current research interests are mostly centered around building effective
surgical robots. This in an overarching goal, and translates in a variety of
more specific research objectives.
First, and foremost, I'm interested in the design of multi-sensory
interfaces, allowing interaction with simulated or remotely located
environments. More specifically, I'm interested in how the combination of
visual feedback (medical imaging sources, computer graphics), and haptic
interaction can be used most effectively by a physician to navigate a
surgical tool (e.g. a robotic catheter) inside the human anatomy (e.g. the
human heart). I think of this as human machine interaction for medical
I'm also interested in how to combine position sensors with medical imaging
techniques to better localize robotic tools inside human anatomy when
endoscopes cannot be used (e.g. when navigating the blood pool).
Finally, I'm interested in the design, modelling, and control of
multi-degree-of-freedom robotic surgical tools, such as the Artisan robotic
Most of my doctoral and post-doctoral research focused on haptic interfaces,
i.e. electro-mechanical systems that stimulate the human sense of touch, and
integrating them with simulated environments as well as graphics and auditory
displays. My past research spanned haptic rendering algorithms, control of
haptic interaction, simulation, robotics, HCI, haptic device design, control
theory, and virtual reality. I worked on a variety of haptic interfaces for
VR and their application to surgical simulation for training, art, and media.
I was one of the creators of chai3d,
which is now one of the most widely used APIs for haptic interaction.