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Journal Papers 2024

AndersonPatrick L., HendrickRichard J., RoxMargaret, WebsterRobert J., Exceeding Traditional Curvature Limits of Concentric Tube Robots Through Redundancy ResolutionThe International Journal of Robotics Research. 2024 Jan 43 (1). 53-68
    PosselliNicholas R., WellbornPatrick S., BernsteinPaul S. , WebsterRobert J., AbbottJake J., Head-mounting Surgical Robots for Passive Compensation of Patient MotionJournal of Medical Robotics Research. 2024 Feb

      Journal Papers 2023

      FergusonJames M., ErtopTayfun E., HerrellDuke, WebsterRobert J., Unified Robot and Inertial Sensor Self-CalibrationRobotica. 2023 May 41 (5). 1590-1616
      RiojasKatherine E., BrunsTrevor L., GrannaJosephine, WebsterRobert J., LabadieRobert F., Robotic Pullback Technique of a Precurved Cochlear-Implant Electrode Array Using Real-Time Impedance Sensing FeedbackInternational Journal of Computer Assisted Radiology and Surgery. 2023 Mar 18 (3). 413-421
        RoxMargaret, EsserDaniel S., SmithMariana E., ErtopTayfun E., EmersonMaxwell, MaldonadoFabian, GillaspieErin A., KuntzAlan, WebsterRobert J., Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support DisksIEEE Robotics and Automation Letters . 2023 Apr 13 8 (6). 3494 - 3501
          RojasKatherine E, BurnsTrevor L, GrannaJosephine, SmetakMiriam, LabadieRobert F, WebsterRobert J, Toward Inferring Positioning of Straight Cochlear-Implant Electrode Arrays During Insertion Using Real-time Impedance SensingInternational Journal of Medical Robotics and Computer Assisted Surgery. 2023
            CannonPiper, SetiaShaan, Klein-GardnerStacy, KavoussiNicholas, WebsterRobert, HerrellDuke, Are 3D Image Guidance Systems Ready for Use? A Comparative Analysis of 3D Image Guidance Implementations in Minimally Invasive Partial NephrectomyJournal of Endourology. 2023 (In Press).
              KuntzAlan, EmersonMaxwell, ErtopTayfun Efe, FriedInbar, FuMengyu, HoelscherJanine, RoxMargaret, AkulianJason, GillaspieErin A, LeeYueh Z, MaldonadoFabien, WebsterRobert J, AlterovitzRon, Autonomous medical needle steering in vivoScience robotics. 2023 Sep 20 8 (82). eadf7614

              Journal Papers 2022

              GrannaJ., PittE.B., McKayM.E., BallT.J., NeimatJ.S., EnglotD.J., NaftelR.P., BarthE.J., WebsterR.J., Targeting Epilepsy Through the Foremen Ovale: How Many Helical Needles are Needed?Annals of Biomedical Engineering. 2022 50 (5). 499-506
              BrunsTrevor L., RiojasKatherine E., LabadieRobert F., WebsterRobert J., Real-time Localization of Cochlear-Implant Electrode Arrays Using Bipolar Impedance SensingIEEE Transactions on Bio-Medical Engineering. 2022 69 (2). 718-724
              WellbornPatrick S., MitchellJason E., PieperNicholas J., WebsterRobert J., Design and Analysis of a Small-Scale Magnetorheological BrakeIEEE/ASME Transactions on Mechatronics. 2022 27 (5). 3099-3109
                FreemanMichael H., GaffordJoshua B., FicheraLoris, NobleJack, WebsterRobert J., LabadieRobert F., Transeustachian Middle Ear Endoscopy Using a Steerable Distal- 6 Camera Tipped EndoscopeOtology & Neurotology. 2022 43 (2). 206-211
                NimmagaddaNaren, FergusonJames M., KavoussiNicholas L., PittBryn, BarthEric J., GrannaJosephine, WebsterRobert J., HerrellS. Duke, Patient-specific, touch-based registration during robotic, image-guided partial nephrectomyWorld Journal of Urology. 2022 40 (3). 671-677

                Journal Papers 2021

                LabadieRobert F, RiojasKatherine, Von WahldeKathleen, MitchellJason, BrunsTrevor, WebsterRobert, DawantBenoit, FitzpatrickJ Michael, NobleJack, Clinical Implementation of Second-generation Minimally Invasive Image-guided Cochlear Implantation SurgeryOtology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology. 2021 42 (5). 702-705
                GaffordJoshua, GallowayKevin, WebsterScott, EmersonMax, RiojasKatherine, RopellaDominick, TumenAndrew, MaldonadoFabien, BacchettaMatthew, BarthEric, HerrellS. Duke, Webster IIIRobert J, , , The Vanderbilt Open-Source Ventilator: From Napkin Sketch to Ready to Save Lives in 3 WeeksIEEE Robotics and Automation Magazine (Special Issue on robotics response for the COVID-19 outbreak). 2021 28 (1). 101-114
                  RiojasKatherine E, TranEmily T, FreemanMichael H, NobleJack H, WebsterRobert J, LabadieRobert F, Clinical Translation of an Insertion Tool for Minimally Invasive Cochlear Implant SurgeryJournal of medical devices. 2021 Apr 2 15 (3). 031001
                  CampisanoFederico, CalóSimone, RemirezAndria A, ChandlerJames H, ObsteinKeith L, WebsterRobert J, ValdastriPietro, Closed-loop control of soft continuum manipulators under tip follower actuationThe International journal of robotics research. 2021 Mar 15 40 (6-7). 923-938
                  BrunsTrevor L, RemirezAndria A, EmersonMaxwell A, LathropRay A, MahoneyArthur W, GilbertHunter B, LiuCindy L, RussellPaul T, LabadieRobert F, WeaverKyle D, Webster IIIRobert J, , A modular, multi-arm concentric tube robot system with application to transnasal surgery for orbital tumorsInternational Journal of Robotics Research. 2021 Apr 23 40 (2-3). 521-533
                    HoelscherJanine, FuMengyu, FriedInbar, EmersonMaxwell, ErtopTayfun Efe, RoxMargaret, KuntzAlan, AkulianJason A, WebsterRobert J, AlterovitzRon, Backward Planning for a Multi-Stage Steerable Needle Lung RobotIEEE robotics and automation letters. 2021 Mar 17 6 (2). 3987-3994
                    HendricksCameron M, CavillaMatt S, UsevitchDavid E, BrunsTrevor L, RiojasKatherine E, LeonLisandro, WebsterRobert J, WarrenFrank M, AbbottJake J, Magnetic Steering of Robotically Inserted Lateral-wall Cochlear-implant Electrode Arrays Reduces Forces on the Basilar Membrane In VitroOtology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology. 2021 42 (7). 1022-1030
                    PachecoNicholas E, GaffordJoshua B, AtallaMostafa A, WebsterRobert J, FicheraLoris, Beyond Constant Curvature: A New Mechanics Model for Unidirectional Notched-Tube Continuum WristsJournal of medical robotics research. 2021 6 (1-2).

