Award Abstract # 1563805
RI: Medium: Active Sensing, Localization, and Mapping in Dynamic Deformable Environments for Image-Guided Interventions

NSF Org: IIS
Division of Information & Intelligent Systems
Recipient: CASE WESTERN RESERVE UNIVERSITY
Initial Amendment Date: April 19, 2016
Latest Amendment Date: May 10, 2024
Award Number: 1563805
Award Instrument: Continuing Grant
Program Manager: Andy Duan
yduan@nsf.gov  (703)292-4286
IIS  Division of Information & Intelligent Systems
CSE  Directorate for Computer and Information Science and Engineering
Start Date: August 1, 2016
End Date: July 31, 2025 (Estimated)
Total Intended Award Amount: $1,000,000.00
Total Awarded Amount to Date: $1,056,000.00
Funds Obligated to Date: FY 2016 = $281,055.00
FY 2017 = $726,945.00
FY 2018 = $8,000.00
FY 2019 = $16,000.00
FY 2020 = $8,000.00
FY 2022 = $16,000.00
History of Investigator:
  • Cenk Cavusoglu (Principal Investigator)
     mcc14@case.edu
  • Michael Branicky (Co-Principal Investigator)
  • Mark Griswold (Co-Principal Investigator)
  • Nicole Seiberlich (Co-Principal Investigator)
Recipient Sponsored Research Office: Case Western Reserve University
 10900 EUCLID AVE
 CLEVELAND
 OH  US  44106-4901
(216)368-4510
Sponsor Congressional District: 11
Primary Place of Performance: Case Western Reserve University
 10900 Euclid Ave
 Cleveland
 OH  US  44106-7221
Primary Place of Performance
Congressional District:		 11
Unique Entity Identifier (UEI): HJMKEF7EJW69
Parent UEI:
NSF Program(s): Robust Intelligence
Primary Program Source: 01001920DB NSF RESEARCH & RELATED ACTIVIT
01002223DB NSF RESEARCH & RELATED ACTIVIT
01001718DB NSF RESEARCH & RELATED ACTIVIT
01002021DB NSF RESEARCH & RELATED ACTIVIT
01001819DB NSF RESEARCH & RELATED ACTIVIT
01001617DB NSF RESEARCH & RELATED ACTIVIT
Program Reference Code(s): 7495, 9251, 7924
Program Element Code(s): 749500
Award Agency Code: 4900
Fund Agency Code: 4900
Assistance Listing Number(s): 47.070

ABSTRACT

This study aims to address two important research problems in realizing intelligent robotic systems for image-guided needle and catheter based surgical interventions. The first research thrust focuses on localization and tracking of flexible instruments and anatomical targets during the surgical intervention using medical imaging. Algorithms for robustly tracking the instrument, target tissue, and other relevant anatomical structures, including obstacles and anatomical structures that need to be avoided, under noisy, incomplete sensor measurements are essential for the robotic system for successfully performing the procedure. The second research thrust aims to develop algorithms for dynamically controlling the medical imaging system during the procedure. The goal is to minimize the number of sensor measurements, and hence reduce costs associated with sensing, while still obtaining sufficient sensing information. This project will have direct broad societal impacts in healthcare, by developing technologies that will improve percutaneous interventions, which are widely used for both diagnostic and therapeutic applications.

The purpose of the present study is the development of methods for active control of intra-operative medical imaging systems for localization and tracking of instruments and anatomical structures during percutaneous interventions. Specifically, the research will focus on development of algorithms for active localization and mapping in dynamic deformable environments, and active sensing algorithms for dynamically controlling intra-operative imaging system. The developed technologies will be realized in hardware and validated in benchtop experimental studies on a clinical interventional magnetic resonance imaging system using real-time magnetic resonance imaging techniques. The intellectual merit of the project comes from the scientific contributions to the fields of robotics and medical imaging as well as a synergistic integration of the two technologies.

PUBLICATIONS PRODUCED AS A RESULT OF THIS RESEARCH

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(Showing: 1 - 10 of 44)
E. E. Tuna, and M. C. Cavusoglu "Localization of Point-of-Interest Positions on Cardiac Surface for Robotic-Assisted Beating Heart Surgery" Proceedings of the 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2021) , 2021
E. E. Tuna, D. Franson, N. Seiberlich, and M. C. Cavusoglu "Deformable Cardiac Surface Tracking by Adaptive Estimation Algorithms" Scientific Reports , v.13 , 2023 10.1038/s41598-023-28578-0
E. E. Tuna, N. Lombard Poirot, D. Franson, S. Huang, N. Seiberlich, M. Griswold, and M. Cenk Cavusoglu "MRI Distortion Correction and Robot-to-MRI Scanner Registration for an MRI-Guided Robotic Catheter System." IEEE Access , 2022 10.1109/ACCESS.2022.3207156
E. E. Tuna, N. Lombard Poirot, J. Barrera Bayona, D. Franson, S. Huang, J. Narvaez, N. Seiberlich, M. Griswold, M. C. Cavusoglu "Differential Image Based Robot to MRI Scanner Registration with Active Fiducial Markers for an MRI-Guided Robotic Catheter System" Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020) , 2020 10.1109/IROS45743.2020.9341043
E. E. Tuna, T. Liu, R. Jackson, N. Lombard Poirot, M. Russell, and M. C. Cavusoglu "Analysis of Dynamic Response of an MRI-Guided Magnetically-Actuated Steerable Catheter System" IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) , 2018
Greigarn, Tipakorn and Jackson, Russell and Cavusoglu, M. Cenk "State Estimation for MRI-Actuated Cathers via Catadioptric Stereo Camera" Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) , 2018 10.1109/IROS.2018.8594153 Citation Details
Greigarn, Tipakorn and Jackson, Russell and Liu, Taoming and Cavusoglu, M. Cenk "Experimental validation of the pseudo-rigid-body model of the MRI-actuated catheter" Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2017) , 2017 10.1109/ICRA.2017.7989414 Citation Details
Greigarn, Tipakorn and Poirot, Nate Lombard and Xu, Xinyang and Cavusoglu, M. Cenk "Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots" IEEE Robotics and Automation Letters , v.4 , 2019 10.1109/LRA.2018.2881987 Citation Details
Hao, Ran and Çavuolu, M. Cenk "A Probabilistic Approach for Contact Stability and Contact Safety Analysis of Robotic Intracardiac Catheter" Journal of Dynamic Systems, Measurement, and Control , v.143 , 2021 https://doi.org/10.1115/1.4050692 Citation Details
Hao, Ran and Erdem Tuna, E. and Çavuolu, M. Cenk "Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter Under Heart Surface Motion" Journal of Dynamic Systems, Measurement, and Control , v.143 , 2021 https://doi.org/10.1115/1.4049837 Citation Details
Hao, Ran and Greigarn, Tipakorn and Cavusoglu, M. Cenk "Contact Stability Analysis of Magnetically-Actuated Robotic Catheter Under Surface Motion" Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2020) , 2020 https://doi.org/10.1109/ICRA40945.2020.9196951 Citation Details
(Showing: 1 - 10 of 44)

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