From LCSR
Courses
500.410 Surgery for Engineers
Surgery for Engineers is a semester long lecture and laboratory course that teaches the fundamental skills and operative procedures for general surgery. This hands-on course is designed for engineers tasked with development of computer integrated surgical systems and associated technologies. Students are exposed to both traditional and innovative operating room (OR) environments and are taught basic techniques used during surgery.
Prerequisite: permission required. Applications must be submitted: 
Marohn & Assumpcao/ 3 credits/ summer
520.414 (E) Image Processing and Analysis I
The course covers fundamental methods for the processing and analysis of images and describes standard and modern techniques for the understanding of images by humans and computers. Topics include elements of visual perception, sampling and quantization, image transforms, image enhancement, color image processing, image restoration, image segmentation, and multiresolution image representation. Laboratory exercises demonstrate key aspects of the course.
Prerequisite: 520.214
Goutsias/ 3 credits/ fall
520.432/580.472 (E) Medical Imaging Systems
An introduction to the physics, instrumentation, and signal processing methods used in projection radiography, X-ray computed tomography, ultrasound imaging, magnetic resonance imaging, and nuclear medicine. The primary focus is on the methods required to reconstruct images within each modality, with attention also given to the resulting resolution, contrast, and signal-to-noise ratio of images.
Prerequisite: 520.214
Prince/ 3 credits/ spring
520.433 (E) Medical Image Analysis
This course covers the principles and algorithms used in the processing and analysis of medical images. Topics include interpolation, registration, enhancement, feature extraction, classification, segmentation, quantification, shape analysis, motion estimation, and visualization. Analysis of both anatomical and functional images will be studied and images from the most common medical imaging modalities will be used. Projects and assignments will provide students experience working with actual medical imaging data.
Prerequisites: 520.432 or 580.472 (Medical Imaging Systems), 550.310 or 550.311. Probability and Statistics).
Prince/ 3 credits /fall
530.343 (E) Design and Analysis of Dynamic Systems
Modeling and analysis of damped and undamped, forced and free vibrations in single and multiple degree-of-freedom linear dynamical systems. Introduction to stability and control of linear dynamical systems.
Prerequisites: 110.108, 110.109, 110.202 and 550.291, and 530.341
Okamura/ 4 credits/ spring
530.414 (E) Computer-Aided Design
This course attempts to integrate the concepts developed in 530.215 with the use of the computer as a design tool. The topics covered include the design of mechanical systems. Extensive use is made of computer-aided design software, including object modeling, system assembly, and mechanism solution procedures. Computer-aided drafting and dimensioning.
Prerequisites: 530.215, 500.100
Stoianovici/ 3 credits/ fall
530.420 (E) Robot Sensors and Actuators
Introduction to modeling and use of actuators and sensors in mechatronic design. Topics include electric motors, solenoids, micro-actuators, position sensors, and proximity sensors.
Prerequisites: 171.101, 171.102, 110.108, 110.109, 110.202, 550.291 and 530.341 or 520.345
Whitcomb/ 3 credits/ spring
530.421 (E) Mechatronics
Mechatronics is the synergistic integration of mechanism, electronics, and computer control to achieve a functional system. This interdisciplinary course includes lectures, lab assignments, and projects that teach the student to design and build mechatronic devices, building upon the themes of 530.420 Robot Sensors & Actuators. We expand on the topics of mechanism design, motors and sensors, interfacing and programming microprocessors, mechanical prototyping, and creativity in the design process. Course labs and projects are performed in small student groups. Each group develops a microprocessor-controlled electromechanical device, such as a mobile robot or art-making machine. Project topics vary from year to year.
Prerequisite: 530.420 or permission required.
Staff/ 3 credits/ fall
530.454 (E) Manufacturing Engineering
An introduction to the various manufacturing processes used to produce metal and nonmetal components. Topics include casting, forming and shaping, and the various processes for material removal including computer-controlled machining. Simple joining processes and surface preparation are discussed. Economic and production aspects are considered throughout.
Sharpe/ 3 credits/ fall
530.487 (E, N) Introduction to MEMS
For engineering and science majors. An introduction to materials and devices with examples of applications for sensing and actuation. Lectures complemented with laboratory experiments.
Prerequisite: Junior or Senior standing or permission required.
Sharpe/ 3 credits/ alternate springs
530.495 Microfabrication Laboratory
This laboratory course is an introduction to the principles of microfabrication for microelectronics, sensors, MEMS, and other synthetic microsystems that have applications in medicine and biology. Course comprised of laboratory work and accompanying lectures that cover silicon oxidation, aluminum evaporation, photoresist deposition, photolithography, plating, etching, packaging, design and analysis CAD tools, and foundry services.
Prerequisite: permission required; seniors only. Co-listed with 520.495 & 580.495.
