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MEDLab Publications

2024

Ertop Tayfun E. , Esser Daniel S. , Mahoney Arthur W. , Webster Robert J. , Synthetic Tentacle Proprioception via Electrical Time Domain Reflectometry Nature Electronics. 2024 ; (In Review).
Esser Daniel S. , Rox Margaret , Naftel Robert P. , Rucker D. C. , Barth Eric J. , Kuntz Alan , Webster Robert J. , Modeling Material Inhomogeneity in Continuum Robots for Arclength-Variable Curvature Actuation International Journal of Robotics Research. 2024 ; (In Review).
Anderson Patrick L. , Hendrick Richard J. , Rox Margaret , Webster Robert J. , Exceeding Traditional Curvature Limits of Concentric Tube Robots Through Redundancy Resolution The International Journal of Robotics Research. 2024 Jan ; 43 (1). 53-68
Posselli Nicholas R. , Wellborn Patrick S. , Bernstein Paul S. , Webster Robert J. , Abbott Jake J. , Head-mounting Surgical Robots for Passive Compensation of Patient Motion Journal of Medical Robotics Research. 2024 Feb ;
Jordan B. , Esser Daniel , Kim J. , Cho Brian Y. , Webster Robert J. , Kuntz Alan , Exploring Modal Switch in Metamaterial-based Robot IEEE Robotics and Automation Letters. 2024 ; (In Prep).
Cho Brian Y. , Esser Daniel S. , Thompson Jordan , Thach Bao , Webster Robert J. , Kuntz Alan , Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network IEEE Robotics and Automation Letters. 2024 Apr 4; (In Prep).
Esser Daniel S. , McCabe Emily , Ertop Tayfun E. , Kuntz Alan , Webster Robert J. , Reconfigurable Soft Robots via Phase- Changing Metallic Spines 7th IEEE-RAS International Conference on Soft Robotics. 2024 Jan ; (In Review).
Shrand Jason A. , d'Almeida Jesse F. , Wilke Ethan , Kavoussi Nicholas L. , Reed Amy , Herrell Duke , Ertop Tayfun E. , Webster Robert J. , Enhancing Accuracy in Transendoscopic Concentric Tube Robots for Monocular Endoscope Guidance International Symposium on Medical Robotics (ISMR). 2024 ; (In Review).
Peters John E. , Esser Daniel S. , Grillo Abby M. , Kumar Nithin S. , Webster III Robert J. , Barth Eric J. , Toward In-Scanner Transforamenal Epilepsy Interventions: A Compact MR-Safe Concentric Tube Actuation System The Hamlyn Symposium on Medical Robotics. 2024. 2024 ;
Esser Daniel S. , McCabe Emily , Ertop Tayfun Efe , Kuntz Alan , Webster Robert J. , Directional Stiffness-Switching Soft Robots via Phase-Changing Metallic Spines Robosoft 2024. 2024 Apr 15;