                    Journal Papers 2020

                    AmanovErnar, RopellaDominick S, NimmagaddaNaren, ErtopTayfun E, MitchellJason E, KavoussiNicholas L, HendrickRichard J, DillonNeal, BlumEvan, HerrellS Duke, WebsterRobert J, Transurethral Anastomosis after Transurethral Radical Prostatectomy: A Phantom Study on Intraluminal Suturing With Concentric Tube RobotsIEEE transactions on medical robotics and bionics. 2020 Oct 29 2 (4). 578-581
                    KavoussiNicholas L, PittBryn, FergusonJames M, GrannaJosephine, RemirezAndria, NimmagaddaNaren, MelnykRachel, GhaziAhmed, BarthEric J, WebsterRobert J, HerrellStanley Duke, Accuracy of Touch-Based Registration During Robotic Image-Guided Partial Nephrectomy Before and After Tumor Resection in Validated PhantomsJournal of endourology. 2020 Nov 11 35 (3). 362-368
                    CampisanoFederico, RemirezAndria A, CalóSimone, ChandlerJames H, ObsteinKeith L, WebsterRobert J, ValdastriPietro, Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum ManipulatorsIEEE robotics and automation letters. 2020 Feb 10 5 (2). 2642-2649
                    TillJohn, AloiVincent, RiojasKatherine E, AndersonPatrick L, WebsterRobert J, RuckerCaleb, A Dynamic Model for Concentric Tube RobotsIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society. 2020 Jul 27 36 (6). 1704-1718
                    KuntzAlan, SethiArmaan, WebsterRobert J, AlterovitzRon, Learning the Complete Shape of Concentric Tube RobotsIEEE transactions on medical robotics and bionics. 2020 Feb 19 2 (2). 140-147
                    FergusonJames M, PittE Bryn, RemirezAndria A, SieboldMichael A, KuntzAlan, KavoussiNicholas L, BarthEric J, HerrellS Duke, WebsterRobert J, Toward Practical and Accurate Touch-Based Image Guidance for Robotic Partial NephrectomyIEEE transactions on medical robotics and bionics. 2020 May 1 2 (2). 196-205
                    GaffordJoshua, FreemanMichael, FicheraLoris, NobleJack, LabadieRobert, WebsterRobert J, Eyes in Ears: A Miniature Steerable Digital Endoscope for Trans-Nasal Diagnosis of Middle Ear DiseaseAnnals of biomedical engineering. 2020 May 26 49 (1). 219-232
                    MorrelWilliam G, RiojasKatherine E, WebsterRobert J, NobleJack H, LabadieRobert F, Custom mastoid-fitting templates to improve cochlear implant electrode insertion trajectoryInternational journal of computer assisted radiology and surgery. 2020 May 14 15 (10). 1713-1718
                    HarveyLara, HendrickRichard, DillonNeal, BlumEvan, BranscombeLauren, WebsterScott, WebsterRobert J, AndersonTed, A Novel Robotic Endoscopic Device Used for Operative HysteroscopyJournal of minimally invasive gynecology. 2020 Jun 12 27 (7). 1631-1635
                    CampisanoFederico, RemirezAndria A., LandeweeClaire A., CalóSimone, ObsteinKeith L., WebsterRobert J., ValdastriPietro, Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost GastroscopyIEEE Robotics and Automation Letters. 2020 Oct 5 (4). 6427-6434
                      FergusonJames M, PittBryn, KuntzAlan, GrannaJosephine, KavoussiNicholas L, NimmagaddaNaren, BarthEric J, HerrellStanley Duke, WebsterRobert J, Comparing the accuracy of the da Vinci Xi and da Vinci Si for image guidance and automationThe international journal of medical robotics + computer assisted surgery : MRCAS. 2020 Sep 1 16 (6). 1-10
                      RoxMargaret F, RopellaDominick S, HendrickRichard J, BlumEvan, NaftelRobert P, BowHansen C, HerrellS Duke, WeaverKyle D, ChamblessLola B, WebsterRobert J, Mechatronic Design of a Two-Arm Concentric Tube Robot System for Rigid NeuroendoscopyIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division. 2020 Feb 27 25 (3). 1432-1443
                      BrunsTrevor L, RiojasKatherine E, RopellaDominick S, CavillaMatt S, PetruskaAndrew J, FreemanMichael H, LabadieRobert F, AbbottJake J, WebsterRobert J, Magnetically Steered Robotic Insertion of Cochlear-Implant Electrode Arrays: System Integration and First-In-Cadaver ResultsIEEE Robotics and Automation Letters. 2020 Feb 3 5 (2). 2240-2247
                      RoxMargaret, EmersonMaxwell, ErtopTayfun Efe, FriedInbar, FuMengyu, HoelscherJanine, KuntzAlan, GrannaJosephine, MitchellJason, LesterMichael, MaldonadoFabien, GillaspieErin A, AkulianJason A, AlterovitzRon, WebsterRobert J, Decoupling Steerability from Diameter: Helical Dovetail Laser Patterning for Steerable NeedlesIEEE access : practical innovations, open solutions. 2020 Oct 2 8 181411-181419

