Research

My research interests focus on Systems and Control, Medical Robotics and Computer Vision.

For my master's thesis, I've been working on Robotic Tools for Beating Heart Surgery Project under the supervision of Dr. Cavusoglu since 2009.

Robotic Tools for Beating Heart Surgery

Traditional coronary artery bypass graft (CABG) surgery has undesirable side effects that range from cognitive loss to increased hospital stay that are believed to be related to artificial heart pumps.

This project aims to develop intelligent robotic tools for performing off-pump CABG surgery. The project's main focus are development of intelligent control algorithms, designing of milli- and macro- scale intelligent robotic instruments for CABG surgery, and development of sensing system for tracking heart motion.

I've been working on prediction algorithms which estimate immediate future of the point-of-interest (POI) on the heart surface over a prediction horizon. Then these estimates are supplied to the receding horizon model predictive controller, where this controller tracks and cancels the relative motion between the surgical instruments and the heart.

 

For more information please visit project page