Available master thesis

Thesis Autonomous Robotic Surgery (ARS)
Supervisors Elena De Momi, Paolo Fiorini
Collaborations University of Verona, Italy
 
Description
  1. Analisi di Big-data sets riferiti alla chirurgia robotica
    • Definizione e calcolo di metriche di prestazione
    • Analisi e applicazione di metodi di Reinforcement Learning o di Deep Learning per:
      • Identificazione della scena anatomica
      • Identificazione del modello dell’intervento
  2. Applicazione di ontologie ai modelli di interventi
  3. Progettazione di strumenti chirurgici robotici usando tecniche di fabbricazione additiva
  4. Segmentazione automatica di fasi di intervento chirurgico
  5. Ragionamento automatico durante un intervento usando reti di Bayes e/o causali
  6. Modellazione grafica e/o biomeccanica di ambienti anatomici
  7. Analisi di un intervento chirurgico e sviluppo della corrispondente macchina a stati (automa ibrido)
  8. Analisi del grado di risoluzione nella rappresentazione di un intervento chirurgico
  9. Analisi della sicurezza in chirurgica robotica: applicazione del metodo STAMP
Thesis Please see the available theses titles in the description
Supervisors Elena De MomiRiccardo Muradore
Collaborations University of Verona, Italy
Description 1.Development of bilateral teleoperation algorithm for the da Vinci system
(no communication delay, constant and known delay, time-varying delay)

2.Identification of the mathematical model of the da Vinci robot system

3.Computation of dynamic 3D model of anatomical scenes

4.Mathematical modeling of basic surgical tasks (needle insertion, suturing, cutting)

Thesis Please see the available theses titles in the description
Supervisors Elena De MomiRiccardo Muradore
Collaborations University of Verona, Italy
Description 1. Comparison of bilateral teleoperation algorithms in terms of human-centric metrics

2. Comparison of bilateral teleoperation algorithms in terms of control metrics (stability, Z-width, transparency)

3. Development of bilateral teleoperation algorithm for remote needle insertion

Thesis Please see the available theses titles in the description
Supervisors Elena De MomiRiccardo Muradore
Collaborations University of Verona, Italy
Description 1.Development of bilateral teleoperation algorithm for the da Vinci system
(no communication delay, constant and known delay, time-varying delay)2.Identification of the mathematical model of the da Vinci robot system

3.Computation of dynamic 3D model of anatomical scenes

4.Mathematical modeling of basic surgical tasks (needle insertion, suturing, cutting)

Thesis Robot Adaptation to Human Fatigue in Human-Robot Collaboration
Supervisors Elena De Momi, Arash Ajoudani
Collaborations Italian Institute of Technology, Italy
Description The aim here is to detect and process the human fatigue in human robot interaction and collaboration scenarios.The robot’s reactive behaviour will contribute to a reduction of the human physical fatigue.
Thesis Surgical Robot for Laser Osteotomy 
Supervisors Elena De Momi, Gabor Kosa
Collaborations University of Basel
Description Context: The Department of Biomedical Engineering (DBE) has recently been awarded a Flagship project from the Werner Siemens Foundation. The principal aim of this interdisciplinary project called Minimally Invasive Robot Assisted Computer-guided Laserosteotomy (MIRACLE) is the development of a minimally invasive robotic endoscope for cutting bone with a laser.

Task description: In this project, the Master candidate will participate in the development of a surgical robot for the manipulation of a semi-flexible endoscope. The robot has 6 DoF for the control of the position and orientation of the endoscopes tip and an additional DoF for the bending of the tip. An initial prototype, named GG-1, (see attached figure) of the robot is already operational and currently we are developing for it new control schemes and path planning, and improving the mechanical design and teleoperation. The candidate will be able to get involved in the design, dynamics and control aspects of GG-1-s development. Otherpossibletasksaretheutilizationoftherobotinasurgicalprocedure: characterization of the task, programming the robot and evaluation of its performance.
What we offer:

• You will be able to build your own robot.

• You will learn kinematics, dynamics and control of robotic arms.

• You will join a team of medical doctors and engineers developing novel medical devices.
Your Profile: Background in mechatronics, mechanical engineering, biomedical engineering or in a closely related discipline. Excellent skills and practical experience in one or more of the following research areas: robotics, mechatronics, control, mechanical design. Fluency in written and spoken English is required.

