of the system in \u003Cem\u003Eex vivo\u003C\/em\u003E and \u003Cem\u003Ein vivo\u003C\/em\u003E sheep studies.\u003C\/span\u003E\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n","summary":"","format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003E\u003Cspan\u003E\u003Cspan\u003EDesign, Modeling, and Control of a Concentric Tube Robot for MR-Guided Intracerebral Hemorrhage Evacuation\u003C\/span\u003E\u003C\/span\u003E\u003C\/p\u003E\r\n","format":"limited_html"}],"field_summary_sentence":[{"value":"Design, Modeling, and Control of a Concentric Tube Robot for MR-Guided Intracerebral Hemorrhage Evacuation"}],"uid":"27707","created_gmt":"2024-02-08 16:53:25","changed_gmt":"2024-02-08 16:53:25","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2024-02-21T15:00:00-05:00","event_time_end":"2024-02-21T17:00:00-05:00","event_time_end_last":"2024-02-21T17:00:00-05:00","gmt_time_start":"2024-02-21 20:00:00","gmt_time_end":"2024-02-21 22:00:00","gmt_time_end_last":"2024-02-21 22:00:00","rrule":null,"timezone":"America\/New_York"},"location":"UAW 3115 \u2013 McIntire Conference Room","extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"102851","name":"Phd proposal"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}