2023

Ciuti Gastone , Webster Robert J. , Kwok Ka-Wai , Menciassi Arianna , Biorobotics for surgery Nature Reviews Bioengineering. 2023 ; (In Review).
Ferguson James M. , Ertop Tayfun E. , Herrell Duke , Webster Robert J. , Unified Robot and Inertial Sensor Self-Calibration Robotica. 2023 May ; 41 (5). 1590-1616
Riojas Katherine E. , Bruns Trevor L. , Granna Josephine , Webster Robert J. , Labadie Robert F. , Robotic Pullback Technique of a Precurved Cochlear-Implant Electrode Array Using Real-Time Impedance Sensing Feedback International Journal of Computer Assisted Radiology and Surgery. 2023 Mar ; 18 (3). 413-421
Rox Margaret , Esser Daniel S. , Smith Mariana E. , Ertop Tayfun E. , Emerson Maxwell , Maldonado Fabian , Gillaspie Erin A. , Kuntz Alan , Webster Robert J. , Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks IEEE Robotics and Automation Letters . 2023 Apr 13; 8 (6). 3494 - 3501
Smith Mariana E. , Esser Daniel S. , Rox Margaret , Kuntz Alan , Webster Robert J. , A Radial Folding Mechanism To Enable Surgical Continuum Manipulators to Fit Through Smaller Ports International Symposium on Medical Robotics (ISMR). 2023 Apr ;
Shrand Jason A. , d'Almeida Jesse F. , Ertop Tayfun E. , Kavoussi Nicholas L. , Setia Shaan A. , Herrell Duke , Webster Robert J. , A Virtual Reality Framework for Evaluating Concentric Tube Surgical Robot Designs SPIE Medical Imaging, 2023. 2023 Apr 3; 12466
Cannon Piper C. , Setia Shaan A. , Kavoussi Nicholas L. , Herrell Duke , Webster Robert J. , How Insights from In Vivo Human Pilot Studies with da Vinci Image Guidance are Informing Next Generation System Design Hamlyn Symposium on Medical Robotics, 2023. 2023 Jun 1;
Peters John E. , Grillo Abby M. , Garrow Sarah J. , Kumar Nithin S. , Ball Tyler , Naftel Robert , Englot Dario J. , Neimat Joseph , Grissom William A. , Webster Robert J. , Barth Eric J. , A Highly Compact, Multi-Material, Fluid Powered Actuation System for MRI-Guided Surgical Intervention Symposium on Fluid Power and Motion Control. 2023 ;
Grillo Abby M. , Peters John E. , Garrow Sarah J. , Ball Tyler , Naftel Robert , Englot Dario J. , Neimat Joseph , Grissom William A. , Barth Eric J. , Webster Robert J. , Design Considerations for Robotic, MRI-Guided, Trans-Foramen Ovale Access to the Brain SPIE Medical Imaging, 2023. 2023 ; 12466
Rojas Katherine E , Burns Trevor L , Granna Josephine , Smetak Miriam , Labadie Robert F , Webster Robert J , Toward Inferring Positioning of Straight Cochlear-Implant Electrode Arrays During Insertion Using Real-time Impedance Sensing International Journal of Medical Robotics and Computer Assisted Surgery. 2023 ;
Cannon Piper , Setia Shaan , Klein-Gardner Stacy , Kavoussi Nicholas , Webster Robert , Herrell Duke , Are 3D Image Guidance Systems Ready for Use? A Comparative Analysis of 3D Image Guidance Implementations in Minimally Invasive Partial Nephrectomy Journal of Endourology. 2023 ; (In Press).
Kuntz Alan , Emerson Maxwell , Ertop Tayfun Efe , Fried Inbar , Fu Mengyu , Hoelscher Janine , Rox Margaret , Akulian Jason , Gillaspie Erin A , Lee Yueh Z , Maldonado Fabien , Webster Robert J , Alterovitz Ron , Autonomous medical needle steering in vivo Science robotics. 2023 Sep 20; 8 (82). eadf7614

2022

Remirez Andria A , Teleoperated Continuum Robots in Medicine: Design, Calibration and Control Methods Enabling More Versatile and Cost-Effective Systems 2022 Jan 21;
Emerson Maxwell , Estimation, Modeling and Control of Steerable Needles for Transendoscopic Deployment into the Lung 2022 Nov 16;
Rox Margaret F , Mechanical and Computational Design of Continuum Robots for Minimally Invasive Lung Interventions 2022 Nov 19;
Ferguson James M , Estimation in Minimally Invasive Surgical Robotics: Enabling Novel Technologies in Image Guidance and Sensing 2022 Nov 19;
Riojas KE , Bruns TL , Granna J , Webster RJ , Labadie RF , Robotic pullback technique of a precurved cochlear-implant electrode array using real-time impedance sensing feedback International journal of computer assisted radiology and surgery. 2022 Nov 4; 18 (3). 413-421
Ertop Tayfun Efe , d'Almeida Jesse F , Amanov Ernar , Shrand Jason , Nimmagadda Naren , Setia Shaan , Kavoussi Nicholas L , Herrell S. Duke , Webster Robert J , Towards Suturing From Within the Urethra Using Concentric Tube Robots: First Experiences in Biological Tissues 2022 Jun 28;