Thesis Synergy Driven Robotic Teleoperation: A Novel Control Approach
Supervisors Elena De Momi, Arash Ajoudani
Collaborations Italian Institute of Technology, Italy
Description The project exploits the use of reduced-complexity models of the human physical interaction behaviour in teleimpedance control.
Thesis Magnetic telemanipulation of a soft-tethered endoscopic capsule for painless colonoscopy
Supervisors Elena De Momi, Prof. Pietro Valdastri
Collaborations University of Leeds, UK

Description The student will join the multi-disciplinary research carried on at the Science and Technology of Robotics in Medicine (STORM) Lab at the University of Leeds, where we are developing a robotic platform for painless colonoscopy. This platform is based on the recently introduced KUKA lightweight robot certified for medical use (we are among the first research centers around the world having access to this technology). Research topic will include automation of robotic tasks in endoscopy, human-robot interaction, machine learning for manipulation planning and control, manipulation based on real-time position and force sensing, and platform validation in collaboration with our clinical partners. Frequent interactions with Vanderbilt University (TN, USA) and other partner Universities in the UK (http://sonopill.dundee.ac.uk/) will offer an outstanding research experience.
Thesis Background: Micro-robots can be used in applications such as microassembly, micromanipulation, and minimally invasive surgeries. Proper microscopic imaging is fundamental for the closed-loop control of these robots, especially when performing 3D reconstruction. For this purpose is fundamental to be aware of all parameters of the optical system, including the selected magnification.
Supervisors Elena De Momi, Prof. Sarthak Misra,  MSC Federico Ongaro
Collaborations Surgical Robotics Lab, University of Twente
 

Description Tasks: In this assignment you will be guided in the design of a nonlinear control for the exertion of electromagnetic torques. Subsequently, you will have to experimentally validate your approach and determine the effect of the control parameters on the propulsion and behavior of micro-robots.
Thesis Background: Micro-robots have the potential to revolutionalize the fields of microassembly, micromanipulation, and minimally invasive surgery. However, as their size becomes smaller higher levels of magnification are required. These often present the drawback of a smaller focal depth (volume in focus). Consequently, it is necessary to move the imaging device to maintain the tracked micro-robot in the focus plane.
Supervisors Elena De Momi, Prof. Sarthak Misra,  MSC Federico Ongaro
Collaborations Surgical Robotics Lab, University of Twente

 

Description Tasks: In this assignment you will control micron-precision linear stages to design and code an algorithm capable of dynamically correcting the position, and magnification of the cameras to maintain the micro-robot in focus. Information regarding the control output and expected position will be available to you for this purpose. Furthermore, the algorithm will have to be flexible and capable of operating with ultrasound imaging.
Thesis Background: Coils that used for magnetic manipulation can be driven at high frequencies to obtain low ripples in magnetic field lines and fast control response. In the literature, many studies were conducted on high frequency motor driving. Inspiring from these studies, control characteristics and driving methods of a coil driven at high frequency will be investigated.

 

Supervisors Elena De Momi, Prof. Sarthak Misra, Mert Kaya, Alper Denasi
Collaborations Surgical Robotics Lab, University of Twente
Description Tasks: In this project, aim of the research can be divided into three consecutive stages. In the first stage, the properties of magnetic cores will be investigated and a suitable magnetic core will be selected. In the second stage, a current amplifier which is capable of driving the coils up to 300 kHz will be designed. In the third stage, PCB schematic for the amplifier will be designed and fabricated. Further, experiments using magnetic micro agents will be carried out.

Prerequisite: The student who will work in this project should be able to work under flexible working hours.

Thesis Background: The current practice of endovascular procedures is limited by a number of factors. These factors include patient specific operation requirements, high-risk surgery procedures and time consuming operations. As a solution, continuum manipulators with a focus on magnetically actuated surgical catheters, have been introduced to the field of surgical robotics. The goal is to demonstrate the control of a magnetically-actuated steerable catheter in an experimental in vitro testbed with the aid of UR-robotic arms.
Supervisors Elena De Momi, C.M. Heunis & Prof. S. Misra
Collaborations Surgical Robotics Lab, University of Twente
Description Tasks: Design: Design an experimental testbed for clinically relevant cardiac / endovascular procedures;

Modelling: Model the experimental setup using Simulink and Matlab for control;