                      Journal Papers 2019

                      GodageIsuru S, WebsterRobert J, WalkerIan D, Center-of-Gravity-Based Approach for Modeling Dynamics of Multisection Continuum Arms IEEE Transactions on Robotics. 2019 Jun 27 35 (5). 1097-1108
                        RiojasKatherine E, AndersonPatrick L, LathropRay A, HerrellS Duke, RuckerD Caleb , WebsterRobert J, A Hand-Held Non-Robotic Surgical Tool With a Wrist and an ElbowIEEE transactions on bio-medical engineering. 2019 Feb 26 66 (11). 3176-3184
                        WellbornPatrick S, RussellPaul T, Webster IiiRobert J, A multi-subject accuracy study on granular jamming for non-invasive attachment of fiducial markers to patientsInternational journal of computer assisted radiology and surgery. 2019 Jul 10 15 (1). 69-74
                        GaffordJoshua B, WebsterScott, DillonNeal, BlumEvan, HendrickRichard, MaldonadoFabien, GillaspieErin A, RickmanOtis B, HerrellS Duke, WebsterRobert J, A Concentric Tube Robot System for Rigid Bronchoscopy: A Feasibility Study on Central Airway Obstruction RemovalAnnals of biomedical engineering. 2019 Jul 24 48 (1). 181-191

                        Journal Papers 2018

                        RiojasKatherine E, HendrickRichard J, WebsterRobert J, Can Elastic Instability be Beneficial in Concentric Tube Robots?IEEE robotics and automation letters. 2018 Feb 1 3 (3). 1624-1630

                        Journal Papers 2017

                        DillonNeal P, BalachandranRamya, SieboldMichael A, WebsterRobert J, WannaGeorge B, LabadieRobert F, Cadaveric Testing of Robot-Assisted Access to the Internal Auditory Canal for Vestibular Schwannoma RemovalOtology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology. 2017 38 (3). 441-447
                        WellbornPatrick S, DillonNeal P, RussellPaul T, WebsterRobert J, Coffee: the key to safer image-guided surgery-a granular jamming cap for non-invasive, rigid fixation of fiducial markers to the patientInternational journal of computer assisted radiology and surgery. 2017 Mar 30 12 (6). 1069-1077
                        AndersonPatrick L, MahoneyArthur W, WebsterRobert J, Continuum Reconfigurable Parallel Robots for Surgery: Shape Sensing and State Estimation with UncertaintyIEEE robotics and automation letters. 2017 Mar 6 2 (3). 1617-1624
                        MizutaMasanobu, KuritaTakashi, DillonNeal P, KimballEmily E, GarrettC Gaelyn, SivasankarM Preeti, WebsterRobert J, RousseauBernard, In vivo measurement of vocal fold surface resistanceThe Laryngoscope. 2017 Jun 2 127 (10). E364-E370
                        DillonNeal P, FicheraLoris, KeslerKyle, ZunigaM Geraldine, MitchellJason E, WebsterRobert J, LabadieRobert F, Pre-operative Screening and Manual Drilling Strategies to Reduce the Risk of Thermal Injury During Minimally Invasive Cochlear Implantation SurgeryAnnals of biomedical engineering. 2017 May 18 45 (9). 2184-2195
                        ChenYue, GodageIsuru S, TseZion Tsz Ho, WebsterRobert J, BarthEric J, Characterization and Control of a Pneumatic Motor for MR-conditional Robotic ApplicationsIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division. 2017 Nov 1 22 (6). 2780-2789

                        Journal Papers 2016

                        SwaneyPhilip J, MahoneyArthur W, HartleyBryan I, RemirezAndria A, LamersErik, FeinsRichard H, AlterovitzRon, WebsterRobert J, Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable NeedlesJournal of medical robotics research. 2016 Oct 11 2 (1).
                        ComberDavid B, PittE Bryn, GilbertHunter B, PowelsonMatthew W, MatijevichEmily, NeimatJoseph S, WebsterRobert J, BarthEric J, Optimization of Curvilinear Needle Trajectories for Transforamenal HippocampotomyOperative neurosurgery (Hagerstown, Md.). 2016 Jul 25 13 (1). 15-22
                        SieboldMichael A, DillonNeal P, FicheraLoris, LabadieRobert F, WebsterRobert J, FitzpatrickJ Michael, Safety margins in robotic bone milling: from registration uncertainty to statistically safe surgeriesThe international journal of medical robotics + computer assisted surgery : MRCAS. 2016 Sep 21 13 (3).
                        KratchmanLouis B, BrunsTrevor L, AbbottJake J, WebsterRobert J, Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical ApplicationsIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society. 2016 Dec 1 33 (1). 227-233
                        WellbornPatrick S, SwaneyPhilip J, WebsterRobert J, Curving Clinical Biopsy Needles: Can We Steer Needles and Still Obtain Core Biopsy Samples?ASME Journal of Medical Devices. 2016 10 (3).

                          Journal Papers 2015

                          WirzRaul, TorresLuis G, SwaneyPhilip J, GilbertHunter, AlterovitzRon, WebsterRobert J, WeaverKyle D, RussellPaul T, An Experimental Feasibility Study on Robotic Endonasal TelesurgeryNeurosurgery. 2015 76 (4). 479-84; discussion 484

                          Journal Papers 2014

                          GorlewiczJenna L, KratchmanLouis B, WebsterRobert J, Haptic Paddle Enhancements and a Formal Assessment of Student Learning in System DynamicsAdvances in Engineering Education. 2014 4 (2). n2
                            PatilSachin, BurgnerJessica, WebsterRobert J, AlterovitzRon, Needle Steering in 3-D Via Rapid ReplanningIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society. 2014 30 (4). 853-864
                            GorlewiczJenna L, BurgnerJessica, WithrowThomas J, WebsterRobert J, Initial Experiences Using Vibratory Touchscreens to Display Graphical Math Concepts to Students with Visual ImpairmentsJournal of Special Education Technology. 2014 29 (2).
                              HerrellS Duke, WebsterRobert, SimaanNabil, Future robotic platforms in urologic surgery: recent developmentsCurrent opinion in urology. 2014 24 (1). 118-26
                              ComberDavid B, BarthEric J, WebsterRobert J, Design and Control of an Magnetic Resonance Compatible Precision Pneumatic Active Cannula RobotASME Journal of Medical Devices. 2014 Mar 8 011003
                                RemirezAndria A, LathropRay A, RussellPaul T, WebsterRobert J, Design of a Stiff Steerable Grasper for Sinus SurgeryASME Journal of Medical Devices. 2014 Jul 21 9 030915

