BioRobotics LaboratoryProf. Kenneth Salisbury

Group Foci

• Robotics and Haptics• Physical Devices• Rapid Prototyping• Real-time control• Human-Machine interaction

• Interfaces• Haptic• Stereo

• Paradigms• Physical Simulation

• Surgical Rehearsal• Skills Training and Assessment

Some History

“Kinematic and Force Analysis of Articulated Mechanical Hands” – Kenneth Salisbury, PhD ME Stanford, June 1982.

Massie, Thomas H. `Design of a Three Degree of Freedom Force-Reflecting Haptic Interface,'' SB thesis, MIT EECS Department, May 1993.

Townsend, William T., `The Effect of Transmission Design onForce-Controlled Manipulator Performance,'' PhD. ME, MIT Apr. 1988.

Madhani, Akhil J. `Design of Teleoperated Surgical Instruments for Minimally Invasive Surgery ,'' Sept 1997.

Recent Graduates

F. Barbagli, "A Multi-Point of Contact Framework for Haptic Interaction", PhD dissertation, July 2002, Scuola Superiore S. Anna, Pisa, Italy. (co-advised with M. Bergamasco (ScuolaSuperiore S.Anna) and P. Dario (Univ. of Pisa) )

N. Diolaiti, "Robotic Interaction: Analysis and Control", PhDdissertation, PhD dissertation, May 2005, University of Bologna (co-advised with C. Melchiorri (Univ. of Bologna) and G. Niemeyer (Stanford) )

Morris Dan, PhD CS `Haptics and Physical Simulation for Virtual Bone Surgery,'' August 2006.

Sewell, Christopher, `Automatic Performance Evaluation in Surgical Simulation,'' PhD CS, Spring 2007.

Walker, Sean, `Robot Haptics: Object Recognition Through Dynamic Exploration,'' PhD CS, Winter 2009.

Camarillo, David, `Mechanics and Control of Tendon Driven Continuum Manipulators ,'‘ PhD ME Spring 2008.

Loewke, Kevin E., `Image Sequence Analysis for Dynamic and Time-Lapse Microscopy,'‘ PhD ME, Stanford, August 2009.

Salisbury, Curt, `Haptic Hardware: Evaluation, Design and Placement'' PhD ME, Stanford, September 1009.

We Like to Make Stuff

Current Projects

Robotic Real-Time Volumetric Ultrasound Guidance System for Radiation Therapy - Jeff Schlosser – ME PhD Candidate, NIH/DOD

4D US probe (I1)

3D US image stream

Ethernet (> 1 GB/s)

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US-guidance workstation with haptic interface(I3)

US imagingsystem (I2)

Accelerator control console (I4)

Linear Accelerator (I5)LINAC

Probe position data (6 DOF)

Robot placing US probe (I8)

Robot Control (I7)

I6. Opticaltracker

Robot Control (I7)

Patient-Specific Simulation for Surgical RehearsalSonny Chan, CS PhD CandidateFellowship, VA Funding starts 4/10, NIH Funding Pending

Patient-Specific Simulation for Surgical RehearsalSalisbury, Blevins, and Hanrahan – Pending NIH review

Discover Magazine: http://discovermagazine.com/2009/nov/28-the-3d-simulation-that-lets-your-surgeon-practice-on-you

Wall-E: Visual Object Acquisition & Grasp Planning 23

Enhancing Tele-operated Robotic Operation

Intelligent Interaction

Eric Chu

Adam Leeper

Stanford University

October 2, 2009

Principle Investigator

Graduate Students

Ken Salisbury

Enhancing Tele-operated Robotic Operation- Adam Leeper, ME PhD Candidate - Disney Imagineering R&D

Affordable RoboticsSupported by: Bosch Corporation

Lead Student: Ben Wilson, PhD candidate, Mech Engr

Student Advisors: Reuben Brewer PhD candidate, MechEngrMorgan Quigley, PhD candidate, Comp Sci

Faculty Advisors: Profs. Ng and Neimeyer

Cochlear Implant Technology– Joan Savall, PhD, on sabbatical from University of Navarra, Spain

Personal Robotics– www.willowgarage.com - Keenan Wyrobek, ME PhD Candidate; Eric Berger, CS PhD Candidate

Human-Robot Interaction

• Information Flow During Physical Contact– Touching and Being Touched– Taking and Giving– Leading and Being Led

• Gesture-based Communication– Recognition– Acknowledgment – Pacing and Negotiation– Intention Inference