Modern medicine is to some extent Western medicine, and Europe and the United States are indeed more developed in the research and industrialization of medical devices. Cutting-edge technology research often comes from interdisciplinary cooperation between universities and research institutions, which is the future of medical technology.
Johns Hopkins University Computer Vision and Robotics Laboratory
JHU. LCSR
Basic Introduction
Johns Hopkins University is the first research university in the United States and has been ranked by the National Science Foundation as the highest spending university on research funding in the United States for 33 consecutive years. JHU has 29 Nobel Prize winners, currently including 4 who are teaching, among them molecular biologists Peter Agre and Carol Greider, geneticist Gregg Semenza, and astrophysicist Adam Riess.
The Laboratory for Computational Sensing and Robotics (LCSR) at Johns Hopkins University is composed of researchers from the Whiting School of Engineering (WSE), the Johns Hopkins School of Medicine (SOM), the Applied Physics Laboratory (APL), the Kennedy Krieger Institute, the Bloomberg School of Public Health, and the Krieger School of Arts and Sciences. It is an international leader in the fields of medical robotics, autonomous systems, and biosensing, and is one of the largest and most technologically advanced robotics research centers in the world.
Current Research Areas of LCSR include:
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Robotics and computer-assisted surgery
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Robotics technology in extreme environments
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Perception and cognitive systems
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Modeling, dynamics, navigation, and control
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Human-robot collaboration systems
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Biobots
LCSR History:
The robotics research at Johns Hopkins University dates back to the early 1960s (robotics as an engineering discipline began with remote manipulation systems used during World War II for handling radioactive materials).
At that time, researchers at the Johns Hopkins Applied Physics Laboratory (JHU APL) developed the Johns Hopkins Beast, a wheeled mobile robot capable of navigating hallways and automatically locating and connecting to wall outlets to recharge its batteries.
Robotics research at the Whiting School of Engineering (WSE) began in the mid-1990s, with the arrival of Gregory Chirikjian in 1992, and Louis Whitcomb and Russell Taylor in 1995, which propelled the development of robotics. Subsequently, the establishment of the NSF Engineering Research Center for Computer-Integrated Surgical Systems and Technologies (CISST ERC) in 1998 significantly boosted robotics projects, focusing on medical robotics.
The Laboratory for Computational Sensing and Robotics (LCSR) was established in 2007 to provide infrastructure for a wide range of interdisciplinary robotics research projects. Johns Hopkins University is widely regarded as one of the top robotics research institutions in the world, ranking first in the field of medical robotics.
Overview of LCSR’s Medical Robotics Research Directions (Laboratory Names and Heads):
1. Computer-Integrated Surgical Systems (CIIS) Laboratory – Russell Taylor
Professor Russell Taylor is the head of the Computer-Integrated Interventional Systems (CIIS) Laboratory. The purpose of this laboratory is to develop surgical systems that integrate new computer and human-machine interface technologies, which will fundamentally change surgical procedures, expanding surgeons’ capabilities to achieve better outcomes at lower costs. Some recent research projects include robot-assisted microsurgery (stable hand-eye coordination robots), surgical control and planning, snake-like robots, deformable human anatomy models, intelligent surgical instruments, radiotherapy treatment planning optimization, image overlay, laparoscopic-assisted robotic systems, and robot-assisted ultrasound and MRI-compatible robots.
2. Photoacoustic and Ultrasound Systems Engineering (PULSE) Laboratory – Muyinatu Bell
The PULSE Laboratory integrates light, sound waves, and robotics to develop innovative biomedical imaging systems while addressing unmet clinical needs and improving patient care. The focus is on diagnostic and surgical ultrasound and photoacoustic technologies applied to neurosurgical cancer detection and treatment as well as women’s health.
3. Medical Ultrasound Imaging and Intervention Collaboration (MUSiiC) – Emad Boctor
The MUSiiC research laboratory develops innovative ultrasound technologies for medical applications, ranging from prostate cancer and breast cancer treatment to liver ablation and brachytherapy.
4. Haptic and Medical Robotics Laboratory (HAMR) – Jeremy Brown
The HAMR laboratory aims to expand existing knowledge around human perception of touch, especially as it relates to human-robot interaction and collaboration applications. Perception is involved in minimally invasive surgical robots, upper limb prosthetics, and rehabilitation robots, applying techniques from human perception, human motion control, neuromechanics, and control theory.
5. Locomotion in Mechanical and Biological Systems (LIMBS) – Noah Cowan
Led by Noah J. Cowan, the LIMBS laboratory aims to uncover principles of sensory-guided locomotion in animals and robots. For animals, this is an analytical problem: reverse engineering the biomechanics and neural control principles behind animal locomotion. For robotics, this is a design problem: combining biological inspiration and engineering insights to synthesize new approaches to robot control. The research program includes several projects on sensing, navigation, and control in robots and animals (including humans).
