ASAP - Robotics Institute Carnegie Mellon University

ASAP

Portrait of ASAP
Associated Lab: Surgical Mechatronics Laboratory
This Project is no longer active.

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

current head

current contact

past staff

  • Lee Hotraphinyo
  • Anna L Liao
  • Fernando Peral