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ICRA 2017 workshop C4 Surgical Robots: Compliant, Continuum, Cognitive, and Collaborative

2 June 2017, Friday, Full day, 8:30 to 18:00, Sands Expo and Convention Centre, Marina Bay Sands, Singapore


Click for Title and abstract of the invited talks

  • Kaspar Althoefer Queen Mary University of London: Compliant & Continuum: Flexible robots of controllable stiffness for minimally invasive surgery: the STIFF-FLOP project
  • Ken Goldberg UC Berkeley: Cognitive - Bootstrapping Deep Reinforcement Learning of Surgical Tensioning with An Analytic Model
  • Arianna Menciassi SSSA: Compliant and Cognitive - Minimally Invasive Surgery: From Soft Surgical Tools to Flexible Platforms for Focused Ultrasounds
  • Ilana Nisky Ben-Gurion University of the Negev: Cognitive and collaborative - Human sensorimotor control for evaluating the skill of surgeons and the transparency of teleoperation in surgical robotics
  • Paolo Fiorini University of Verona: Cognitive - Surgical data analysis: training and skill assessment
  • Elena De Momi Politecnico di Milano: Collaborative interfaces for human robot interaction
  • Jaydev Desai Gatech: Continuum & Cognitive - Flexible robots for minimally invasive surgical procedures
  • Robert Howe, Harvard University: Continuum - Enabling Autonomous Ultrasound-based Procedure Guidance In Cardiac Interventions
  • Tim Salcudean UBC: Cognitive - Ultrasound-based Guidance for Robot-assisted Prostate Surgery
  • Katherine Kuchenbecker, Penn/MPI-IS: Cognitive-Physical Instrument Interactions Strongly Relate to Robotic Surgical Skill
  • Robert J. Webster III Vanderbilt University: Continuum - Single Port Robots as Hand-Held Tools … and When to do the Opposite
  • Wen P. Liu, Intuitive Surgical: Between the C’s - Image Guidance in Robotic-Assisted Surgery
  • Pietro Valdastri, University of Leeds: Compliant and Cognitive - Lifesaving Capsule Robots

About the workshop

New robotic technologies have led to significant advances in surgery in recent decades. Motivated to further reduce the invasiveness of robot-assisted surgery, new robotic systems are being created that enter the patient’s body via single ports or natural orifices and can reach and operate in difficult-to-access sites. However, there are still challenges to implement minimally invasive surgery with these new surgical robotic systems, such as the design, control, and sensing of surgical robots for specific clinical applications. In this workshop we will focus on new surgical robots that are compliant, continuum, cognitive, and collaborative (C4 surgical robots). Integrating the emerging technologies in soft robotics, smart materials, co-robotics, and artificial intelligence has the potential to enable new C4 surgical robots. This workshop will bring together world-class researchers to present state-of-the-art research results in surgical robotics and the potential challenges for creating and implementing C4 robots for clinical applications.

Organizing Committee

Supported by Intuitive Surgical Inc. and IEEE RAS Technical Committee on Surgical Robotics


  • 8:55-9:00 Welcome
  • 9:00-9:20 Katherine Kuchenbecker
  • 9:20-9:40 Robert Howe
  • 9:40-10:00 Robert J. Webster III
  • 10:05-10:25 Morning Poster Session (7 poster teasers * 3min/each)
  • 10:25-10:55 Break (+ Poster interactions)
  • 11:00-11:20 Arianna Menciassi
  • 11:20-11:40 Paolo Fiorini
  • 11:40-12:00 Ilana Nisky
  • 12:05-12:25 Noon Poster Session (7 poster teasers * 3min/each)
  • 12:25-12:55 Poster interactions
  • 12:55-13:40 Lunch break (+posters)
  • 13:40-14:00 Kaspar Althoefer
  • 14:00- 14:20 Jaydev Desai
  • 14:20-14:40 Elena De Momi
  • 14:40-15:00 Afternoon Poster Session (6 poster teasers * 3min/each)
  • 15:00-15:40 Poster interactions + Break
  • 15:40-16:00 Tim Salcudean
  • 16:00- 16:20 Wen P Liu
  • 16:20-16:40 Pietro Valdastri
  • 16:40-17:00 Ken Goldberg
  • 17:00-18:00: Discussions (+ Break)
  • 18:00 Presentation of best poster award
  • 18:00 Conclusion of workshop
  • Poster Teasers:

Each teaser presentation should last no longer than 2.5 minutes, to allow 0.5 minutes for speaker change. The speakers should provide the slides at the start of the workshop, as all presentations will be delivered from a single laptop to eliminate the time required to change speakers.

  • Poster interactive sessions

All poster interactions should be conducted over the TV screens just like the ICRA technical interactive sessions. There will be 7-8 TVs per room; the same ones as for the placement information.If you still prefer the conventional poster, please prepare A1 in size, and inform us before May 15.

Posters and Awards

The three workshop poster awards are highlighted below and will receive cash transfer supported by Intuitive Surgical Inc.