Wang & Andreou/ 4 credits/ fall
530.651 (E) Haptic Systems for Teleoperation and Virtual Reality
Graduate-level introduction to the field of haptics, focusing on teleoperated and virtual environments that are displayed through the sense of touch. Topics covered include human haptic sensing and control, design of haptic interfaces (tactile and force), haptics for teleoperation, haptic rendering and modeling of virtual environments, control and stability issues, and medical applications such as tele-surgery and surgical simulation. Course work includes reading and discussion of research papers, presentations, and a final project.
Appropriate for students in any engineering discipline with interests in robotics, virtual reality, or computer-integrated surgical systems.
Undergraduates admitted with consent of the instructor.
Okamura/ 3 credits/ alternate falls
530.646 Introduction to Robotics
Graduate-level introduction to robotics with emphasis on the mathematical tools for kinematics and dynamics. Topics include forward and inverse kinematics, trajectory generation, position sensing and actuation, and manipulator control.
Whitcomb/ 4 credits/ fall
530.647 Adaptive Systems
Graduate-level introduction to adaptive identification and control. Emphasis on applications to mechanical systems possessing unknown parameters (e.g., mass, inertia, friction). Topics include stability of linear and nonlinear dynamical systems, Lyapunov stability, input-output stability, adaptive identification, and direct and indirect adaptive control.
Whitcomb/ 3 credits/ alternate fall
530.655 Haptic Systems
This graduate-level course addresses the design of the high-fidelity force feedback for virtual and teleoperated systems. Topics include real-time programming for haptics, haptic rendering and physically based modeling of contact with soft objects, stability of haptic interaction and control for force-feedback telemanipulation. The course includes several lab assignments using actual haptic devices to program virtual environments and teleoperators. Appropriate for students in Mechanical Engineering, Electrical and Computer Engineering, Computer Science, and Biomedical Engineering with interests in human-computer interaction, controls for robotics, and surgical assistance systems. Undergraduate students may be admitted with the consent of the instructor.
Mahvash/ 2 credits/ intersession
580.471 (E, N) Principals of Design of Biomedical Instrumentation/ 580.771 Graduate level/ 580.571 Honors Instrumentation (Intersession)
This core design course will cover lectures and hands-on labs. The material covered will include fundamentals of biomedical sensors and instrumentation, FDA regulations, designing with electronics, biopotentials and ECG amplifier design, recording from heart, muscle, brain, etc., diagnostic and therapeutic devices (including pacemakers and defibrillators), applications in prosthetics and rehabilitation, and safety. The course includes extensive laboratory work involving circuits, electronics, sensor design and interface, and building complete biomedical instrumentation. The students will also carry out design challenge projects, individually or in teams (examples include "smart cane for blind", "computer interface for quadriplegic").
Prerequisites: 520.213-214, electronics lab or 580.470
Thakor/ 4 credits/ fall
600.335 (E) Artificial Intelligence
Artificial intelligence (AI) is introduced by studying knowledge representation mechanisms, automated reasoning, automatic problem solvers and planners, production systems, game playing and machine learning. The class is recommended for all scientists and engineers with a genuine curiosity about the fundamental obstacles to getting machines to perform tasks such as deduction, learning, and planning and navigation. (Applications)
Prerequisites: 600.226, 550.171; Recommended: linear algebra, prob/stat.
Sheppard/ 3 credits/ spring
600.336 (E) Algorithms for Senior-Based Robotics
This is an introductory course presenting a series of algorithms related to the representation and use of geometric models acquired from sensor data. Course topics include: basic sensing and estimation techniques, geometric model representations, and motion planning algorithms. The course will also discuss applications in diverse areas such as mobile systems, robot manipulation, and medicine. (Analysis)
Prerequisites: 600.226, calculus, prob/stat.
Hager/ 3 credits/ spring
600.357 (E,Q) Computer Graphics
This course introduces computer graphics techniques and applications, including image processing, rendering, modeling and animation. Students may receive credit for 600.357 or 600.457, but not both. (Applications)
Prerequisites: 600.120 (C++), 600.226, linear algebra. Permission of instructor is required for students not satisfying a pre-requisite.
Kazhdan/ 3 credits/ spring
600.445 (E) Computer Integrated Surgery I
This course focuses on computer-based techniques, systems, and applications exploiting quantitative information from medical images and sensors to assist clinicians in all phases of treatment from diagnosis to preoperative planning, execution, and follow-up. It emphasizes the relationship between problem definition, computer-based technology, and clinical application and includes a number of guest lectures given by surgeons and other experts on requirements and opportunities in particular clinical areas.
Prerequisites: 600.120, 600.226 and linear algebra. Recommended: 600.457, 600.461, image processing.
