Stephen Tully

PhD Student

Electrical and Computer Engineering

Carnegie Mellon University

Pittsburgh, PA, USA

I am currently a PhD student at Carnegie Mellon University in the Electrical and Computer Engineering Department. My research is with the Biorobotics Lab in the Robotics Institute and I am advised by Howie Choset and George Kantor.

My research interests are in medical robotics and autonomous systems. I am specifically interested in the navigation of surgical robots, the use of nonlinear filtering for surgical estimation, and the development of automated perception algorithms for augmenting surgical feedback.

My thesis project focuses on filtering and algorithm design for minimally invasive surgical robots. I am developing novel nonlinear filtering schemes that can be used for state estimation for surgical robots. The application that I am targeting is model-based image-guided surgery with a highly articulated surgical snake robot.