                                  Journal Papers 2013

                                  BekenyJames R, SwaneyPhilip J, WebsterRobert J, RussellPaul T, WeaverKyle D, Forces Applied at the Skull Base during Transnasal Endoscopic Transsphenoidal Pituitary Tumor ExcisionJournal of neurological surgery. Part B, Skull base. 2013 May 9 74 (6). 337-41
                                  BurgnerJ, SwaneyPJ, LathropRA, WeaverKD, WebsterRJ, Debulking from within: a robotic steerable cannula for intracerebral hemorrhage evacuationIEEE transactions on bio-medical engineering. 2013 Apr 30 60 (9). 2567-75
                                  DillonNeal P, KratchmanLouis B, DietrichMary S, LabadieRobert F, WebsterRobert J, WithrowThomas J, An experimental evaluation of the force requirements for robotic mastoidectomyOtology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology. 2013 34 (7). e93-102
                                  RuckerD Caleb, DasJadav, GilbertHunter B, SwaneyPhilip J, MigaMichael I, SarkarNilanjan, WebsterRobert J, Sliding Mode Control of Steerable NeedlesIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society. 2013 Oct 29 (5). 1289-1299
                                  SchneiderJohn S, BurgnerJessica, WebsterRobert J, RussellPaul T, Robotic surgery for the sinuses and skull base: what are the possibilities and what are the obstacles?Current opinion in otolaryngology & head and neck surgery. 2013 21 (1). 11-6
                                  HendrickRichard J, LanthropRay A, SchneiderJohn S, WebsterRobert J, Design of an Endonasal Graft Placement Tool for Repair of Skull Base DefectsASME Journal of Medical Devices. 2013 Jun 12 7 (2). 020916
                                    GilbertHunter, HendrickRichard, RemirezAndria, WebsterRobert, A robot for transnasal surgery featuring needle-sized tentacle-like armsExpert review of medical devices. 2013 Dec 2 11 (1). 5-7

                                    Journal Papers 2012

                                    GorlewiczJenna L, BattagliaSantina, SmithByron F, CiutiGastone, GerdingJason, MenciassiArianna, ObsteinKeith L, ValdastriPietro, WebsterRobert J, Wireless insufflation of the gastrointestinal tractIEEE transactions on bio-medical engineering. 2012 Nov 29 60 (5). 1225-33
                                    KratchmanLouis B, SchurzigDaniel, McRackanTheodore R, BalachandranRamya, NobleJack H, WebsterRobert J, LabadieRobert F, A Manually-Operated, Advance Off-Stylet Insertion Tool for Image-Guided, Minimally Invasive Cochlear Implantation SurgeryIEEE Transactions on Biomedical Engineering. 2012 Oct 59 (10). 2792-2800
                                      SwaneyPJ, BurgnerJ, GilbertHB, WebsterRJ, A flexure-based steerable needle: high curvature with reduced tissue damageIEEE transactions on bio-medical engineering. 2012 Nov 27 60 (4). 906-9
                                      BurgnerJessica, SwaneyPhilip J, BrunsTrevor L, ClarkMarlena S, RuckerD Caleb, BurdetteE Clif, WebsterRobert J, An Autoclavable Steerable Cannula Manual Deployment Device: Design and Accuracy AnalysisJournal of medical devices. 2012 Nov 21 6 (4). 410071-410077
                                      SimpsonAL, BurgnerJ, GlissonCL, HerrellSD, MaB, PheifferTS, WebsterRJ, MigaMI, Comparison study of intraoperative surface acquisition methods for surgical navigationIEEE transactions on bio-medical engineering. 2012 Aug 23 60 (4). 1090-9
                                      KratchmanLouis B, SchurzigDaniel, McRackanTheodore R, BalachandranRamya, NobleJack H, WebsterRobert J, LabadieRobert F, A manually operated, advance off-stylet insertion tool for minimally invasive cochlear implantation surgeryIEEE transactions on bio-medical engineering. 2012 Jul 25 59 (10). 2792-800
                                      ValdastriPietro, SimiMassimiliano, WebsterRobert J, Advanced technologies for gastrointestinal endoscopyAnnual review of biomedical engineering. 2012 May 22 14 397-429

                                      Journal Papers 2011

                                      KratchmanLouis B, BlachonGrégoire S, WithrowThomas J, BalachandranRamya, LabadieRobert F, WebsterRobert J, Design of a bone-attached parallel robot for percutaneous cochlear implantationIEEE transactions on bio-medical engineering. 2011 Jul 22 58 (10). 2904-10
                                      SchurzigDaniel, LabadieRobert F, HussongAndreas, RauThomas S, WebsterRobert J, Design of a Tool Integrating Force Sensing With Automated Insertion in Cochlear ImplantationIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division. 2011 Feb 22 17 (2). 381-389
                                      RuckerD. Caleb, WebsterRobert, Statics and Dynamics of Continuum Robots with General Tendon Routing and External LoadingIEEE Transactions on Robotics. 2011 27 (6). 1033-1044
                                        DanilchenkoAndrei, BalachandranRamya, ToenniesJenna L, BaronStephan, MunskeBenjamin, FitzpatrickJ Michael, WithrowThomas J, WebsterRobert J, LabadieRobert F, Robotic mastoidectomyOtology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology. 2011 32 (1). 11-6

                                        Journal Papers 2010

                                        LathropRay A, HackworthDouglas M, WebsterRobert J, Minimally invasive holographic surface scanning for soft-tissue image registrationIEEE transactions on bio-medical engineering. 2010 57 (6). 1497-506
                                        BaronS, EilersH, MunskeB, ToenniesJ L, BalachandranR, LabadieR F, OrtmaierT, WebsterR J, Percutaneous inner-ear access via an image-guided industrial robot systemProceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine. 2010 224 (5). 633-49
                                        WebsterRobert J, JonesBryan A, Design and Kinematic Modeling of Constant Curvature Continuum Robots: A ReviewInternational Journal of Robotics Research. 2010 29 (13). 1661-1683
                                          SchurzigDaniel, WebsterRobert J, DietrichMary S, LabadieRobert F, Force of cochlear implant electrode insertion performed by a robotic insertion tool: comparison of traditional versus Advance Off-Stylet techniquesOtology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology. 2010 31 (8). 1207-10
                                          RuckerD Caleb, JonesBryan A, WebsterRobert J, A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum RobotsIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society. 2010 26 (5). 769-780

