Cis Ii: Paper Presentation Report

For the semester project, we are aiming to develop an intuitive, haptic interface that will allow for improved control over a surgical manipulator designed for application in removal of osteolysis. Current surgical options for osteolysis removal require manual surgery that often leaves much of the lesion unexplored, and, thus, researchers at the Applied Physics Lab and Johns Hopkins University have developed a dexterous manipulator with an open lumen that aims to improve the efficacy of this surgery. This manipulator, however, can currently only be controlled using a keystroke controller in a MATLAB interface. Given the robot’s multiple degrees of freedom and given the lack of haptic feedback offered with a keystroke controller, effective and intuitive control of the robot is difficult. Thus, using the SENSABLE Phantom Premium haptic controller, we aim to develop a more intuitive interface for the developed dexterous manipulator that incorporates force feedback in attempt to ultimately provide the surgeon with a more effective means of performing osteolysis surgery.