  • Josephine Granna, Arya Nabavi and Jessica Burgner-Kahrs. Initial Proof-of-Concept of an Ablation Planning Algorithm for Laser-Induced Interstitial Thermotherapy in the Brain using a Tubular Continuum Robot
  • Truman Cheng, Calvin Sze Hang Ng, Philip Wai Yan Chiu and Zheng Li. A Novel Soft MAGS Endoscope for Minimally Invasive Surgery
  • Chunwoo Kim. Development of teleoperated robot system for manipulation of the epiduroscopic catheter for spine intervention
  • Houssem Saafi, Med Amine Laribi and Saïd Zeghloul. New Tele-Operation System for Minimally Invasive Surgery: Initial Experiments
  • Younsse Ayoubi, Med Amine Laribi, Fabien Courrèges, Saïd Zeghloul and Marc Arsicault. New variable stiffness safety oriented mechanism for compliant physical human-robot interaction
  • Alperen Degirmenci, Paul M. Loschak, Cory M. Tschabrunn, Elad Anter and Robert D. Howe. Enabling Autonomous Ultrasound-based Procedure Guidance In Cardiac Interventions
  • Nader Mahmoud, Alexandre Hostettler, Toby Collins, Luc Soler, Christophe Doignon and J.M.M. Montiel. SLAM based Quasi Dense Reconstruction For Minimally Invasive Surgery Scenes
  • Tania Morimoto, Elliot Hawkes, Michael Hsieh and Allison Okamura. Design of 3-D Printed, Personalized Continuum Surgical Robots
  • Sabine Thürauf, Oliver Hornung, Mario Körner, Florian Vogt, M. Ali Nasseri and Alois Knoll. Absolute Accurate Calibration of a Robotic C-Arm System based on X-Ray Observations using a Kinematic Model
  • Jaimie Carlson and Katherine Kuchenbecker. An Interactive Augmented-Reality Video Training Platform for the da Vinci Surgical System
  • Yarden Sharon and Ilana Nisky. Quantitative characterization of open and robot-assisted needle-driving using the one-sixth power law
  • Phuong Toan Tran, Gianni Borghesan, Joris De Schutter, Jos Vander Sloten and Emmanuel Vander Poorten. IVUS-based local estimation of vessel geometry for improved control of robotic catheters
  • Jiang Wu, Tapio Veli Juhani Tarvainen, Kornkanok Tripanpitak and Wenwei Yu. Prototypes of Elastomeric Continuum Actuators for Minimally Invasive Surgery
  • Shivanand Pattanshetti, Rohith Karthikeyan and Seok Chang Ryu. Force Sensing Steerable Needle with Articulated Tip and Sensorized Tendons
  • Dénes Ákos Nagy, Tamás Dániel Nagy, Renáta Elek, Imre J. Rudas and Tamás Haidegger. Ontology Based Surgical Subtask Automation
  • Patrick Anderson, Richard Hendrick and Robert Webster Iii. Real-Time Redundancy Resolution for Concentric Tube Robots to Avoid Elastic Instability (First Prize)
  • Wenjun Xu, Jing Guo and Hongliang Ren. Trajectory Generation for Robotic Palpation from Human Demonstration
  • Mark Gilbertson, James Van de Ven and Timothy Kowalewski. Inverse Design Methodology for Patient Specific Soft Robotics
  • Ziyang Dong, Ziyan Guo, Denny K.C. Fu, Kit-Hang Lee, Martin C.W. Leong, Chim-Lee Cheung, Alex P.W. Lee, Wayne Luk and Ka-Wai Kwok. A Robotic Catheter System for MRI-guided Cardiac Electrophysiological Intervention (Merit Award)
  • Sanjay Krishnan and Ken Goldberg. Bootstrapping Deep Reinforcement Learning of Surgical Tensioning with An Analytic Model (Second Prize)

Proceedings & Photos

The proceedings of the workshop are available for download here and photos here. The short papers are included in the proceedings

Call For Extended Abstracts/Posters:

We invite extended abstracts of 2-4 pages in the standard format for IEEE ICRA conference. Submissions should describe one or more of the following topics of interest. All the submissions will be judged based on relevance to the workshop topics, technical quality, and novelty.

Authors of accepted abstracts are expected to attend the workshop with a spot-light talk (~2 mins) and to present their work as posters during the interactive session with posters prepared in advance. Best poster awards will be presented after the interactive session. The extended abstracts will be included in the proceedings to be posted on the workshop website. High quality extended abstracts will be recommended to a special issue for Journal of Medical Robotic Research (JMRR).

Topics of interest include, but are not limited to:

  • Machine learning and cognitive surgical robotics
  • Physical human-robot compliant interaction
  • Human-robot intelligent collaboration and shared control
  • Design, modeling and control of continuum surgical robotics
  • Variable stiffness robotic systems
  • Tactile and haptic feedback in robotic surgery
  • Flexible robotics in surgery
  • Intra-operative imaging for robotic-assisted surgery
  • Augmented reality in robotic surgery
  • Multi sensorized and data-driven robotic system in surgery

Important dates

  • April 10: Submission deadline (extended)

Authors are required to submit a 2-4 pages extended abstract in PDF. Please send the submission to:

pub/c4icraworkshop.txt · Last modified: 2017/06/09 00:33 by nusbmemm