MRI-Guided Robotic Catheter
MRI-guided robotic catheters for intravascular cardiac procedures.
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Overview
My research is in the general areas of robotics, human-machine interfaces, and control/systems theory with special emphasis on medical robotics and haptics. Specifically, my research has focused on design of medical robotic systems for minimally invasive surgery and image-guided interventions, haptic interfacing in teleoperation systems and to virtual environments, and virtual environment-based surgical simulators. Some of the specific research topics I have worked on include:
- MRI-guided robotic catheter systems for cardiac interventions
- Intelligent robotic surgical assistants and surgical task automation
- Robotic beating heart surgery
- Millimeter-scale robotic tools for minimally invasive surgery
- Human-machine interfacing in surgical robotics: Haptic manipulation of deformable objects
- Haptics, teleoperation, and force feedback systems for robotic surgery and virtual environments
- Virtual reality and its application in surgical simulation
- Modeling and simulation of biological systems
Featured Projects
Intelligent Robotic Surgical Assistants: Task Automation in Surgical Robotics
Robotic motion planning, perception, and control algorithms for automating subtasks in surgery.
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Medical Robotics
MRI-Guided Robotic Catheter
MRI-guided robotic catheters for intravascular cardiac procedures.
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Intelligent Robotic Surgical Assistants: Task Automation in Surgical Robotics
Robotic motion planning, perception, and control algorithms for automating subtasks in surgery.
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1 min read
Robotic Beating Heart Surgery
Development of intellignet robotic tools for performing robotic surgery on a beating heart through active relative motion cancellation.
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Robotic Image-Guided Percutaneous Interventions
Development of robotic system for performing needle based percutaneous interventions under image guidance.
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Safety and Reliability of Medical Cyber-Physical Systems
Development of sampling-based methods for empirically assessing safety and reliability of medical cyber-physical systems through data-driven (machine learning) approaches.
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Millimeter-Scale Robotic Tools for Minimally Invasive Surgery
Development of millimeter-scale robotic tools for minimally invasive surgery.
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Haptics & Teleoperation
Computational Modeling of Human Performance in Haptic Manipulation
Characterization, modeling, and analysis of human motor performance in haptic manipulation.
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Design of Bilateral Teleoperation Systems
Design and control of haptic interfaces enabling stable, high-fidelity teleoperation in surgical tasks.
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Haptic Interfacing to Virtual Environments
Algorithms for high fidelity haptic interfacing to virtual enviroments.
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Virtual Reality & Surgical Simulation
GiPSi Software Framework for Surgical Simulation
Open source/open architecture framework for developing organ level surgical simulations.
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Physical Modeling for Simulation in Virtual Environments
Models and algorithms for real-time simulation of deformable objects in virtual enviroments.
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Modeling and Simulation of Biological Systems
Phy-SIM: Physiological Simulation, Integration, and Modeling Toolkit
An ontology-based software framework for integration of the multilevel and multiscale models for the complex biological systems.
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Highlights from Past Projects
My PhD thesis at UC Berkeley was “Telesurgery and Surgical Simulation: Design, Modeling, and Evaluation of Haptic Interfaces to Real and Virtual Surgical Environments.” My PhD advisor was Prof. S. Shankar Sastry, and my co-advisor was Prof. Frank Tendick. After my PhD, I stayed as a postdoctoral researcher / specialist with the Medical Robotics group at UC Berkeley, Dept. of EECS. During my PhD and postdoctoral studies, I worked on the following projects:
Robotic Telesurgical System for Laparoscopy
Robotic motion planning, perception, and control algorithms for automating subtasks in surgery.
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Workspace Analysis of Robotic Surgical Manipulators
Method to evaluate the kinematic ability of surgical robotic manipulators to perform suturing and knot tying.
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Bilateral Force Fedback Teleoperation
Bilateral force feedback teleoperation controller design for haptic exploration and telemanipulation of soft environments.
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Virtual Environments for Surgical Simulation
Development of virtual environments for in surgical training simulators.
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Haptic Interfacing to Virtual Environments
Development of a multi-rate simulation scheme for haptic interaction with virtual environments.
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Open Source Modeling Framework for Biocomputation
Organ level modeling and simulation for surgical applications.
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Development of an Echography Simulator with Force Feedback
Modeling the dynamics of human-thigh for development of an echography simulator with force feedback.
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Hybrid Systems
Modeling of robot-environment contact and force control as a hybrid-system.
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Undergraduate Research
My graduation project at METU was “Closed Loop Position and Force Control of Anthrobot III Robot Hand,” which was supported by Ankara Electronics Research and Development Institute of Turkish Scientific and Technical Research Council, under project number 95-20-100. My project advisor was Assoc. Prof. Dr. Aydan Erkmen.