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Prof. Hamid D. Taghirad
K. N. Toosi University of Technology

Hamid D. Taghirad has received his B.Sc. degree in mechanical engineering from Sharif University of Technology, Tehran, Iran, in 1989, his M.Sc. in mechanical engineering in 1993, and his Ph.D. in electrical engineering in 1997, both from McGill University, Montreal, Canada. He is currently the University Vice-Chancellor for Global strategies and International Affairs, Professor and the Director of the Advanced Robotics and Automated System (ARAS), Department of Systems and Control, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran. He is a senior member of IEEE, and Editorial board of International Journal of Robotics: Theory and Application, and International Journal of Advanced Robotic Systems. His research interest is robust and nonlinear control applied to robotic systems. His publications include five books, and more than 250 papers in international Journals and conference proceedings.
ARAS eye surgery training system: A VR/AR Approach


Abstract: The virtual reality and augmented reality are getting more interest as a training technique in the medical fields unlocking significant benefits such as safety, repeatability and efficiency. Furthermore, VR/AR based simulators equipped with a haptic device can be used in medical surgery training in order to achieve skill improvement and training time reduction. With haptics as part of the training experience it is observed that a 30% increase in the speed of skills acquisition and up to a 95% increase in accuracy is achieved. Six out of nine studies showed that tactile feedback significantly improved surgical skill training.Eye surgery training is considered for VR/AR based training in ARAS group as it is one of the most complex surgical procedures. The ARAS haptic system is integrated into the eye surgery training system in conjunction with a physical simulation engine and the unity software to visualize the simulation results in Oculus VR headset. The hand motions of the expert surgeon is captured by a haptic system where later the motion data is used to train the hand motions of surgery students by force feedback.

In the developed eye surgery training system, two types of eye surgeries are simulated, namely the cataract and vitrectomy. In each type of eye surgery, the haptic system is used to simulate the surgery tool motion. The interaction of the virtual surgery tool with the 3D modeled eye is computed through the SOFA framework. The simulation results are transformed to the unity game engine in order to visualize the results in an Oculus VR headset.

ARAS, K. N. Toosi University of Technology


For more than 20 years, many research topics has been conducted in different research themes at ARAS. Our today success is mainly due to the dedicated student and alumni members spent their research time in these themes. Furthermore, our national and international collaborators, research and workshop facilities, and state-of -the-art research topics are among the main reasons of ARAS brilliant success in the middle east. Introduction(PDF)

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