6. Computational Interaction and Robotics Laboratory (CIRL) – Gregory Hager
Led by Dr. Gregory Hager, the Computational Interaction and Robotics Laboratory focuses on dynamic spatial interactions involving imaging, robotics, and human-computer interaction. The laboratory has many ongoing projects in this area. The Motion Language project seeks to develop new methods for recognizing and assessing skilled human manipulation, with a particular emphasis on surgery. Data is collected using the da Vinci surgical robot and processed into gesture-based models to support skill assessment, training, and execution of human-robot collaborative tasks. The Manipulation and Perception (MAPS) project aims to apply computer vision principles to tactile sensing, with the goal of developing new methods for tactile object recognition. Recent work in this laboratory aims to develop general perception to support general manipulation of objects in the physical world. The laboratory is also engaged in work in the field of medical imaging. Interactive computer-aided diagnostic systems based on images are also an area of interest.
7. Biomechanics and Image-Guided Surgical Systems (BIGSS) Laboratory – Mehran Armand
The Biomechanics and Image-Guided Surgical Systems (BIGSS) laboratory focuses on developing innovative computer-assisted surgical navigation systems involving new robotics, advanced imaging, and real-time biomechanical assessments to improve surgical outcomes.
8. Intuitive Computing Laboratory – Chien-Ming Huang
The Intuitive Computing Laboratory aims to innovate interactive robotic systems that provide personalized physical, social, and behavioral support for individuals with various characteristics and needs. The interdisciplinary team designs, builds, and researches the intuitive interaction capabilities of robotic systems to enhance their usability and user experience. The research draws on principles and techniques from human-computer interaction, robotics, and machine learning to address challenges in healthcare, education, and collaborative manufacturing.
9. Advanced Medical Instruments and Robotics (AMIRo) – Iulian Iordachita
Led by Dr. Iulian Iordachita, the Advanced Medical Instruments and Robotics research laboratory (AMIRo) conducts research to assist and support robot-assisted medical technologies, including medical diagnosis and treatment as well as clinical research. The main goal is to create future medical robots and devices that help clinicians provide early diagnosis and less invasive treatments at lower costs and in shorter times. Application areas include robot-assisted microsurgery, MRI-compatible mechatronic systems, image-guided procedures, fiber-optic force and shape sensing, and small animal research platforms.
10. Sensing, Manipulation, and Real-Time Systems Laboratory (SMARTS Laboratory) – Peter Kazanzides
Dr. Peter Kazanzides leads the SMARTS laboratory, which is dedicated to components and integrated systems for computer-assisted surgery and robotics in extreme environments. This includes the development of mixed-reality user interfaces and the integration of real-time sensing to provide robotic assistance in challenging environments, such as minimally invasive surgery, microsurgery, and outer space. Research on component technologies includes high-performance motor control, sensing, sensor fusion, and head-mounted displays. The laboratory also conducts systems architecture research, applying component-based software engineering concepts to provide a unified programming model for multithreaded, multiprocess, and multiprocessor systems.
11. Autonomous Systems, Control, and Optimization Laboratory (ASCO) – Marin Kobilarov
Led by Dr. Marin Kobilarov, the Autonomous Systems, Control, and Optimization Laboratory (ASCO) aims to develop intelligent robotic vehicles that can perceive, navigate, and complete challenging tasks in uncertain, dynamic, and highly constrained environments. The laboratory conducts research on analytical and computational methods for mechanics, control, motion planning, and reasoning under uncertainty, as well as the design and integration of new mechanisms and embedded systems. Application areas include mobile robotics, aerial vehicles, and nanosatellites.
12. Intelligent Medical Robotics Systems and Devices Laboratory (IMERSE) – Axel Krieger
The focus is on fundamental and translational research to develop new tools, imaging, and robotic control technologies for medical robots. Specifically, (i) enhancing intelligence and autonomy and (ii) improving image guidance for medical robots to perform previously impossible tasks, increasing efficiency and improving patient outcomes.
13. Dynamics Laboratory – Chen Li
Aerodynamics and fluid dynamics help humans understand how animals fly and swim, and develop aerial and aquatic vehicles that move quickly, agilely, and efficiently in air and water. In contrast, we know very little about how terrestrial animals move so well in nature, even the best robots still struggle in complex terrains like rubble, forest floors, boulders, and cluttered indoor environments. This laboratory is developing experimental tools and theoretical models to create a new field of geodynamics that describes complex motion-terrain interactions and uses geodynamics to better understand animal movement and advance robotics in complex terrains.
14. Computer-Assisted Medical Procedures (CAMP) – Nassir Navab
The CAMP laboratory aims to develop next-generation solutions for computer-assisted interventions. The complexity of the surgical environment requires us to study, model, and monitor surgical workflows to develop new patient- and process-specific imaging and visualization methods. Given the demands for flexibility and reliability, the focus is on new robotic multimodal imaging solutions to meet challenging usability requirements. Attention is paid to data fusion and its interactive representation in augmented reality environments.
