Graduate Seminar Series: Clinical Stream – Paul Kang

Graduate Seminar Series: Clinical Stream
Graduate Seminar Series for the Institute of Biomedical Engineering (BME). This day is for clinical stream presenters.
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Presentation Title: Design, Modeling, and Control of a Hybrid Concentric Tube Robot and Steerable Wrist for Epilepsy Surgery
Abstract: Epilepsy is the disease characterized by the brain generating recurrent seizures, inducing symptoms of drop attacks, muscle stiffening, and loss of awareness. Traditional surgeries for epilepsy use straight and rigid tools with large craniotomies where the open exposure leads to higher morbidity rates, greater blood loss, and longer recovery times. Concentric tube robots (CTR) and steerable wrist instruments are two separate technologies that have potential to reduce the exposure during surgery due to their super-elasticity, curvilinear structure, and thin form (outer diameters less than 3mm). Despite their advantages, CTRs are unable to make high curvature bends, and steerable wrists are unable to create complex configurations along its usually straight backbone. These tools have been studied independently, but very few studies have aimed to combine them to overcome each of their limitations. This thesis aims to design, model, and control a surgical tool that integrates these two technologies to improve the current capabilities of minimally invasive epilepsy surgery.
Supervisor Name: Dr. James Drake
Year of Study: 2
Program of Study: PhD
Zoom link: https://us02web.zoom.us/j/89610372821?pwd=azd4SCtYVWtreVovaGNPV1c2NGY2Zz09
Meeting ID: 896 1037 2821
Password: 483329
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