Calculation: construct algorithms to control the motions of the robot manipulator;

Simulation: reformulate dynamic equations so that acceleration is computed as a function of actuator torque

Thesis Virtual fixtures in robotic laser surgery
Supervisors Elena De Momi, Leonardo De Mattos
Collaborations Italian Institute of Technology, Italy
Description Augmented-reality dynamic constraints to improve safety during laser surgery

IIT contact: leonardo.demattos@iit.it

Thesis Real-time endoluminal cancer screening system
Supervisors Elena De Momi, Leonardo De Mattos
Collaborations Italian Institute of Technology, Italy
Description Computer vision algorithm optimization

FPGA implementation for real-time processing

IIT contact: leonardo.demattos@iit.it

Thesis Dexterous tool for endoscopic laser microsurgery
Supervisors Elena De Momi, Leonardo De Mattos
Collaborations Italian Institute of Technology, Italy
Description Device design, development and control
IIT contact: leonardo.demattos@iit.it
Thesis Robotic teleoperation of flexible needles with haptic feedback
Supervisors Elena De Momi
Collaborations IRISA and Inria Rennes Bretagne Atlantique research center, Rennes, France
Description Flexible needles and haptic feedback are two significant technological advancements in needle insertion. Flexible needles provide the clinician with enhanced steering capabilities, and haptic feedback enables the clinician to receive information about the forces exerted by the needle on the tissue being penetrated.

We propose to study innovative teleoperation systems for steering flexible needles, exploiting grounded and ungrounded haptic stimuli for our vision-based needle insertion system, with the final objective of maximizing the information provided, the clinician comfort, and the medical procedure’s safety and effectiveness.  The project will develop four main key aspects:

-Perception and combination of multiple haptic stimuli, focusing on force, vibrations, and skin stretch.

-New ways of assistance solutions, where the clinician can retain total or partial control of the needle positioning.

-Study of how to provide effective guiding haptic stimuli, e.g., enforcing active constrains.

-Improve existing stability control approaches to consider for the additional tactile stimuli.

Contacts: Claudio Pacchierotti (claudio.pacchierotti@irisa.fr),  Alexandre Krupa (alexandre.krupa@inria.fr)

Thesis Force feedback adaptive rehabilitation
Supervisors Elena De Momi
Collaborations Prof. Bernard Bayle , University of Strasbourg, CNRS, INSA Strasbourg
Description Research to:

  • understand the human manipulation ability
  • improve the quality of robotic systems dedicated to collaborative manipulation

Use of force feedback technology to improve manipulation skills and allow for adaptive rehabilitation

Thesis Human dynamic model identification from EMG measurements
Supervisors Elena De Momi
Collaborations Prof. Bernard Bayle , University of Strasbourg, CNRS, INSA Strasbourg
Description Research to:

  • understand the human manipulation ability
  • improve the quality of robotic systems dedicated to collaborative manipulation

Use automatic control methods to identify human models from EMG activity:

  • follows an internship in summer 2017, made by a French student in Milano
Thesis Make the laser cut and feel like a scalpel!
Supervisors Elena De Momi
Collaborations Loris Fichera, Worcester Polytechnic Institute, USA

 

Description
  • Laser cutting is an energy-based, contactless process
  • Control of laser parameters (power, exp. time) is not always intuitive
  • Would haptic feedback enhance the accuracy of laser incisions?

Goals of this thesis:

1.Develop software to interface a haptic device with a laser surgical system

2.Implement different haptic modalities (kinesthetic, vibrotactile, etc.)

3.Design and perform an experiment on real tissue to validate the system

Thesis Stiffness principles for soft robots
Supervisors Elena De Momi
Collaborations Dr Helge Wurdemann, University College London
Description This project aims at developing a new stiffness mechanism for soft robotic devices. Granular material will be pumped into an air-tight sleeve which is tendon-actuated.
Thesis Steerable colonoscope
Supervisors Elena De Momi
Collaborations Dr Helge Wurdemann, University College London
Description This project aims at creating a robotic device for colonoscopy. The new device will make use of soft, stiffness-controllable robots that have been developed in the lab.
Thesis Steerable catheter with 2 DoF
Supervisors Elena De Momi
Collaborations Dr Helge Wurdemann, University College London
Description This project aims at creating a robotic catheter that can steer around the aortic arch. The student would need to develop a mechanism and actuation principle. This device aims at transcatheter aortic valve replacement.
Thesis Building a vascular phantom
Supervisors Elena De Momi
Collaborations Dr Helge Wurdemann, University College London
Description This project aims at building a vascular phantom using silicone-like materials and integrating pulsatile pumps. This system will benefit the training of future clinicians and testing cardiovascular medical devices.
Thesis Raman spectroscopy to segregate between healthy and tumor blood tissues
Supervisors Elena De Momi
Collaborations Renishaw plc.Istituo clinico Humanitas