Taylor/ 3 credits/ fall
600.446 (E) Computer Integrated Surgery II
This weekly lecture/seminar course addresses similar material to 600.445, but covers selected topics in greater depth. In addition to material covered in lectures/seminars by the instructor and other faculty, students are expected to read and provide critical analysis/ presentations of selected papers in recitation sessions. Students taking this course are required to undertake and report on a significant term project under the supervision of the instructor and clinical end users. Typically, this project is an extension of the term project from 600.445, although it does not have to be. Grades are based both on the project and on classroom recitations. Students wishing to attend the weekly lectures as a 1-credit seminar should sign up for 600.452. Students may also take this course as 600.646. The only difference between 600.446 and 600.646 is the level of project undertaken. Typically, 600.646 projects require a greater degree of mathematical, image processing, or modeling background. Prospective students should consult with the instructor as to which course number is appropriate. Students may receive credit for 600.446 or 600.646, but not both. (Applications)
Prerequisite: 600.445 or permission required
Taylor/ 3 credits/ spring
600.452 (E) Computer-Integrated Surgery Seminar
Lecture version of 600.446 (no project)
Prerequisite: 600.445 or permission required. Students may receive credit for 600.446 or 600.452, but not both.
Taylor/ 1 credit/ spring
600.461 (E,Q) Computer Vision
This course gives an overview of fundamental methods in computer vision from a computational perspective. Methods include computation of 3-D geometric constraints from binocular stereo, motion, texture, shape-from-shading, and photometric stereo. Edge detection and color perception are studied as well. Elements of machine vision and biological vision are also included.
Prerequisite: 600.226
Hager/ 3 credits/ fall
600.462 (E) Advanced Topics in Computer Vision
State-of-the-art methods in dynamic vision, with an emphasis on segmentation, reconstruction and recognition of static and dynamic scenes. Topics include: reconstruction of static scenes (tracking and correspondence, multiple view geometry, self calibration), reconstruction of dynamic scenes (2-D and 3-D motion sementation, nonrigid motion analysis), recognition of visual dynamics (dynamic textures, face and hand gestures, human gaits, crowd motion analysis), as well as geometric and statistical methods for clustering and unsupervised learning, such as K-means, Expectation Maximization, and Generalized Principal Component Analysis. Applications in robotics and biomedical imaging are also included.
Prerequisites: 600.461 & linear algebra or permission required. Co-listed as 580.474
Vidal/ 3 credits/ fall
600.546 (E) Senior Thesis in Computer Integrated Surgery
The student will undertake a substantial independent research project in the area of computer-integrated surgery, under joint supervision of a WSE faculty advisor and a clinician or clinical researcher at the Johns Hopkins Medical School. This project will typically require background literature research, design and execution of an experimental study or substantial implementation effort, and writeup of the results. The written reports will be published as reports by the CISST Engineering Research Center and may be used by the students as the basis for further academic publication. Because of the interdisciplinary, team oriented nature of much CIS Research, students may work in small groups or with other members of the advisor's research group. Students will be expected to establish a research plan and schedule and may be required by their advisor to provide interim documentation and meet interim deadlines, as appropriate. This requirement will be especially pertinent for two semester projects.
Prerequisites: 600.445 or permission required.
Taylor/ 3 credits/ fall
600.660 FFT in Graphics and Vision
In this course, we will study the Fourier Transform from the perspective of representation theory. We will begin by considering the standard transform defined by the commutative group of rotations in 2D and translations in two- and three-dimensions, and will proceed to the Fourier Transform of the non-commutative group of 3D rotations. Subjects covered will include correlation of images, shape matching, computation of invariances, and symmetry detection. (Applications or Analysis)
Prerequisites: linear algebra and comfort with mathematical derivations.
Kazhdan/ fall
600.745 Seminar on Computer Integrated Surgery
This weekly seminar will focus on research issues in computer integrated surgery, including subjects such as medical image analysis, statistical modeling, visualization, vision/sensing, surgical planning, medical robotics, and clinical applications. The purpose of the course is to widen the knowledge and awareness of the participants in current research in these areas, as well as to promote greater awareness and interaction between multiple research groups within the University and beyond. The format of the course is informal presentation by a pre-eminent invited speaker, followed by free discussion.
Kazanzides/ 1 credit/ fall and spring
600.746 Medical Image Analysis Seminar
This weekly seminar will focus on research issues in medical image analysis, including image segmentation, registration, statistical modeling, and applications. It will also include selected topics relating to medical image acquisition, especially where they relate to analysis. The purpose of the course is to provide the participants with a thorough background in current research in these areas, as well as to promote greater awareness and interaction between multiple research groups within the University. The format of the course is informal. Students will read selected papers. All students will be assumed to have read these papers by the time the paper is scheduled for discussion. But individual students will be assigned on a rotating basis to lead the discussion on particular papers or sections of papers. Cross-listed in ECE.
Prince, Taylor & Hager/ 1 credit/ spring
600.757 Seminar in Computer Graphics
In this course we will review current research in computer graphics. We will meet for an hour once a week and one of the participants will lead the discussion for the week.
Prerequisite: permission required.
Kazhdan/ 1 credit/ fall