                                          Journal Papers 2009

                                          QuagliaClaudio, BuselliElisa, WebsterRobert J, ValdastriPietro, MenciassiArianna, DarioPaolo, An Endoscopic Capsule Robot: A Meso-Scale Engineering Case StudyJournal of Micromechanics and Microengineering. 2009 19 (10). 105007
                                            ValdastriPietro, WebsterRobert J, QuagliaClaudio, MenciassiArianna, DarioPaolo, A New Mechanism for Meso-Scale Legged Locomotion in Compliant Tubular EnvironmentsIEEE Transactions on Robotics. 2009 25 (5). 1047-1057
                                              WebsterRobert J, RomanoJoseph M, CowanNoah J, Mechanics of Precurved-Tube Continuum RobotsIEEE Transactions on Robotics. 2009 25 (1). pp. 67-78
                                                RuckerDaniel Caleb, Webster IIIRobert J, Parsimonious evaluation of concentric-tube continuum robot equilibrium conformationIEEE transactions on bio-medical engineering. 2009 Jun 16 56 (9). 2308-11

                                                Journal Papers 2008

                                                BoctorEmad M, ChotiMichael A, BurdetteEverette C, WebsterRobert J, Three-dimensional ultrasound-guided robotic needle placement: an experimental evaluationThe international journal of medical robotics + computer assisted surgery : MRCAS. 2008 4 (2). 180-91

                                                Journal Papers 2005

                                                WebsterR.J., MurphyT.E., VernerL.N., OkamuraA.M., A novel two-dimensional tactile slip display: design, kinematics and perceptual experimentsACM Transactions on Applied Perception. 2005 2 (2). 175-183

                                                  Conference Papers 2024

                                                  McCabeEmily, EsserDaniel S., ErtopTayfun Efe, KuntzAlan, WebsterRobert J., Combining Thermoelectrics and Low Melting Point Alloys to Create Reconfigurable Stiff-Compliant Manipulators7th IEEE-RAS International Conference on Soft Robotics. 2024
                                                    EsserDaniel S., McCabeEmily, ErtopTayfun Efe, KuntzAlan, WebsterRobert J., Directional Stiffness-Switching Soft Robots via Phase-Changing Metallic Spines7th IEEE-RAS International Conference on Soft Robotics. 2024
                                                      ShrandJason, d'AlmeidaJesse F., WilkeEthan, ReedAmy, KavoussiNicholas, HerrellS. Duke, ErtopTayfun Efe, WebsterRobert J., Enhancing Accuracy in Transendoscopic Concentric Tube Robots for Monocular Endoscope GuidanceInternational Symposium on Medical Robotics (ISMR). 2024
                                                        DangK.T., QuiS., HatchC., ConnorP., QinT., AlterovitzR., WebsterR.J., RuckerC., Design of Transmission Tubes for Surgical Push-Pull Robots2024 International Symposium on Medical Robotics. 2024
                                                          PetersJohn E., EsserDaniel S., GrilloAbby M., KumarNithin S., Webster IIIRobert J., BarthEric J., Toward In-Scanner Transforamenal Epilepsy Interventions: A Compact MR-Safe Concentric Tube Actuation SystemThe Hamlyn Symposium on Medical Robotics. 2024. 2024

                                                            Conference Papers 2023

                                                            SmithMariana E., EsserDaniel S., RoxMargaret, KuntzAlan , WebsterRobert J., A Radial Folding Mechanism To Enable Surgical Continuum Manipulators to Fit Through Smaller PortsInternational Symposium on Medical Robotics (ISMR). 2023 Apr
                                                              ShrandJason A., d'AlmeidaJesse F., ErtopTayfun E., KavoussiNicholas L., SetiaShaan A., HerrellDuke, WebsterRobert J., A Virtual Reality Framework for Evaluating Concentric Tube Surgical Robot DesignsSPIE Medical Imaging, 2023. 2023 Apr 3 12466
                                                                CannonPiper C., SetiaShaan A., KavoussiNicholas L., HerrellDuke, WebsterRobert J., How Insights from In Vivo Human Pilot Studies with da Vinci Image Guidance are Informing Next Generation System DesignHamlyn Symposium on Medical Robotics, 2023. 2023 Jun 1
                                                                  CannonPiper C., FergusonJames M., PittE. Bryn, ShrandJason A., SetiaShaan A., NimmagaddaNaren, BarthEric J., KavoussiNicholas L., GallowayRobert L., HerrellDuke, WebsterRobert J., A Safe Framework for Quantitative In Vivo Human Evaluation of Image GuidanceThe Hamlyn Symposium on Medical Robotics. IEEE Open Journal of Engineering in Medicine & Biology. 2023
                                                                    PetersJohn E., GrilloAbby M., GarrowSarah J., KumarNithin S., BallTyler, NaftelRobert, EnglotDario J., NeimatJoseph, GrissomWilliam A., WebsterRobert J., BarthEric J., A Highly Compact, Multi-Material, Fluid Powered Actuation System for MRI-Guided Surgical InterventionSymposium on Fluid Power and Motion Control. 2023
                                                                      GrilloAbby M., PetersJohn E., GarrowSarah J., BallTyler, NaftelRobert, EnglotDario J., NeimatJoseph, GrissomWilliam A., BarthEric J., WebsterRobert J., Design Considerations for Robotic, MRI-Guided, Trans-Foramen Ovale Access to the BrainSPIE Medical Imaging, 2023. 2023 12466

