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        <h2 class="mb-3">Robotic Control of a Surgical Laser Waveguide using ABB Robot</h2>
        <h5>
          Supervised by:  <i>Professor Gregory Scott Fischer</i>  and  <i>Professor Loris Fichera</i>
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            <h2 class="mb-4">Abstract</h2>
            <p class="lead mb-5">Currently various surgeries are performed using
              surgical laser sources and stereo-microscopes. Automated tissue
              ablation offers many advantages over free hand surgical procedures
              as it is faster, more accurate, much efficient and offers great
              dexterity, particularly for complex ablations. This paper discusses
              the dynamic modeling and control of the ABB IRB 120 robot that has
              a surgical laser waveguide, attached to its end effector.
              A graphical user interface has been designed that utilizes the
              camera feed to generate the trajectory points for the robot to
              move in the work space. The trajectory points are then sent to the
              controller via ROS communication. As a result, the laser waveguide
              follows a desired trajectory with a predetermined velocity to
              accomplish the task.</p>
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