Description Raman spectroscopy is an emerging technique used to assess the biochemical component present in the analysed sample. Its use spreads from archaeology to pharmacology and only in recent years it has been applied in biology. By measuring the scattered light of a laser beam hitting the sample, it is possible to analyse the chemical bonds composing the latter, obtaining the so called fingerprint of the sample. When applied to pharmacology or to archaeology, fingerprints of different molecules can be well discriminated and the elements composing the samples can be identified almost completely. When applied to biology, anyway, the identification of the elements composing the tissue is not that straightforward and further mathematical analysis are required. The new frontier of Raman spectroscopy is to use it to differentiate among different tissues, in particular between healthy and tumor tissue.

The project of this thesis is to use Raman spectroscopic signal to segregate between different brain tumors. The aim of this study, in particular, is to differentiate among bold tissue rather than formalin fixated tissue, so to investigate possible use of Raman spectroscopy for an on-line operative session.

Thesis Vessel (veins and arteries) reconstruction from CBCT
Supervisors Elena De Momi
Co-Supervisors Sara El Hadji
Collaborations Centro per l’epilessia Claudio Munari, Niguarda
Medtronic USA
thesis6
Description
  • Aim:

To design and implement a system for vessel classification from CBCT images

  • Project phases:

-Model contrast medium diffusion in brain vessels
-Implement fast computational techniques
-Validate the methodology on patient images

Thesis Automatic trajectory planning for SEEG
Supervisors Elena De Momi
Co-Supervisors Davide Scorza
Collaborations Centro per l’epilessia Claudio Munari, Niguarda
Vicomtech, Spain
thesis7
Description
  • Aim:

To design and implement an automatic planner for keyhole neurosurgery

  • Project phases:

-Design and implement the plan
-Collect dataset and implement a database
-Validate the methodology on patient images

Thesis Motor learning during surgical tasks
Supervisors Elena De Momi
Collaborations Northeastern University, Boston, USA
Carnegie Mellon University, Pittsburgh, USA
Istituto Neurologico Carlo Besta
thesis4
Description
  • Aim:

To understand the motor control mechanisms involved in tremor compensation under microscope magnification in surgery

  • Project phases:

-Design an experimental protocol for task acquisition
-Develop models of motor learning
-Validate models using experimental data

Thesis Redundancy management in teleoperation for surgical applications
Supervisors Elena De Momi
Co-supervisors Hang Su
Collaborations Neuroengineering and Medical Robotics Lab
thesis3
Description
  • Aim:

To improve the robot control during tele-operation increasing the patient safety

  • Project phases:

-Robot redundancy management criteria
-Integration of optimization criteria in the controller
-Testing and validation using the Nearlab suite

Thesis New design of haptic interfaces in minimally invasive surgery
Supervisors Elena De Momi
Co-supervisors Jacopo Buzzi
Collaborations Italian Institute of Technology, Genova, Italy

Ben Gurion University, Ber Sheva, Israel

thesis2
Description
  • Aim:

To improve the human efficacy gesture during tele-operated surgical tasks

  • Project phases:

-Set-up preparation (virtual task, kinematics and EMG acquisitions)
-Simulation environment (muscular efficiency estimation)
-Interface design implementation and prototype realization
-New interface testing

Thesis Steerable needle path planning
Supervisors Elena De Momi
Co-supervisors Alberto Favaro
Collaborations Istituto Clinico Humanitas, Rozzano, Milan, Italy
Imperial College of London, London, UK
thesis1
Description
  • Aim:

To plan the optimal trajectory of drug delivery steerable needles in order to treat high grade gliomas

  • Project phases:

-Develop a model of the brain
-Implement path optimality criteria
-Implement kinematic control on the needle
-Perform validation tests on sheep models