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Robert James Webster III
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2020 – today
- 2024
[j55]Patrick L. Anderson
, Richard J. Hendrick, Margaret F. Rox, Robert J. Webster III:
Exceeding traditional curvature limits of concentric tube robots through redundancy resolution. Int. J. Robotics Res. 43(1): 53-68 (2024)- [j54]Nicholas R. Posselli, Patrick S. Wellborn, Paul S. Bernstein, Robert J. Webster III, Jake J. Abbott:
Head-Mounting Surgical Robots for Passive Compensation of Patient Motion. J. Medical Robotics Res. 9(1&2): 2350006:1-2350006:17 (2024) - [j53]Brian Y. Cho, Daniel S. Esser, Jordan Thompson, Bao Thach, Robert J. Webster III, Alan Kuntz:
Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network. IEEE Robotics Autom. Lett. 9(11): 9263-9270 (2024) - [j52]James M. Ferguson, D. Caleb Rucker, Robert J. Webster III:
Unified Shape and External Load State Estimation for Continuum Robots. IEEE Trans. Robotics 40: 1813-1827 (2024) - [c83]Britton Jordan, Daniel S. Esser, Jeonghyeon Kim, Brian Y. Cho, Robert J. Webster III, Alan Kuntz:
Exploring Modal Switch in Metamaterial-Based Robots. IROS 2024: 8711-8716 - [c82]Khoa T. Dang, Stephen Qiu, Carter Hatch, Peter Connor, Tony Qin, Ron Alterovitz, Robert J. Webster III, Caleb Rucker:
Design of Transmission Tubes for Surgical Concentric Push-Pull Robots. ISMR 2024: 1-7 - [c81]Jason Shrand, Jesse F. d'Almeida, Ethan Wilke, Amy Reed, Nicholas L. Kavoussi, S. Duke Herrell III, Tayfun Efe Ertop, Robert J. Webster III:
Enhancing Accuracy in Transendoscopic Concentric Tube Robots for Monocular Endoscope Guidance. ISMR 2024: 1-3 - [c80]Daniel S. Esser, Emily M. McCabe, Tayfun Efe Ertop, Alan Kuntz, Robert J. Webster III:
Directional Stiffness-Switching Soft Robots via Phase-Changing Metallic Spines. RoboSoft 2024: 366-373 - [c79]Emily M. McCabe, Daniel S. Esser, Tayfun Efe Ertop, Alan Kuntz, Robert J. Webster III:
Combining Thermoelectrics and Low Melting Point Alloys to Create Reconfigurable Stiff-Compliant Manipulators. RoboSoft 2024: 711-715 - [i5]Brian Y. Cho, Daniel S. Esser, Jordan Thompson, Bao Thach, Robert J. Webster III, Alan Kuntz:
Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network. CoRR abs/2404.03816 (2024) - [i4]Janine Hoelscher, Inbar Fried, Spiros Tsalikis, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz:
Safe Start Regions for Medical Steerable Needle Automation. CoRR abs/2404.08558 (2024) - 2023
- [j51]Katherine E. Riojas, Trevor L. Bruns, Josephine Granna, Robert J. Webster III, Robert F. Labadie:
Robotic pullback technique of a precurved cochlear-implant electrode array using real-time impedance sensing feedback. Int. J. Comput. Assist. Radiol. Surg. 18(3): 413-421 (2023) - [j50]Margaret Rox, Daniel S. Esser, Mariana E. Smith, Tayfun Efe Ertop, Maxwell Emerson, Fabien Maldonado, Erin A. Gillaspie, Alan Kuntz, Robert J. Webster III:
Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks. IEEE Robotics Autom. Lett. 8(6): 3494-3501 (2023) - [j49]James M. Ferguson, Tayfun Efe Ertop, S. Duke Herrell III, Robert J. Webster III:
Unified robot and inertial sensor self-calibration. Robotica 41(5): 1590-1616 (2023) - [j48]Alan Kuntz, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Margaret Rox, Jason A. Akulian, Erin A. Gillaspie, Yueh Z. Lee, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz:
Autonomous medical needle steering in vivo. Sci. Robotics 8(82) (2023) - [c78]Mariana E. Smith, Daniel S. Esser, Margaret Rox, Alan Kuntz, Robert J. Webster III:
A Radial Folding Mechanism to Enable Surgical Continuum Manipulators to Fit Through Smaller Ports. ISMR 2023: 1-6 - [c77]Abby M. Grillo, John E. Peters, Daniel S. Esser, Sarah J. Garrow, Tyler Ball, Robert Naftel, Dario J. Englot, Joseph S. Neimat, William A. Grissom, Eric J. Barth, Robert J. Webster III:
Design considerations for robotic, MRI-guided, trans-foramen ovale access to the brain. Image-Guided Procedures 2023 - [c76]Jason Shrand, Jesse F. d'Almeida, Tayfun Efe Ertop, Nicholas L. Kavoussi, Shaan Setia, S. Duke Herrell III, Robert J. Webster III:
