Speakers of the online CAMI DAY – December 15, 2020 🗓 🗺

Eric Vibert, MD, PhD, IKO

Present and Future of Digital Twins in Liver Surgery
Abstract in progress

Bio: In progress

Jessica Burgner-Kahrs, PhD


“Advances in Continuum Robotics for Medical Interventions
Continuum robots have a high potential to navigate and operate in confined spaces currently unreachable to standard robots, as their diameter to length ratio can be as low as 1:300. These robots are developed to reach targets through complex and winding trajectories, in contrast to either standard mechanical tools or stiff serial and parallel robots. This makes them particularly well suited for medical interventions and surgical applications.
 
The talk will provide an overview on advancements in continuum robotics research and focus on novel features such as drastically increased motion capabilities through extensibility, adjustable stiffness through scale sheaths, and higher accuracy through parallel structures.
 
Bio: Jessica Burgner-Kahrs is an Associate Professor with the Departments for Mathematical & Computational Sciences, Computer Science, and Mechanical & Industrial Engineering, the founding Director of the Continuum Robotics Laboratory, and Associate Director of the Robotics Institute at the University of Toronto, Canada. From 2013 to 2019 she was with Leibniz University Hannover, Germany and from 2010 to 2012 with Vanderbilt University, USA. She received her Diploma and Ph.D. in computer science from Karlsruhe Institute of Technology (KIT), Germany in 2006 and 2010 respectively.

Quentin Boehler, PhD


Magnetic actuation in medical robotics
The last decade has seen an increasing interest in the use of magnetic actuation to steer soft and rigid robots at multiple scales. This relies on the generation of magnetic fields with an electromagnetic navigation system to apply torques and forces on systems composed of magnetic material. This technology is particularly promising to remotely control the deformation of soft structures such as continuum robots. We have been investigating several medical applications that will benefit from this approach including neurosurgeries, cardiac ablations, and ophthalmic procedures. Our research also focuses on the development of simulation frameworks and modelling tools to better characterize and design soft magnetic tools.
 
Bio: Quentin Boehler was born in Strasbourg in 1990. He received a M.S. degree in mechatronics from INSA Strasbourg in 2013, and a Ph.D. degree in robotics from ICube laboratory, University of Strasbourg in 2016 in collaboration with the LIRMM in Montpellier. His thesis focused on tensegrity mechanisms and variable stiffness devices with application to MR-compatible robotics, and was awarded the best thesis award from the research commission of the University of Strasbourg, and the first prize at the 2016 Ph.D. thesis awards from GDR Robotique. He joined the Multi-Scale Robotics Lab at ETH Zürich in 2017 as a postdoctoral associate under the supervision of Bradley J. Nelson. He is currently senior scientist and his research is on magnetic actuation for medical robotics, including the development and analysis of electromagnetic navigation systems, and of soft magnetic robots.

Franklin Okoli, PhD


Rapidly-exploring random trees for creating Non-Coplanar VMAT Treatment planning
We present a new method for non-coplanar VMAT treatment planning using Rapidly-exploring random trees. This algorithm is introduced to deal with the inefficient treatment trajectories that arise from inserting intermediate control points when beam selection methods are applied to non-coplanar VMAT treatment planning. The use of RRT method eliminates aperture contention issues that could occur from such inefficient trajectories. The RRT method enables the simultaneous plan optimization and trajectory generation. The algorithm progressively samples the space of the input candidate beam orientations to build a tree consisting of nodes and edges. During the tree-construction, fluence intensity optimization is performed simultaneously to search for delivery trajectories with optimal dosimetry. A depth-first search is done after the tree construction to enumerate all valid trajectories on the tree. The trajectory which contains the treatment plan with the lowest objective function value is selected as the best.  Treatment plans using Liver, TG-119 and Prostate cases were prepared and compared to a beam selection approach to non-coplanar VMAT planning. The results show that treatment plans of a comparable dosimetry to the beam selection approach can be obtained using this approach with fewer v control points trajectory and a lower trajectory delivery times.
 
Bio: Born in 1987 in Umuahia Nigeria, Franklin OKOLI graduated from Federal Government College Enugu (2005), Nnamdi Azikiwe University Awka (B.eng Electronics and Computer Engineering 2010). From 2012 to 2013 he worked as a Process Control and Automation Technician at SABMiller Intafact Onitsha and from 2013 to 2014 he was a Management Trainee at Nestle Nigeria. Franklin was awarded a scholarship byTotal S.A. in 2014 to study a Masters degree in France. He was a student at École Centrale Nantes (M.eng Automation and Robotics Engineering 2016). From 2016 to 2019 he was a PhD student at LATIM CHU Brest (INSERM UMR 1101) in the team ACTION working on the subject “Non-coplanar VMAT treatment planning optimization” a thesis co-financed by Region Bretagne and Labex-CAMI.

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