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Head: Cameron Riviere
Contact: Cameron Riviere
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Medical Robotics Technology Center (MRTC)
Associated lab(s) / group(s):
 Surgical Mechatronics Laboratory
This page last updated - December 2011.
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.