A virtual reality framework for evaluating concentric tube surgical robot designs. Image-Guided Procedures 2023 - 2022
- [j47]Trevor L. Bruns, Katherine E. Riojas, Robert F. Labadie, Robert J. Webster III:
Real-Time Localization of Cochlear-Implant Electrode Arrays Using Bipolar Impedance Sensing. IEEE Trans. Biomed. Eng. 69(2): 718-724 (2022) - [c75]Janine Hoelscher, Inbar Fried, Mengyu Fu, Mihir Patwardhan, Max Christman, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz:
A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation. IROS 2022: 9526-9533 - [c74]Tayfun Efe Ertop, Jesse F. d'Almeida, Ernar Amanov, Jason Shrand, Naren Nimmagadda, Shaan Setia, Nicholas L. Kavoussi, S. Duke Herrell, Robert J. Webster III:
Towards Suturing From Within the Urethra Using Concentric Tube Robots: First Experiences in Biological Tissues. ISMR 2022: 1-5 - [c73]Adrian N. Florea, Dominick S. Ropella, Ernar Amanov, S. Duke Herrell III, Robert J. Webster III:
Design of a modular, multi-arm concentric tube robot featuring roller gears. Image-Guided Procedures 2022 - [i3]Alan Kuntz, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Margaret Rox, Jason A. Akulian, Erin A. Gillaspie, Yueh Z. Lee, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz:
Autonomous Medical Needle Steering In Vivo. CoRR abs/2211.02597 (2022) - 2021
- [j46]Trevor L. Bruns, Andria A. Remirez, Maxwell Emerson, Ray A. Lathrop, Arthur W. Mahoney, Hunter B. Gilbert, Cindy Lin Liu, Paul T. Russell III, Robert F. Labadie, Kyle D. Weaver, Robert James Webster III:
A modular, multi-arm concentric tube robot system with application to transnasal surgery for orbital tumors. Int. J. Robotics Res. 40(2-3) (2021) - [j45]Federico Campisano, Simone Caló, Andria A. Remirez, James Henry Chandler, Keith L. Obstein, Robert J. Webster III, Pietro Valdastri:
Closed-loop control of soft continuum manipulators under tip follower actuation. Int. J. Robotics Res. 40(6-7) (2021) - [j44]Nicholas E. Pacheco, Joshua B. Gafford, Mostafa A. Atalla, Robert J. Webster III, Loris Fichera:
Beyond Constant Curvature: A New Mechanics Model for Unidirectional Notched-Tube Continuum Wrists. J. Medical Robotics Res. 6(1&2): 2140004:1-2140004:12 (2021) - [j43]Janine Hoelscher, Mengyu Fu, Inbar Fried, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Alan Kuntz, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz:
Backward Planning for a Multi-Stage Steerable Needle Lung Robot. IEEE Robotics Autom. Lett. 6(2): 3987-3994 (2021) - [j42]Joshua B. Gafford, Kevin C. Galloway, Scott Webster, Maxwell Emerson, Katherine E. Riojas, Dominick S. Ropella, Andrew Tumen, Fabien Maldonado, Matthew Bacchetta, Eric J. Barth, S. Duke Herrell, Robert James Webster III:
The Vanderbilt Open-Source Ventilator: From Napkin Sketch to Ready to Save Lives in Three Weeks. IEEE Robotics Autom. Mag. 28(1): 101-114 (2021) - [c72]Inbar Fried, Janine Hoelscher, Mengyu Fu, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Alan Kuntz, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz:
Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume. ICRA 2021: 1418-1425 - [c71]Juyoung Kim, James M. Ferguson, Jason Shrand, Bryn Pitt, Josephine Granna, Naren Nimmagadda, Nicholas L. Kavoussi, S. Duke Herrell III, Robert J. Webster III:
Integrating FireFly fluorescence into image guidance for the da Vinci robot. Image-Guided Procedures 2021 - [i2]Maxwell Emerson, James M. Ferguson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Ron Alterovitz, Robert J. Webster III, Alan Kuntz:
A Recurrent Neural Network Approach to Roll Estimation for Needle Steering. CoRR abs/2101.04856 (2021) - 2020
- [j41]Margaret Rox, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Alan Kuntz, Josephine Granna, Jason E. Mitchell, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Jason A. Akulian, Ron Alterovitz, Robert J. Webster III:
Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles. IEEE Access 8: 181411-181419 (2020) - [j40]Patrick S. Wellborn, Paul T. Russell III, Robert J. Webster III:
