/ASAP

ASAP

Portrait of ASAP
Head: Cameron Riviere
Contact: Cameron Riviere
Associated Lab: Surgical Mechatronics Laboratory
Last Project Publication Year: 2012

ASAP is a system for high-precision 3-D tracking of microsurgical instrument tip position for:

  • Modeling of surgical hand motion
  • Surgeon assessment and training
  • Evaluating microsurgical instruments
  • Evaluating accuracy enhancement systems, including robots and active hand-held instruments
  • Input to microsurgery simulators



ASAP uses LED’s to illuminate the workspace. It measures instrument tip position in 3-D using two 2-D position-sensitive detectors (PSD’s) to track multiple modulated sources (LED’s) mounted on the surgical instrument. This enables measurements of tip position that are both highly accurate (1-10 microns) and three-dimensional, a combination that has been lacking in previous instruments.

Displaying 9 Publications
Micron: an actively stabilized handheld tool for microsurgery
Robert MacLachlan, Brian Becker, Jaime Cuevas Tabares, Gregg Podnar, Louis Lobes and Cameron Riviere

Journal Article, Carnegie Mellon University, IEEE Transactions on Robotics, Vol. 28, No. 1, pp. 195-212, February, 2012
State estimation and feedforward tremor suppression for a handheld micromanipulator with a Kalman filter
Brian Becker, Robert MacLachlan and Cameron Riviere

Conference Paper, Proc. IEEE International Conference on Intelligent Robots and Systems, pp. 5160-5165, September, 2011
High-Speed Microscale Optical Tracking Using Digital Frequency-Domain Multiplexing
Robert MacLachlan and Cameron Riviere

Journal Article, Carnegie Mellon University, IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, Vol. 58, No. 6, pp. 1991 - 2001, June, 2009
Autoregressive Modeling of Physiological Tremor under Microsurgical Conditions
Brian Becker, Harsha Tummala and Cameron Riviere

Conference Paper, 30th Annual International IEEE EMBS Conference, pp. 1948-1951, August, 2008
Positioning Accuracy of Neurosurgeons
Roberto Sandoval Garcia, Robert MacLachlan, Michael Oh and Cameron Riviere

Conference Paper, Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 206-209, August, 2007
Optical Tracking for Performance Testing of Microsurgical Instruments
Robert MacLachlan and Cameron Riviere

Tech. Report, CMU-RI-TR-07-01, Robotics Institute, Carnegie Mellon University, January, 2007
Precision measurement for microsurgical instrument evaluation
Lee Hotraphinyo and Cameron Riviere

Conference Paper, Proceedings 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, pp. 3454-3457, October, 2001
Three-dimensional accuracy assessment of eye surgeons
Lee Hotraphinyo and Cameron Riviere

Conference Paper, Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, pp. 3458-3461, October, 2001
An Active Hand-held Instrument for Enhanced Microsurgical Accuracy
Wei-Tech Ang, Cameron Riviere and Pradeep Khosla

Conference Paper, Proceedings of the Third International Conference on Medical Image Computing and Computer-Assisted Intervention, pp. 878-886, October, 2000

Current RI People

Past Project People

  • Fernando Peral
  • Anna L Liao
  • Lee Hotraphinyo
2017-09-13T10:46:03+00:00