Issues in Closed-Loop Needle Steering
The Montreal Chapter of the IEEE Control Systems (CS) Society cordially invites you to attend the following lecture, to be presented by Dr. Mahdi Tavakoli, Professor in the Department of Electrical and Computer Engineering, University of Alberta on Tuesday, May 21st, 2019, from 4pm to 6pm at Concordia University (EV Building, Room EV002.184).
Date and Time
Location
Hosts
Registration
- Date: 21 May 2019
- Time: 04:00 PM to 06:00 PM
- All times are (GMT-05:00) America/Montreal
- Add Event to Calendar
- Department of Electrical and Computer Engineering
- 1515 St.Catherine Street West
- Montreal, Quebec
- Canada H3G 2W1
- Building: EV building
- Room Number: EV002.184
- Contact Event Host
-
Dr. Jalal Arabneydi,
Department of Electrical and Computer Engineering,
Concordia University,
1250 Guy Street, Faubourg Tower, Office: FB 1131.17,
Montreal, QC, H3G 1M8, Canada.
Speakers
Dr. Mahdi Tavakoli
Issues in Closed-Loop Needle Steering
Abstract of the talk: This presentation will demonstrate the potentials of robotics technologies for improving healthcare by enhancing needle-based surgeries and therapies. In permanent implant brachytherapy, needles loaded with radioactive seeds are used to reach planned locations in the prostate, where the seeds are deployed. Accurate seed placement is a key factor that influences the effectiveness of the procedure. However, current manual techniques can place seeds with an accuracy of only about 5 mm, which is a substantial error given the average prostate size. We will discuss mechatronic technologies for precisely steering a needle towards its intended location using feedback control. Closed-loop control of needle in tissue is challenging due to measurement errors, unmodelled dynamics created by tissue heterogeneity and motion of targets within the tissue, only to name a few. We will review recent progress made in this area including modelling needle-tissue interaction, sensing needle deflection, and controlling the needle trajectory.
Biography:
Dr. Mahdi Tavakoli is a Professor in the Department of Electrical and Computer Engineering, University of Alberta, Canada. He received his BSc and MSc degrees in Electrical Engineering from Ferdowsi University and K.N. Toosi University, Iran, in 1996 and 1999, respectively. He received his PhD degree in Electrical and Computer Engineering from the University of Western Ontario, Canada, in 2005. In 2006, he was a post-doctoral researcher at Canadian Surgical Technologies and Advanced Robotics (CSTAR), Canada. In 2007-2008, he was an NSERC Post-Doctoral Fellow at Harvard University, USA. Dr. Tavakoli’s research interests broadly involve the areas of robotics and systems control. Specifically, his research focuses on haptics and teleoperation control, medical robotics, and image-guided surgery. Dr. Tavakoli is the lead author of Haptics for Teleoperated Surgical Robotic Systems (World Scientific, 2008). He is an Associate Editor for IEEE/ASME Transactions on Mechatronics, Journal of Medical Robotics Research, Control Engineering Practice, and Mechatronics.