                                                                        Conference Papers 2022

                                                                        EsserDaniel, PetersJohn, GrilloAbby, GarrowSarah J., BallTyler, NaftelRobert, EnglotDario J., NeimatJoseph, GrissomWill, BarthEric J., WebsterRobert J., Robotic Curvilinear Laser Thermal Therapy Probe for Transforamenal HippocampotomyHamlyn Symposium on Medical Robotics, 2022. 2022
                                                                          RoxM., CopingaA., NaftelRP, WebsterR.J., KuntzA., Optimizing Continuum Robot Tendon Routing for Minimally Invasive Brain Surgery2022
                                                                            d'AlmeidaJesse, RoxMargaret, WebsterRobert J., Toward Bipolar Electrosurgery with Concentric Tube RobotsThe Hamlyn Symposium on Medical Robotics. 2022
                                                                              HoelscherJanine, FriedInbar, FuMengyu, PatwardhanMihir, ChristmanMax, AkulianJason, WebsterRobert J., AlterovitzRon, A Metric for Finding Robust Start Positions for Medical Steerable Needle AutomationIEEE/RSJ International Conference on Intelligent Robots and Systems. 2022 9526-9533
                                                                                CannonPiper C., SmetakMiriam R., WebsterRobert J., LabadieRobert F., A Novel Tool for Auricle Retraction During Closure of Post-Auricular Incisions2022 Design of Medical Devices Conference. 2022
                                                                                  FloreaAdrian N., RopellaDominick S., AmanovEmar, HerrellS. Duke, WebsterRobert J., Design of a Modular, Multi-Arm Concentric Tube Robot Featuring Roller Gears Proc. SPIE 12034, Medical Imaging 2022: Image-Guided Procedures, Robotic Interventions, and Modeling. 2022 12034
                                                                                    ErtopTayfun Efe, d'AlmeidaJesse F, AmanovErnar, ShrandJason, NimmagaddaNaren, SetiaShaan, KavoussiNicholas L, HerrellS. Duke, WebsterRobert J, Towards Suturing From Within the Urethra Using Concentric Tube Robots: First Experiences in Biological Tissues2022 Jun 28

                                                                                      There is no publication with Conference Papers 2021 tag

                                                                                      There is no publication with Conference Papers 2020 tag


                                                                                      Conference Papers 2019

                                                                                      FuMengyu, KuntzAlan, WebsterRobert J, AlterovitzRon, Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary ImagesProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. 2019 Jan 7 2018 4942-4949
                                                                                      RiojasKatherine E, NarendranNarendran, MorrelWilliam G, MitchellJason, BrunsTrevor, WebsterRobert J, LabadieRobert F, A New Manual Insertion Tool for Minimally Invasive, Image-Guided Cochlear Implant Surgery2019 10951 122-128

                                                                                        Conference Papers 2018

                                                                                        FergusonJames M, CaiLeon Y, ReedAlexander, SieboldMichael, DeSmita, HerrellS Duke, WebsterRobert J, Toward Image-Guided Partial Nephrectomy with the da Vinci Robot: Exploring Surface Acquisition Methods for Intraoperative Re-Registration2018
                                                                                          PoormanMegan E, ChenYue, WebsterRobert J, BarthEric J, GrissomWilliam A, MR Imaging Simulator and Optimized Multi-echo Z-shimmed Sequence for Temperature Mapping Near Metallic Ablation Probes2018
                                                                                            KuntzAlan, BowenChris, BaykalCenk, MahoneyArthur W, AndersonPatrick L, MaldonadoFabien, WebsterRobert J, AlterovitzRon, Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning2018
                                                                                              RoxMargaret, RiojasKatherine, EmersonMaxwell, Oliver-ButlerKaitlin, RuckerCaleb, WebsterRobert J, Luminal Robots Small Enough to Fit Through Endoscope Ports: Initial Tumor Resection Experiments in the Airways2018
                                                                                                AndersonP L, ErtopT E, KuntzA, MaldonadoF, AlterovitzR, WebsterR J, Sand Blasting Inside a Patient: A CRISP Robot for Spraying Powder inside the Chest Cavity to Preclude Lung Collapse2018

                                                                                                  Conference Papers 2017

                                                                                                  FicheraLoris, DillonNeal P, ZhangDongqing, GodageIsuru S, SieboldMichael A, HartleyBryan I, NobleJack H, RussellPaul T, LabadieRobert F, WebsterRobert J, Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into The Middle EarIEEE robotics and automation letters. 2017 Feb 14 2 (3). 1488-1494
                                                                                                  KuntzAlan, MahoneyArthur W, PeckmanNicolas E, AndersonPatrick L, WebsterRobert J, AlterovitzRon, Motion Planning for Continuum Reconfigurable Incisionless Surgical Parallel Robots2017
                                                                                                    MahoneyA W, AndersonP L, MaldonadoF, WebsterR J, More Ports = Less Invasive? A Multi-­Needle Robot for Lung Ablation2017
                                                                                                      OdenbachRobert, ChenYue, SenguptaSaikat, WebsterRobert J, BarthEric J, FriebeMichael, 3D-printed Z-frame marker for MRI-guided interventions2017
                                                                                                        ChenYue, GodageIsuru S, SenguptaSaikat, LiuCindy L, WeaverKyle D, BarthEric J, WebsterRobert J, An MRI-Compatible Robot for Intracerebral Hemorrhage Removal2017 Oct 31
                                                                                                          BurnsTrevor L, WebsterRobert J, An Image Guidance System for Positioning Robotic Cochlear Implant Insertion Tools2017 Mar 3
                                                                                                            RoxMargaret F, HendrickRichard J, HerrellS. Duke, WebsterRobert J, An Experimental Comparison of Two User Interface Designs for a Hand-Held Surgical Robot2017 Oct 31
                                                                                                              ChenYue, PoormanMegan E, ComberDavid B, PittE. Bryn, LiuCindy, GodageIsuru S., YuHong, GrissomWilliam A, BarthEric J, WebsterRobert J, Treating Epilepsy via Thermal Ablation: Initial Experiments With an MRI-Guided Concentric Tube Robot2017 Oct 31
                                                                                                                NarasimhanSaramati, WeisJared A, GodageIsuru S, WebsterRobert J, WeaverKyle, MigaMichael I., Development of a mechanics-based model of brain deformations during intracerebral hemorrhage evacuationSPIE Proceedings. 2017 Mar 3 10135
                                                                                                                  LinShan, FicheraLoris, FultonMitchell J, WebsterRobert J, Don’t Get Burned: Thermal Monitoring of Vessel Sealing using a Miniature Infrared CameraSPIE Proceedings. 2017 Mar 3 10135 101350Y-101350Y-7