A multi-subject accuracy study on granular jamming for non-invasive attachment of fiducial markers to patients. Int. J. Comput. Assist. Radiol. Surg. 15(1): 69-74 (2020) - [j39]William G. Morrel, Katherine E. Riojas, Robert J. Webster III, Jack H. Noble, Robert F. Labadie:
Custom mastoid-fitting templates to improve cochlear implant electrode insertion trajectory. Int. J. Comput. Assist. Radiol. Surg. 15(10): 1713-1718 (2020) - [j38]Trevor L. Bruns, Katherine E. Riojas, Dominick S. Ropella, Matt S. Cavilla, Andrew J. Petruska, Michael H. Freeman, Robert F. Labadie, Jake J. Abbott, Robert J. Webster III:
Magnetically Steered Robotic Insertion of Cochlear-Implant Electrode Arrays: System Integration and First-In-Cadaver Results. IEEE Robotics Autom. Lett. 5(2): 2240-2247 (2020) - [j37]Federico Campisano, Andria A. Remirez, Simone Caló, James Henry Chandler, Keith L. Obstein, Robert J. Webster III, Pietro Valdastri:
Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators. IEEE Robotics Autom. Lett. 5(2): 2642-2649 (2020) - [j36]Federico Campisano, Andria A. Remirez, Claire A. Landewee, Simone Caló, Keith L. Obstein, Robert J. Webster III, Pietro Valdastri:
Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy. IEEE Robotics Autom. Lett. 5(4): 6427-6434 (2020) - [j35]John Till, Vincent A. Aloi, Katherine E. Riojas, Patrick L. Anderson, Robert J. Webster III, D. Caleb Rucker:
A Dynamic Model for Concentric Tube Robots. IEEE Trans. Robotics 36(6): 1704-1718 (2020) - [c70]Maxwell Emerson, James M. Ferguson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Ron Alterovitz, Robert J. Webster III, Alan Kuntz:
A Recurrent Neural Network Approach to Roll Estimation for Needle Steering. ISER 2020: 334-342 - [c69]Michael A. Siebold, James M. Ferguson, Bryn Pitt, Nicholas L. Kavoussi, Naren Nimmagadda, S. Duke Herrell, Robert J. Webster III:
Choosing Statistically Safe, Variable-Thickness Margins in Robot-Assisted Partial Nephrectomy. ISMR 2020: 152-158 - [c68]Alex J. Chiluisa, Floris J. Van Rossum, Joshua B. Gafford, Robert F. Labadie, Robert J. Webster III, Loris Fichera:
Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot. ISMR 2020: 188-194
2010 – 2019
- 2019
- [j34]Katherine E. Riojas, Patrick L. Anderson, Ray A. Lathrop, S. Duke Herrell, D. Caleb Rucker, Robert J. Webster III:
A Hand-Held Non-Robotic Surgical Tool With a Wrist and an Elbow. IEEE Trans. Biomed. Eng. 66(11): 3176-3184 (2019) - [j33]Isuru S. Godage, Robert J. Webster III, Ian D. Walker:
Center-of-Gravity-Based Approach for Modeling Dynamics of Multisection Continuum Arms. IEEE Trans. Robotics 35(5): 1097-1108 (2019) - [c67]Stephanie Amack, Margaret Rox, Jason E. Mitchell, Tayfun Efe Ertop, Maxwell Emerson, Alan Kuntz, Fabien Maldonado, Jason A. Akulian, Joshua B. Gafford, Ron Alterovitz, Robert J. Webster III:
Design and control of a compact modular robot for transbronchial lung biopsy. Image-Guided Procedures 2019: 109510I - [c66]Katherine E. Riojas, Narendran Narasimhan, William G. Morrel, Jason E. Mitchell, Trevor L. Bruns, Robert J. Webster III, Robert F. Labadie:
A new manual insertion tool for minimally invasive, image-guided cochlear implant surgery. Image-Guided Procedures 2019: 109510J - [c65]Minh Vu, Rueben A. Banalagay, Dongqing Zhang, Alejandro Rivas, Loris Fichera, Robert J. Webster III, Robert F. Labadie, Jack H. Noble:
Analysis of middle ear morphology for design of a transnasal endoscope. Image-Guided Procedures 2019: 109512S - [i1]Isuru S. Godage, Robert J. Webster III, Ian D. Walker:
Center of Gravity-based Approach for Modeling Dynamics of Multisection Continuum Arms. CoRR abs/1901.01479 (2019) - 2018
- [j32]Katherine E. Riojas, Richard J. Hendrick, Robert J. Webster III:
Can Elastic Instability Be Beneficial in Concentric Tube Robots? IEEE Robotics Autom. Lett. 3(3): 1624-1630 (2018) - [c64]Alan Kuntz, Chris Bowen, Cenk Baykal, Arthur W. Mahoney, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz:
Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning. ICRA 2018: 926-933 - [c63]Mengyu Fu, Alan Kuntz, Robert J. Webster III, Ron Alterovitz:
Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images. IROS 2018: 4942-4949 - [c62]James M. Ferguson, Leon Y. Cai, Alexander Reed, Michael A. Siebold, Smita De, S. Duke Herrell, Robert J. Webster III:
Toward image-guided partial nephrectomy with the da Vinci robot: exploring surface acquisition methods for intraoperative re-registration. Image-Guided Procedures 2018: 1057609 - [e4]Baowei Fei, Robert J. Webster III:
Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling, Houston, Texas, United States, 10-15 February 2018. SPIE Proceedings 10576, SPIE 2018, ISBN 9781510616417 [contents] - 2017
- [j31]Patrick S. Wellborn, Neal P. Dillon, Paul T. Russell III, Robert J. Webster III:
Coffee: the key to safer image-guided surgery - a granular jamming cap for non-invasive, rigid fixation of fiducial markers to the patient. Int. J. Comput. Assist. Radiol. Surg. 12(6): 1069-1077 (2017) - [j30]Philip J. Swaney, Arthur W. Mahoney, Bryan I. Hartley, Andria A. Remirez, Erik Lamers, Richard H. Feins, Ron Alterovitz, Robert J. Webster III:
Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles. J. Medical Robotics Res. 2(1): 1750001:1-1750001:14 (2017) - [j29]Loris Fichera, Neal P. Dillon, Dongqing Zhang, Isuru S. Godage, Michael A. Siebold, Bryan I. Hartley, Jack H. Noble, Paul T. Russell III, Robert F. Labadie, Robert J. Webster III:
Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into the Middle Ear. IEEE Robotics Autom. Lett. 2(3): 1488-1494 (2017) - [j28]Patrick L. Anderson, Arthur W. Mahoney, Robert James Webster III:
Continuum Reconfigurable Parallel Robots for Surgery: Shape Sensing and State Estimation With Uncertainty. IEEE Robotics Autom. Lett. 2(3): 1617-1624 (2017) - [j27]Louis B. Kratchman, Trevor L. Bruns, Jake J. Abbott, Robert J. Webster III:
Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications. IEEE Trans. Robotics 33(1): 227-233 (2017) - [c61]Alan Kuntz, Arthur W. Mahoney, Nicolas E. Peckman, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz:
Motion planning for continuum reconfigurable incisionless surgical parallel robots. IROS 2017: 6463-6469 - [c60]Trevor L. Bruns, Robert J. Webster III:
An image guidance system for positioning robotic cochlear implant insertion tools. Image-Guided Procedures 2017: 101350O - [c59]Shan Lin, Loris Fichera, Mitchell J. Fulton, Robert J. Webster III:
Don't get burned: thermal monitoring of vessel sealing using a miniature infrared camera. Image-Guided Procedures 2017: 101350Y - [c58]Saramati Narasimhan, Jared A. Weis, Isuru S. Godage, Robert J. Webster III, Kyle D. Weaver, Michael I. Miga:
Development of a mechanics-based model of brain deformations during intracerebral hemorrhage evacuation. Image-Guided Procedures 2017: 101350F - [e3]Robert J. Webster III, Baowei Fei:
Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling, Orlando, Florida, United States, 11-16 February 2017. SPIE Proceedings 10135, SPIE 2017, ISBN 9781510607156 [contents] - 2016
- [j26]Rowena E. Ong, Courtenay L. Glisson, Jessica Burgner-Kahrs, Amber L. Simpson, Andrei Danilchenko, Ray A. Lathrop, S. Duke Herrell, Robert J. Webster III, Michael I. Miga, Robert L. Galloway:
A novel method for texture-mapping conoscopic surfaces for minimally invasive image-guided kidney surgery. Int. J. Comput. Assist. Radiol. Surg. 11(8): 1515-1526 (2016) - [j25]Hunter B. Gilbert, Robert J. Webster III:
Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots. IEEE Robotics Autom. Lett. 1(1): 98-105 (2016) - [j24]Josephine Granna, Isuru S. Godage, Raul Wirz, Kyle D. Weaver, Robert J. Webster III, Jessica Burgner-Kahrs:
A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation. IEEE Robotics Autom. Lett. 1(2): 876-883 (2016) - [j23]Patrick L. Anderson, Ray A. Lathrop, S. Duke Herrell, Robert J. Webster III:
Comparing a Mechanical Analogue With the Da Vinci User Interface: Suturing at Challenging Angles. IEEE Robotics Autom. Lett. 1(2): 1060-1065 (2016) - [j22]Hunter B. Gilbert, Richard J. Hendrick, Robert J. Webster III:
Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test. IEEE Trans. Robotics 32(1): 20-35 (2016) - [c57]Arthur W. Mahoney, Trevor L. Bruns, Philip J. Swaney, Robert J. Webster III:
On the inseparable nature of sensor selection, sensor placement, and state estimation for continuum robots or "where to put your sensors and how to use them". ICRA 2016: 4472-4478 - [c56]Neal P. Dillon, Loris Fichera, Patrick S. Wellborn, Robert F. Labadie, Robert J. Webster III:
Making robots mill bone more like human surgeons: Using bone density and anatomic information to mill safely and efficiently. IROS 2016: 1837-1843 - [c55]Arthur W. Mahoney, Patrick L. Anderson, Philip J. Swaney, Fabien Maldonado, Robert J. Webster III:
Reconfigurable parallel continuum robots for incisionless surgery. IROS 2016: 4330-4336 - [c54]Andria A. Remirez, Robert J. Webster III:
Endoscopes and robots for tight surgical spaces: use of precurved elastic elements to enhance curvature. Image-Guided Procedures 2016: 97860R - [c53]Neal P. Dillon, Michael A. Siebold, Jason E. Mitchell, Grégoire S. Blachon, Ramya Balachandran, J. Michael Fitzpatrick, Robert J. Webster III:
Increasing safety of a robotic system for inner ear surgery using probabilistic error modeling near vital anatomy. Image-Guided Procedures 2016: 97861G - [e2]Robert J. Webster III, Ziv R. Yaniv:
Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling, San Diego, California, United States, 27 February - 3 March 2016. SPIE Proceedings 9786, SPIE 2016, ISBN 9781510600218 [contents] - 2015
- [j21]Richard J. Hendrick, Christopher R. Mitchell, S. Duke Herrell, Robert J. Webster III:
Hand-held transendoscopic robotic manipulators: A transurethral laser prostate surgery case study. Int. J. Robotics Res. 34(13): 1559-1572 (2015) - [j20]Hunter B. Gilbert, Joseph S. Neimat, Robert J. Webster III:
Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment. IEEE Trans. Robotics 31(2): 246-258 (2015) - [c52]Peter A. York, Philip J. Swaney, Hunter B. Gilbert, Robert J. Webster III:
A wrist for needle-sized surgical robots. ICRA 2015: 1776-1781 - [c51]Richard J. Hendrick, Hunter B. Gilbert, Robert J. Webster III:
Designing snap-free concentric tube robots: A local bifurcation approach. ICRA 2015: 2256-2263 - [c50]Luis G. Torres, Alan Kuntz, Hunter B. Gilbert, Philip J. Swaney, Richard J. Hendrick, Robert J. Webster III, Ron Alterovitz:
A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation. ICRA 2015: 2361-2367 - [c49]Philip J. Swaney, Arthur W. Mahoney, Andria A. Remirez, Erik Lamers, Bryan I. Hartley, Richard H. Feins, Ron Alterovitz, Robert J. Webster III:
Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system. ICRA 2015: 5378-5383 - [c48]Isuru S. Godage, Andria A. Remirez, Raul Wirz, Kyle D. Weaver, Jessica Burgner-Kahrs, Robert J. Webster III:
Robotic intracerebral hemorrhage evacuation: An in-scanner approach with concentric tube robots. IROS 2015: 1447-1452 - [c47]Alan Kuntz, Luis G. Torres, Richard H. Feins, Robert J. Webster III, Ron Alterovitz:
Motion planning for a three-stage multilumen transoral lung access system. IROS 2015: 3255-3261 - [c46]Arthur W. Mahoney, Trevor L. Bruns, Ron Alterovitz, Robert J. Webster III:
Design, Sensing, and Planning: Fundamentally Coupled Problems for Continuum Robots. ISRR (1) 2015: 267-282 - [c45]Michael A. Siebold, Neal P. Dillon, Robert J. Webster III, J. Michael Fitzpatrick:
Incorporating target registration error into robotic bone milling. Image-Guided Procedures 2015: 94150R - [c44]Raul Wirz, Ray A. Lathrop, Isuru S. Godage, Jessica Burgner-Kahrs, Paul T. Russell III, Robert J. Webster III:
Can coffee improve image guidance? Image-Guided Procedures 2015: 941513 - [e1]Robert J. Webster III, Ziv R. Yaniv:
Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling, Orlando, Florida, United States, 21-26 February 2015. SPIE Proceedings 9415, SPIE 2015, ISBN 9781628415056 [contents] - 2014
- [j19]Sachin Patil, Jessica Burgner, Robert J. Webster III, Ron Alterovitz:
Needle Steering in 3-D Via Rapid Replanning. IEEE Trans. Robotics 30(4): 853-864 (2014) - [c43]Richard J. Hendrick, S. Duke Herrell, Robert J. Webster III:
A multi-arm hand-held robotic system for transurethral laser Prostate surgery. ICRA 2014: 2850-2855 - [c42]Jessica Burgner-Kahrs, Hunter B. Gilbert, Josephine Granna, Philip J. Swaney, Robert J. Webster III:
Workspace characterization for concentric tube continuum robots. IROS 2014: 1269-1275 - [c41]Richard J. Hendrick, S. Duke Herrell, Christopher R. Mitchell, Robert J. Webster III:
Experiments on the Simultaneous Hand-Held Control of Rigid Endoscopes and Robots Passing Through Them. ISER 2014: 73-87 - [c40]Neal P. Dillon, Ramya Balachandran, Antoine Motte dit Falisse, George B. Wanna, Robert F. Labadie, Thomas J. Withrow, J. Michael Fitzpatrick, Robert J. Webster III:
Preliminary testing of a compact bone-attached robot for otologic surgery. Image-Guided Procedures 2014: 903614 - 2013
- [j18]Philip J. Swaney, Jessica Burgner, Hunter B. Gilbert, Robert J. Webster III:
A Flexure-Based Steerable Needle: High Curvature With Reduced Tissue Damage. IEEE Trans. Biomed. Eng. 60(4): 906-909 (2013) - [j17]Amber L. Simpson, Jessica Burgner, Courtenay L. Glisson, S. Duke Herrell, Burton Ma, Thomas S. Pheiffer, Robert J. Webster III, Michael I. Miga:
Comparison Study of Intraoperative Surface Acquisition Methods for Surgical Navigation. IEEE Trans. Biomed. Eng. 60(4): 1090-1099 (2013) - [j16]Jenna L. Gorlewicz, Santina Battaglia, Byron F. Smith, Gastone Ciuti, Jason Gerding, Arianna Menciassi, Keith Obstein, Pietro Valdastri, Robert J. Webster III:
Wireless Insufflation of the Gastrointestinal Tract. IEEE Trans. Biomed. Eng. 60(5): 1225-1233 (2013) - [j15]Jessica Burgner, Philip J. Swaney, Ray A. Lathrop, Kyle D. Weaver, Robert J. Webster III:
Debulking From Within: A Robotic Steerable Cannula for Intracerebral Hemorrhage Evacuation. IEEE Trans. Biomed. Eng. 60(9): 2567-2575 (2013) - [j14]D. Caleb Rucker, Jadav Das, Hunter B. Gilbert, Philip J. Swaney, Michael I. Miga, Nilanjan Sarkar, Robert J. Webster III:
Sliding Mode Control of Steerable Needles. IEEE Trans. Robotics 29(5): 1289-1299 (2013) - [c39]Philip J. Swaney, Jessica Burgner, Ray A. Lathrop, Hunter B. Gilbert, Kyle D. Weaver, Robert J. Webster III:
Minimally-invasive intracerebral hemorrhage removal using an active cannula. ICRA 2013: 219-224 - [c38]Jessica Burgner, Hunter B. Gilbert, Robert J. Webster III:
On the computational design of concentric tube robots: Incorporating volume-based objectives. ICRA 2013: 1193-1198 - [c37]Hunter B. Gilbert, Robert J. Webster III:
Can concentric tube robots follow the leader? ICRA 2013: 4881-4887 - [c36]Hunter B. Gilbert, D. Caleb Rucker, Robert J. Webster III:
Concentric Tube Robots: The State of the Art and Future Directions. ISRR 2013: 253-269 - [c35]Jessica Burgner, Philip J. Swaney, Ray A. Lathrop, Kyle D. Weaver, Robert J. Webster III:
Robot-assisted intracerebral hemorrhage evacuation: an experimental evaluation. Image-Guided Procedures 2013: 86710H - [c34]Dylan P. Losey, Peter A. York, Philip J. Swaney, Jessica Burgner, Robert J. Webster III:
A flexure-based wrist for needle-sized surgical robots. Image-Guided Procedures 2013: 86711G - 2012
- [j13]Louis B. Kratchman, Daniel Schurzig, Theodore R. McRackan, Ramya Balachandran, Jack H. Noble, Robert J. Webster III, Robert F. Labadie:
A Manually Operated, Advance Off-Stylet Insertion Tool for Minimally Invasive Cochlear Implantation Surgery. IEEE Trans. Biomed. Eng. 59(10): 2792-2800 (2012) - [c33]Jessica Burgner, Hunter B. Gilbert, Philip J. Swaney, Paul T. Russell III, Robert J. Webster III:
Kontinuumsroboter auf Basis vorgebogener Nitinolröhrchen: Evaluierung eines Prototypen für die Transnasale Schädelbasischirurgie. CURAC 2012: 143-146 - [c32]Hao Su, Diana C. Cardona, Weijian Shang, Alexander Camilo, Gregory A. Cole, D. Caleb Rucker, Robert J. Webster III, Gregory S. Fischer:
A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study. ICRA 2012: 1939-1945 - [c31]Luis G. Torres, Robert J. Webster III, Ron Alterovitz:
Task-oriented design of concentric tube robots using mechanics-based models. IROS 2012: 4449-4455 - [c30]Philip J. Swaney, Jessica Burgner, Thomas S. Pheiffer, D. Caleb Rucker, Hunter B. Gilbert, Janet E. Ondrake, Amber L. Simpson, Everette Clif Burdette, Michael I. Miga, Robert J. Webster III:
Tracked 3D ultrasound targeting with an active cannula. Image-Guided Procedures 2012: 83160R - [c29]Amber L. Simpson, Jessica Burgner, Ishita Chen, Thomas S. Pheiffer, Kay Sun, Reid Carleton Thompson, Robert J. Webster III, Michael I. Miga:
Intraoperative brain tumor resection cavity characterization with conoscopic holography. Image-Guided Procedures 2012: 831631 - 2011
- [j12]Louis B. Kratchman, Grégoire S. Blachon, Thomas J. Withrow, Ramya Balachandran, Robert F. Labadie, Robert J. Webster III:
Design of a Bone-Attached Parallel Robot for Percutaneous Cochlear Implantation. IEEE Trans. Biomed. Eng. 58(10): 2904-2910 (2011) - [j11]D. Caleb Rucker, Robert J. Webster III:
Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading. IEEE Trans. Robotics 27(6): 1033-1044 (2011) - [c28]Jenna L. Toennies, Jessica Burgner, Thomas J. Withrow, Robert J. Webster III:
Toward haptic/aural touchscreen display of graphical mathematics for the education of blind students. World Haptics 2011: 373-378 - [c27]D. Caleb Rucker, Robert J. Webster III:
Computing Jacobians and compliance matrices for externally loaded continuum robots. ICRA 2011: 945-950 - [c26]Jessica Burgner, Philip J. Swaney, D. Caleb Rucker, Hunter B. Gilbert, Scott T. Nill, Paul T. Russell III, Kyle D. Weaver, Robert J. Webster III:
A bimanual teleoperated system for endonasal skull base surgery. IROS 2011: 2517-2523 - [c25]D. Caleb Rucker, Robert J. Webster III:
Deflection-based force sensing for continuum robots: A probabilistic approach. IROS 2011: 3764-3769 - [c24]Ramya Balachandran, Jason E. Mitchell, Jack H. Noble, Daniel Schurzig, Grégoire S. Blachon, Theodore R. McRackan, Robert J. Webster III, Benoit M. Dawant, J. Michael Fitzpatrick, Robert F. Labadie:
Insertion of electrode array using percutaneous cochlear implantation technique: a cadaveric study. Image-Guided Procedures 2011: 79641E - [c23]Louis B. Kratchman, Mohammed M. Rahman, Justin R. Saunders, Philip J. Swaney, Robert J. Webster III:
Toward robotic needle steering in lung biopsy: a tendon-actuated approach. Image-Guided Procedures 2011: 79641I - 2010
- [j10]D. Caleb Rucker, Robert J. Webster III, Gregory S. Chirikjian, Noah J. Cowan:
Equilibrium Conformations of Concentric-tube Continuum Robots. Int. J. Robotics Res. 29(10): 1263-1280 (2010) - [j9]Robert J. Webster III, Bryan A. Jones:
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review. Int. J. Robotics Res. 29(13): 1661-1683 (2010) - [j8]Ray A. Lathrop, Douglas M. Hackworth, Robert J. Webster III:
Minimally Invasive Holographic Surface Scanning for Soft-Tissue Image Registration. IEEE Trans. Biomed. Eng. 57(6): 1497-1506 (2010) - [j7]D. Caleb Rucker, Bryan A. Jones, Robert J. Webster III:
A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots. IEEE Trans. Robotics 26(5): 769-780 (2010) - [c22]D. Caleb Rucker, Bryan A. Jones, Robert J. Webster III:
A model for concentric tube continuum robots under applied wrenches. ICRA 2010: 1047-1052 - [c21]Lisa A. Lyons, Robert J. Webster III, Ron Alterovitz:
Planning active cannula configurations through tubular anatomy. ICRA 2010: 2082-2087 - [c20]Daniel Schurzig, Robert F. Labadie, Andreas Hussong, Thomas S. Rau, Robert J. Webster III:
A force sensing Automated Insertion Tool for cochlear electrode implantation. ICRA 2010: 3674-3679 - [c19]Jordan M. Croom, D. Caleb Rucker, Joseph M. Romano, Robert J. Webster III:
Visual sensing of continuum robot shape using self-organizing maps. ICRA 2010: 4591-4596 - [c18]Ray A. Lathrop, D. Caleb Rucker, Robert J. Webster III:
Guidance of a steerable cannula robot in soft tissue using preoperative imaging and conoscopic surface contour sensing. ICRA 2010: 5601-5606 - [c17]D. Caleb Rucker, Robert J. Webster III:
Mechanics of Continuum Robots with External Loading and General Tendon Routing. ISER 2010: 645-654 - [c16]Emad M. Boctor, Philipp J. Stolka, Hyun-Jae Kang, Clyde Clarke, D. Caleb Rucker, Jordon M. Croom, Everette Clif Burdette, Robert J. Webster III:
Precisely shaped acoustic ablation of tumors utilizing steerable needle and 3D ultrasound image guidance. Image-Guided Procedures 2010: 76252N
2000 – 2009
- 2009
- [j6]D. Caleb Rucker, Robert J. Webster III:
Parsimonious Evaluation of Concentric-Tube Continuum Robot Equilibrium Conformation. IEEE Trans. Biomed. Eng. 56(9): 2308-2311 (2009) - [j5]Robert J. Webster III, Joseph M. Romano, Noah J. Cowan:
Mechanics of Precurved-Tube Continuum Robots. IEEE Trans. Robotics 25(1): 67-78 (2009) - [j4]Pietro Valdastri, Robert J. Webster III, Claudio Quaglia, Marco Quirini, Arianna Menciassi, Paolo Dario:
A New Mechanism for Mesoscale Legged Locomotion in Compliant Tubular Environments. IEEE Trans. Robotics 25(5): 1047-1057 (2009) - [c15]D. Caleb Rucker, Robert J. Webster III:
Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas. ICRA 2009: 2533-2537 - [c14]Lisa A. Lyons, Robert J. Webster III, Ron Alterovitz:
Motion planning for active cannulas. IROS 2009: 801-806 - [c13]Ray A. Lathrop, Tiffany T. Cheng, Robert J. Webster III:
Conoscopic holography for image registration: a feasibility study. Image-Guided Procedures 2009: 72611M - 2008
- [c12]Robert J. Webster III, Joseph M. Romano, Noah J. Cowan:
Kinematics and calibration of active cannulas. ICRA 2008: 3888-3895 - [c11]Robert J. Webster III, John P. Swensen, Joseph M. Romano, Noah J. Cowan:
Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing. ISER 2008: 485-494 - 2007
- [c10]Joseph M. Romano, Robert J. Webster III, Allison M. Okamura:
Teleoperation of Steerable Needles. ICRA 2007: 934-939 - [c9]Marco Quirini, Robert J. Webster III, Arianna Menciassi, Paolo Dario:
Design of a Pill-Sized 12-legged Endoscopic Capsule Robot. ICRA 2007: 1856-1862 - [c8]Nicola Ng Pak, Robert J. Webster III, Arianna Menciassi, Paolo Dario:
Electrolytic Silicone Bourdon Tube Microactuator for Reconfigurable Surgical Robots. ICRA 2007: 3371-3376 - 2006
- [j3]Robert J. Webster III, Jin Seob Kim, Noah J. Cowan, Gregory S. Chirikjian, Allison M. Okamura:
Nonholonomic Modeling of Needle Steering. Int. J. Robotics Res. 25(5-6): 509-525 (2006) - [j2]Robert J. Webster III:
Object capture with a camera-mobile robot system. IEEE Robotics Autom. Mag. 13(1): 85-88 (2006) - [c7]Robert J. Webster III, Allison M. Okamura, Noah J. Cowan:
Toward Active Cannulas: Miniature Snake-Like Surgical Robots. IROS 2006: 2857-2863 - 2005
- [j1]Robert J. Webster III, Todd E. Murphy, Lawton N. Verner, Allison M. Okamura:
A novel two-dimensional tactile slip display: design, kinematics and perceptual experiments. ACM Trans. Appl. Percept. 2(2): 150-165 (2005) - [c6]Robert J. Webster III, Jasenka Memisevic, Allison M. Okamura:
Design Considerations for Robotic Needle Steering. ICRA 2005: 3588-3594 - 2004
- [c5]Emad Boctor, Robert J. Webster III, Michael A. Choti, Russell H. Taylor, Gabor Fichtinger:
Robotically assisted ablative treatment guided by freehand 3D ultrasound. CARS 2004: 503-508 - [c4]Robert J. Webster III, Noah J. Cowan, Gregory S. Chirikjian, Allison M. Okamura:
Nonholonomic Modeling of Needle Steering. ISER 2004: 35-44 - 2003
- [c3]Allison M. Okamura, Robert J. Webster III, Jason T. Nolin, K. W. Johnson, H. Jafry:
The haptic scissors: cutting in virtual environments. ICRA 2003: 828-833 - [c2]Emad Boctor, Robert J. Webster III, Hervé Mathieu, Allison M. Okamura, Gabor Fichtinger:
Virtual Remote Center of Motion Control for Needle Placement Robots. MICCAI (1) 2003: 157-164 - 2002
- [c1]Robert J. Webster III, Alan S. Brannon:
The Electronic Ball Boy: A Reactive Visually Guided Mobile Robot for the Tennis Court. ICRA 2002: 2054-2059
Coauthor Index
Jessica Burgner-Kahrs
aka: Jessica Burgner
aka: Jessica Burgner
S. Duke Herrell
aka: S. Duke Herrell III
aka: S. Duke Herrell III
D. Caleb Rucker
aka: Caleb Rucker
aka: Caleb Rucker
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