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)
—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)
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)
Accessing a specific, predefined location identified in medical images is a common inter-ventional task for biopsies and drug or therapy delivery. While conventional surgical needles provide little steerability, concentric tube continuum devices enable steering through curved trajectories. These devices are usually developed as robotic systems. However,(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)
Innovations in the field of continuum robotics are enabling increasingly thin and dexterous slave robots in surgical telema-nipulation systems. Actuation of these robots is a challenge, because many degrees of freedom must be controlled simultaneously in a compact and unobtrusive package in the operating room. While significant progress in designing these(More)
Brain shift compromises the accuracy of neurosurgical image-guided interventions if not corrected by either intraoperative imaging or computational modeling. The latter requires intraoperative sparse measurements for constraining and driving model-based compensation strategies. Conoscopic holography, an interferometric technique that measures the distance(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 present a novel flexure-based wrist design intended for use with needle-sized robotic manipulators. It is designed to be mounted at the tip of a traditional surgical needle, deployed through an endoscope working channel, or attached to the tip of a concentric tube robot. In all these applications, the wrist enables dexterity in small spaces. The wrist(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)