                                                                                                                    Conference Papers 2016

                                                                                                                    WellbornPatrick S, RussellPaul T, WebsterRobert J, Can Coffee Improve Surgical Robot Accuracy?Hamlyn Symposium on Medical Robotics. 2016 70-71
                                                                                                                      KuntzAlan, SwaneyPhilip J, MahoneyArt, FeinsRichard H, LeeYueh Z, WebsterRobert J, AlterovitzRon, Toward transoral peripheral lung access: Steering bronchoscope-deployed needles through porcine lung tissueHamlyn Symposium on Medical Robotics. 2016 9-10
                                                                                                                        PittE. Bryn, SwaneyPhilip J, GilbertHunter B, WebsterRobert J , BarthEric J, Enabling Helical Needle Trajectories with Minimal Actuation: A Screw-Based Approach to Concentric Tube Needle DeploymentHamlyn Symposium on Medical Robotics. 2016 56-57
                                                                                                                          MahoneyArthur W, AndersonPatrick L, SwaneyPhilip J, MaldonadoFabien, WebsterRobert J, Reconfigurable Parallel Continuum Robots for Incisionless SurgeryIEEE/RSJ International Conference on Intelligent Robots and Systems. 2016 Dec 1 4330-4336

                                                                                                                            There is no publication with Conference Papers 2015 tag

                                                                                                                            There is no publication with Conference Papers 2014 tag

                                                                                                                            There is no publication with Conference Papers 2013 tag


                                                                                                                            Conference Papers 2012

                                                                                                                            SwaneyPhilip J, BurgnerJessica, PheifferThomas S, RuckerD Caleb, GilbertHunter B, OndrakeJanet E, SimpsonAmber L, BurdetteE Clif, MigaMichael I, WebsterRobert J, Tracked 3D Ultrasound Targeting with an Active CannulaMedical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling. Image-Guided Procedures, Robotic Interventions, and Modeling. 2012 Feb 17 8316 251--259
                                                                                                                              ComberDavid B, CardonaDiana, WebsterRobert J, BarthEric J, Precision pneumatic robot for MRI-guided neurosurgeryASME Journal of Medical Devices. 2012 Mar 1 (6). 017587
                                                                                                                                Clark , BurgnerJessica, SwaneyPhilip J, WebsterRobert J, Manual Active Cannula Deployment: Experimental Accuracy Evaluation in Free SpaceJournal of Medical Devices. 2012 Mar 12 6 (1). 017592
                                                                                                                                  SuHao, CardonaDiana C, ShangWeijian, CamiloAlexander, ColeGregory A, RuckerD. Caleb, WebsterRobert J, FischerGregory S, A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility studyIEEE International Conference on Robotics and Automation. 2012 1939-1945
                                                                                                                                    GorlewiczJenna L, WebsterRobert J, A Formal Assessment of the Haptic Paddle Laboratories in Teaching System Dynamics2012 ASEE Annual Conference & Exposition. 2012 Jun 10 25.49.1 - 25.49.15
                                                                                                                                      GilbertHunter B, SwaneyPhilip J, BurgnerJessica, WeaverKyle D, RussellPaul T, WebsterRobert J, A Feasibility Study on the use of Concentric Tube Continuum Robots for Endonasal Skull Base Tumor RemovalHamlyn Symposium on Medical Robotics. 2012
                                                                                                                                        ComberDavid B, CardonaDiana, WebsterRobert J, BarthEric J, Sliding mode control of an MRI-compatible pneumatically actuated robot2012 283-293
                                                                                                                                          TorresLuis G, WebsterRobert J, AlterovitzRon, Task-oriented design of concentric tube robots using mechanics-based models2012
                                                                                                                                            BurgnerJessica, GilbertHunter B, SwaneyPhilip J, RussellPaul T, WebsterRobert J, Continuum Robots Based on Precurved Nitinol Tubes: Evaluation of a Prototype for Transnasal Skull Base Surgery2012
                                                                                                                                              ForoughiPezhman, BurgnerJessica, ChotiMichael, WebsterRobert, HagerGregory, BoctorEmad, Towards intraoperative monitoring of ablation using tracked 3D ultrasound elastography and internal palpation2012 Feb 24
                                                                                                                                                SimpsonAmber, BurgnerJessica , ChenIshita , WebsterRobert, Intraoperative brain tumor resection cavity characterization with conoscopic holography2012 Feb 17

                                                                                                                                                  Conference Papers 2011

                                                                                                                                                  BurgnerJessica, SwaneyPhilip, RuckerCaleb, GilbertHunter, NillScott, RussellPaul, WebsterRobert, A Bimanual Teleoperated System for Endonasal Skull Base Surgery2011 Sep 25
                                                                                                                                                    KratchmanLouis B, RahmanMohammed M, SaundersJustin R, SwaneyPhillip J, WebsterRobert J, Toward Robotic Needle Steering in Lung Biopsy: A Tendon-Actuated ApproachProc. SPIE 7964, Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling. 2011
                                                                                                                                                      BalachandranRamya, MitchellJason E, NobleJack, SchurzigDaniel, BlachonGrégoire, McRackanTheodore R, WebsterRobert J, DawantBenoit M, FitzpatrickJ Micheal, LabadieRobert F, Insertion of electrode array using percutaneous cochlear implantation technique: a cadaveric studyProc. SPIE 7964, Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling. 2011
                                                                                                                                                        RuckerD Caleb, WebsterRobert J, Computing Jacobians and Compliance Matrices for Externally Loaded Continuum RobotsIEEE International Conference on Robotics and Automation. 2011 945-950

                                                                                                                                                          Conference Papers 2010

                                                                                                                                                          CroomJordan M, RuckerD Caleb, RomanoJoseph M, WebsterRobert J, Visual Sensing of Continuum Robot Shape Using Self-Organizing Maps2010 IEEE International Conference on Robotics and Automation. 2010 4591-6
                                                                                                                                                            BurdetteE Clif, RuckerD Caleb, PrakashPunit, DiederichChris J, CoomJordan M, ClarkeClyde, StolkaPhillip, JuangTitania, BoctorEmad M, WebsterRobert J, The ACUSITT Ultrasonic Ablator: The First Steerable Needle with an Integrated Interventional TooProceedings Volume 7629, Medical Imaging 2010: Ultrasonic Imaging, Tomography, and Therapy;. 2010 Mar 12
                                                                                                                                                              LathropRay A, RuckerD Caleb, WebsterRobert J, Guidance of a Steerable Cannula Robot in Soft Tissue Using Preoperative Imaging and Conoscopic Surface Contour Sensing2010 IEEE International Conference on Robotics and Automation. 2010
                                                                                                                                                                LyonsLisa A, WebsterRobert J, AlterovitzRon, Planning Active Cannula Configurations Through Tubular Anatomy2010 IEEE International Conference on Robotics and Automation. 2010
                                                                                                                                                                  SchurzigDaniel, LabadieRobert F, HussongAndreas, RauThomas S, WebsterRobert J, A Force Sensing Automated Insertion Tool for Cochlear Electrode Implantation2010 IEEE International Conference on Robotics and Automation. 2010
                                                                                                                                                                    RuckerD Caleb, JonesBryan A, WebsterRobert J, A Model for Concentric Tube Continuum Robots Under Applied Wrenches2010 IEEE International Conference on Robotics and Automation. 2010 1047-52
                                                                                                                                                                      ToenniesJenna L, CiutiGastone, SmithByron F, MenciassiArianna, ValdastriPietro, WebsterRobert J, Toward tetherless insufflation of the GI TractAnnual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference. 2010 2010 1946-9
                                                                                                                                                                      DasJadav, RuckerCaleb D, WebsterRobert J, A Testbed for Multi-Lumen Steerable Needle Experiments2010

