My research is primarily focused in the area of MRI-steerable devices including catheters and untethered robots. The goal of this work is to control devices under magnetic resonance imaging for improved procedural outcomes.
PhD: Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA (in progress)
M.S.: Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, 2017
B.S.: Biomedical Engineering, Worcester Polytechnic Institute, Worcester, MA, 2015
Magnetic resonance imaging (MRI) system–driven medical robotics is an emerging field that aims to use clinical MRI systems not only for medical imaging but also for actuation, localization, and control of medical robots. Submillimeter scale resolution of MR images for soft tissues combined with the electromagnetic gradient coil–based magnetic actuation available inside MR scanners can enable theranostic applications of medical robots for precise image‐guided minimally invasive interventions. MRI‐driven robotics typically does not introduce new MRI instrumentation for actuation but instead focuses on converting already available instrumentation for robotic purposes. To use the advantages of this technology, various medical devices such as untethered mobile magnetic robots and tethered active catheters have been designed to be powered magnetically inside MRI systems. Herein, the state‐of‐the‐art progress, challenges, and future directions of MRI‐driven medical robotic systems are reviewed.
Our goal is to understand the principles of Perception, Action and Learning in autonomous systems that successfully interact with complex environments and to use this understanding to design future systems