CV from JHU Engineering School
Johns Hopkins University
Center for Computer Integrated Surgical Systems and Technology
120 Computational Science & Engineering Building (CSEB)
3400 North Charles Street
Baltimore, MD 21218
Phone: 410 516 5590
Fax: 410 516 5553
Lab webpage: SMARTS Lab
My research is in the field of computer-assisted surgery, with particular emphasis in robotic assistance. Surgical robotics requires a partnership between man and machine and this partnership must operate in an unstructured environment with constraints on visibility, accessibility and sterility. I have focused on the integration of information from various sources, such as preoperative and intraoperative imaging and force sensing, to address these challenges. My current research interests include the implementation of virtual fixtures and the integration of real-time imaging, such as video and ultrasound, to enable robotic assistance in more challenging environments, such as minimally invasive surgery and microsurgery. These computer-assisted surgery applications have motivated the development of enabling infrastructure, including hardware, software, and systems architectures. A surgical robot, with associated information sources, generally requires concurrent processing, with low-latency exchange of information. The emergence of multi-core processors and high-speed serial networks has led to a new paradigm for system design. Traditionally, high-speed networks provide a means to distribute computation between multiple processors, including embedded microprocessors. While this is still an attractive option, it is also possible to distribute just the hardware interfaces and perform all computations in a single multi-core processor. We are creating hardware devices, such as motor controllers, that are accessible via IEEE-1394 (Firewire). Unlike other Firewire-based devices, these boards do not contain a microprocessor, but rather an FPGA that enables direct access to the hardware. On the software side, we are developing an architecture that supports safe and efficient multi-threaded software design. Multi-threading is efficient because the threads share an address space; it can also be dangerous for the same reason. My research includes the application of component-based software engineering concepts, such as mechanisms for loose coupling, to facilitate the development of safe and efficient multi-threaded software.
Ph.D.in Electrical Engineering, Brown University, May 1988
Thesis: Multiprocessor Control of Robotic Manipulators
Designed and constructed a real-time multiprocessor system (SIERA),which was used for two different robots. Developed and implemented a compliant control strategy which enables a robot to interact with an imprecisely known environment.
Sc.M. in Applied Mathematics, Brown University, May 1987
Sc.M. in Electrical Engineering, Brown University, May 1985
Thesis: A Microprocessor-Based Control System with Robotics Applications
Modeled a hydraulic actuator and designed digital control laws. Analyzed the effects of non-linearities in the model and the control laws and presented experimental results to verify the theory.
Sc.B. in Electrical Engineering and A.B in Computer Science, Brown University, May 1983
December 2002 - present Chief Systems and Robotics Engineer, CISST, Johns Hopkins Univ., Baltimore, MD
Research in computer integrated surgery and enabling systems and infrastructure. Research projects include development of robot systems for small animal research, integration of navigation system and robot for neurosurgery, hybrid surgical tracking sytem, and robot systems for prostate brachytherapy, bone augmentation, and microsurgery. Manage engineering staff developing hardware and software infrastructure for research.
November 1990 - June 2002 Co-founder and Director of Robotics and Software, Integrated Surgical Systems, Davis, CA
Formed ISS to develop and commercialize the ROBODOC® System for orthopedic surgery. Designed and implemented the electronics and software, achieving major improvements in the user interface, safety systems, accuracy (calibration), maintainability and cost. Worked with robot manufacturer to customize industrial robot for medical use. Participated in ISO9001 certification and CE marking, including EMC certification for emissions and immunity. Obtained 510(K) clearance from FDA for ORTHODOC planning system. Program Manager for $4 million NIST ATP joint venture (ISS, IBM and Johns Hopkins University) investigating the application of robotics to total hip revision surgery. Extensive involvement with customers, including system installation, training of personnel, support during surgical procedures, system maintenance, trade show demonstrations and marketing support.
March 1990 - November 1990 Visiting Associate Research Engineer, Univ. of California, Davis, CA
Continued work on hip replacement robot that was started as joint project between IBM and U.C. Davis. Brought robot into veterinary operating room, where it was used for 26 canine surgeries, all successful.
March 1989 - March 1990 Post-Doctoral Researcher, IBM T.J. Watson Research Center, Yorktown Heights, NY
Participated in joint project between IBM and U.C. Davis to develop a robot for total hip replacement surgery, which eventually became the ROBODOC® System. Integrated force sensor, pitch axis, and signal processor with IBM robot and developed compliant control strategies and robot software.