                                                                                                                                                                        Conference Papers 2009

                                                                                                                                                                        MatinfarM., WebsterR.J., FordL., IordichataI., EdwardsC.C., TaylorR.H., Nerve Tensiometer for Spondyloptosis Surgery2009
                                                                                                                                                                          LathropRay A, ChengTiffany T, WebsterRobert J, Conoscopic Holography for Image Registration: A Feasibility Study2009
                                                                                                                                                                            RuckerCaleb D, WebsterRobert J, Mechanics of Bending, Torsion, and Variable Precurvature in Multi-Tube Active Cannulas2009
                                                                                                                                                                              LyonsLisa A, WebsterRobert J, AlterovitzRon, Motion Planning for Active Cannulas2009

                                                                                                                                                                                Conference Papers 2008

                                                                                                                                                                                WebsterRobert J, RomanoJoseph M, CowanNoah J, Kinematics and Calibration of Active Cannulas2008
                                                                                                                                                                                  RuckerCaleb D, WebsterRobert J, Mechanics-Based Modeling of Bending and Torsion in Active Cannulas2008

                                                                                                                                                                                    Conference Papers 2007

                                                                                                                                                                                    RomanoJoseph M, WebsterRobert J, OkamuraAllison M, Teleoperation of Steerable Needles2007
                                                                                                                                                                                      PakNicola Ng, WebsterRobert J, MenciassiArianna, DarioPaolo, Electrolytic Silicone Bourdon Tube Microactuator for Reconfigurable Surgical Robots2007
                                                                                                                                                                                        QuiriniMarco, WebsterRobert J, MenciassiArianna, DarioPaolo, Design of a Pill-Sized 12-legged Endoscopic Capsule Robot2007

                                                                                                                                                                                          Conference Papers 2005

                                                                                                                                                                                          WebsterR.J., MemisevicJ., OkamuraA.M., Design Considerations for Robotic Needle SteeringProceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005

                                                                                                                                                                                            Dissertations 2022

                                                                                                                                                                                            RemirezAndria A, Teleoperated Continuum Robots in Medicine: Design, Calibration and Control Methods Enabling More Versatile and Cost-Effective Systems2022 Jan 21
                                                                                                                                                                                              EmersonMaxwell, Estimation, Modeling and Control of Steerable Needles for Transendoscopic Deployment into the Lung2022 Nov 16
                                                                                                                                                                                                RoxMargaret F, Mechanical and Computational Design of Continuum Robots for Minimally Invasive Lung Interventions2022 Nov 19
                                                                                                                                                                                                  FergusonJames M, Estimation in Minimally Invasive Surgical Robotics: Enabling Novel Technologies in Image Guidance and Sensing2022 Nov 19

                                                                                                                                                                                                    Dissertations 2021

                                                                                                                                                                                                    AndersonPatrick L, Compliance Characterization and Specification for Surgical Continuum Robots via Modeling, Control, and Design2021 Jan 20
                                                                                                                                                                                                      WellbornPatrick S, Human-Robot Collaborative Mastoidectomy: Combining Human Path Adaptation with Robotic Accuracy2021 Jan 15
                                                                                                                                                                                                        RiojasKatherine E, Making Cochlear-Implant Electrode Array Insertion Less Invasive, Safer, and More Effective through Design, Magnetic Steering, and Impedance Sensing2021 Aug 13
                                                                                                                                                                                                          PittEdward Bryn, Enabling Technologies for Image-Guided Interventions with Minimally Invasive Surgical Robots2021 May 7

                                                                                                                                                                                                            Dissertations 2020

                                                                                                                                                                                                            BrunsTrevor, Design of Surgical Robotic Systems for Skull Base Interventions2020 Apr 2

                                                                                                                                                                                                              Dissertations 2017

                                                                                                                                                                                                              DillonNeal P, Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery2017 Jan 27
                                                                                                                                                                                                                HendrickRichard J, System Design and Elastic Stability Modeling of Transendoscopic Continuum Robots2017 Jul 20

                                                                                                                                                                                                                  Dissertations 2016

                                                                                                                                                                                                                  SwaneyPhilip J, Design and Modeling of Distal Dexterity Mechanisms For Needle-Sized Robots: Systems for Lung and Endonasal Interventions2016 Jul 27
                                                                                                                                                                                                                    GilbertHunter B, Concentric Tube Robots: Design, Deployment, and Stability2016 Jul 26

                                                                                                                                                                                                                      Dissertations 2015

                                                                                                                                                                                                                      KratchmanLouis B, Image-Guided Targeting and Control of Implantable Electrodes2015 Apr 10

                                                                                                                                                                                                                        Dissertations 2014

                                                                                                                                                                                                                        LathropRay A, Dexterity and Guidance Without Automation: Surgical Robot-Like Capabilities at a Fraction of the Cost2014 Feb 21

                                                                                                                                                                                                                          Dissertations 2013

                                                                                                                                                                                                                          GorlewiczJenna L, The Efficacy of Surface Haptics and Force Feedback in Education2013 Apr 16

                                                                                                                                                                                                                            Dissertations 2011

                                                                                                                                                                                                                            RuckerDaniel C, The Mechanics of Continuum Robots: Model-Based Sensing and Control2011 Oct 4

                                                                                                                                                                                                                              Dissertations 2007

                                                                                                                                                                                                                              WebsterRobert J, Design and Mechanics of Continuum Robots for Surgery2007 Dec