Jessica Burgner-Kahrs

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— We describe transnasal skull base surgery, including the current clinical procedure and the ways in which a robotic system has the potential to enhance the current standard of care. The available workspace is characterized by segmenting medical images and reconstructing the available 3D geometry. We then describe thin, " tentacle-like " robotic tools with(More)
New approaches to intracerebral hemorrhage management are motivated by its high incidence and 40% mortality rate. Surgery is sometimes attempted to decompress the brain, although patient outcomes are similar regardless of whether surgery occurs. We hypothesize that surgical decompression is not more effective because current open surgical techniques disrupt(More)
Steerable needles have the potential to improve the effectiveness of needle-based clinical procedures such as biopsy and drug delivery by improving targeting accuracy and reaching previously inaccessible targets that are behind sensitive or impenetrable anatomical regions. We present a new needle steering system capable of automatically reaching targets in(More)
In the quest to design higher curvature bevel-steered needles, kinked bevel-tips have been one of the most successful approaches yet proposed. However, the price to be paid for enhancing steerability in this way has been increased tissue damage, since the prebent tip cuts a local helical path into tissue when axially rotated. This is problematic when(More)
— The high incidence of intracerebral hemorrhages, together with a 40% mortality rate, provide strong motivation for enhancements in the treatment methods available to physicians. To minimize the disruption to healthy brain tissue associated with gaining access to the surgical site that is imposed by traditional open or endoscopic surgical intervention, we(More)
— Concentric tube robots exhibit complex workspaces due to the way their component tubes bend and twist as they interact with one another. This paper explores ways to compute and characterize their workspaces. We use Monte Carlo random samples of the robot's joint space and a discrete volumetric workspace representation, which can describe both reachability(More)
We propose the use of a haptic touchscreen to convey graphical and mathematical concepts through aural and/or vibratory tactile feedback. We hypothesize that an important application of such a display will be in teaching visually impaired students concepts that are traditionally learned almost entirely visually. This paper describes initial feasibility(More)
PURPOSE Laser ablation of hard tissue is not completely understood until now and not modeled for computer-assisted microsurgery. A precise planning and simulation is an essential step toward the usage of microsurgical laser bone ablation in the operating room. METHODS Planning the volume for laser bone ablation is based on geometrical definitions. Shape(More)