15. Advanced Robotics and Computation-Enhanced Environments (ARCADE) Laboratory – Mathias Unberath
The ARCADE laboratory conducts pioneering research in computer vision, machine learning, augmented reality, and medical imaging to innovate collaborative systems that assist clinical professionals in the healthcare field. Collaborating closely with care providers, the laboratory seeks to understand clinical workflows, identify opportunities and limitations, and facilitate translation.
16. Dynamics Systems and Control Laboratory (DSCL) – Louis Whitcomb
Professor Louis Whitcomb leads the DSCL laboratory, which focuses on navigation, dynamics, and control issues of linear and nonlinear dynamical systems, observers, nonlinear system analysis, modeling, and sensing, related to robots interacting dynamically in extreme environments. The laboratory focuses on problems driven by several application areas that share a common mathematical framework, including underwater robotics, space tele-robotics, and medical robotics. Laboratory director Louis Whitcomb and his students have been involved in the development of numerous underwater vehicles for ocean science missions, including the Nereus hybrid underwater vehicle that dived to the bottom of the Mariana Trench in 2009 and the Nereid Under Ice (NUI) hybrid underwater vehicle deployed under Arctic sea ice at 87 degrees North latitude in 2016.
Affiliated Laboratories
17. Computational Sensing and Motor Systems Laboratory (CSMS) –Ralph Etienne-Cummings
Dr. Ralph Etienne-Cummings leads the CSMS laboratory. Current research in this laboratory includes various experiments to understand the neurophysiology of spinal neural circuits, interface with them, decode their sensory-motor relationships, and utilize these relationships to control biomimetic robots. The laboratory is developing brain-like computational systems to mimic object detection, recognition, and tracking found in humans and primates. The plan is to continue expanding this research area while leveraging the laboratory’s expertise in VLSI circuits and systems, visual and auditory information processing, neuromorphic computing systems, and biomimetic robotics.
18. Networked and Spatially Distributed Systems (NSDS) – Dennice Gayme
Led by Dr. Dennice Gayme, the Networked and Spatially Distributed Systems (NSDS) group is dedicated to characterizing, predicting, and controlling spatially distributed and networked systems to ensure stability and manage disturbances while optimizing efficiency and performance. These systems are often represented as dynamical systems interacting graphically (e.g., transportation, communication, or power networks) or partial differential equations (e.g., wind farms, wall turbulence, and power system oscillations). Theoretical and computational methods are developed for interdisciplinary intersections of dynamic systems, control, and fluid mechanics, such as coordinated control of wind farms and grid integration of renewable energy.
19. Photonics and Optoelectronics Laboratory – Jin U. Kang
The Photonics and Optoelectronics Laboratory, led by Jin U. Kang, conducts experimental and theoretical research in the field of photonics and optoelectronics, focusing on developing novel fiber optic imaging and sensing systems for medical applications. Specifically, the laboratory has developed a high-speed real-time optical coherence tomography system that can guide surgical procedures and enable doctors to make accurate prognoses regarding surgical outcomes. Additionally, a range of “smart surgical tools” has been developed that utilize fiber-optic OCT distal sensors to ensure safe and precise surgical operations. Furthermore, the laboratory is dedicated to developing a range of sub-millimeter endoscopic imaging systems that allow imaging of brain activity in freely moving awake mice.
20. Image Analysis and Communication Laboratory (IACL) – Jerry Prince
The research focuses on image and signal processing in medical imaging and video processing. Specific areas of technical interest include filter banks, wavelets, multivariable systems, signal decomposition, time-frequency and time-scale analysis, active contours and deformable geometries, computed tomography, magnetic resonance imaging, and optical flow.
21. Urological Robotics (URobotics) – Dan Stoianovici
Urological Robotics is a research and education program dedicated to advancing technologies used in urology. The primary focus of this laboratory is to develop robots for real-time image-guided interventions. The technologies developed in the laboratory have applications extending to other medical specialties and industries. The program is based on a multidisciplinary integrated team of students, engineers, and clinicians working collaboratively from bench to bedside. The laboratory specializes in the development of surgical robotic systems, particularly for image-guided interventions (IGI). In addition to urology, the instruments and systems created in the laboratory are also applicable to a broader range of medical fields, such as interventional radiology. The laboratory is part of the Brady Urological Institute (Department of Urology at Johns Hopkins School of Medicine), located at the Johns Hopkins Bayview Medical Center.
22. Vision, Dynamics, and Learning Laboratory (VDL) – Rene Vidal
The research covers a wide range of fields including biomedical imaging, computer vision, dynamics and control, machine learning, and robotics. In particular, reasoning problems in geometry, dynamics, photometry, and statistics, such as (1) inferring models from images (image/video segmentation and motion structure), static data (generalized PCA), or dynamic data (identification of mixed systems), and (2) using these models to complete complex tasks (landing a helicopter, chasing a group of evaders, following a formation).
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