2021

Gafford Joshua , Galloway Kevin , Webster Scott , Emerson Max , Riojas Katherine , Ropella Dominick , Tumen Andrew , Maldonado Fabien , Bacchetta Matthew , Barth Eric , Herrell S. Duke , Webster III Robert J , , , The Vanderbilt Open-Source Ventilator: From Napkin Sketch to Ready to Save Lives in 3 Weeks IEEE Robotics and Automation Magazine (Special Issue on robotics response for the COVID-19 outbreak). 2021 ; 28 (1). 101-114
Riojas Katherine E , Tran Emily T , Freeman Michael H , Noble Jack H , Webster Robert J , Labadie Robert F , Clinical Translation of an Insertion Tool for Minimally Invasive Cochlear Implant Surgery Journal of medical devices. 2021 Apr 2; 15 (3). 031001
Campisano Federico , Caló Simone , Remirez Andria A , Chandler James H , Obstein Keith L , Webster Robert J , Valdastri Pietro , Closed-loop control of soft continuum manipulators under tip follower actuation The International journal of robotics research. 2021 Mar 15; 40 (6-7). 923-938
Bruns Trevor L , Remirez Andria A , Emerson Maxwell A , Lathrop Ray A , Mahoney Arthur W , Gilbert Hunter B , Liu Cindy L , Russell Paul T , Labadie Robert F , Weaver Kyle D , Webster III Robert J , , A modular, multi-arm concentric tube robot system with application to transnasal surgery for orbital tumors International Journal of Robotics Research. 2021 Apr 23; 40 (2-3). 521-533
Hoelscher Janine , Fu Mengyu , Fried Inbar , Emerson Maxwell , Ertop Tayfun Efe , Rox Margaret , Kuntz Alan , Akulian Jason A , Webster Robert J , Alterovitz Ron , Backward Planning for a Multi-Stage Steerable Needle Lung Robot IEEE robotics and automation letters. 2021 Mar 17; 6 (2). 3987-3994
Anderson Patrick L , Compliance Characterization and Specification for Surgical Continuum Robots via Modeling, Control, and Design 2021 Jan 20;
Wellborn Patrick S , Human-Robot Collaborative Mastoidectomy: Combining Human Path Adaptation with Robotic Accuracy 2021 Jan 15;
Riojas Katherine E , Making Cochlear-Implant Electrode Array Insertion Less Invasive, Safer, and More Effective through Design, Magnetic Steering, and Impedance Sensing 2021 Aug 13;
Pitt Edward Bryn , Enabling Technologies for Image-Guided Interventions with Minimally Invasive Surgical Robots 2021 May 7;
Hendricks Cameron M , Cavilla Matt S , Usevitch David E , Bruns Trevor L , Riojas Katherine E , Leon Lisandro , Webster Robert J , Warren Frank M , Abbott Jake J , Magnetic Steering of Robotically Inserted Lateral-wall Cochlear-implant Electrode Arrays Reduces Forces on the Basilar Membrane In Vitro Otology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology. 2021 ; 42 (7). 1022-1030
Pacheco Nicholas E , Gafford Joshua B , Atalla Mostafa A , Webster Robert J , Fichera Loris , Beyond Constant Curvature: A New Mechanics Model for Unidirectional Notched-Tube Continuum Wrists Journal of medical robotics research. 2021 ; 6 (1-2).

2020

Amanov Ernar , Ropella Dominick S , Nimmagadda Naren , Ertop Tayfun E , Mitchell Jason E , Kavoussi Nicholas L , Hendrick Richard J , Dillon Neal , Blum Evan , Herrell S Duke , Webster Robert J , Transurethral Anastomosis after Transurethral Radical Prostatectomy: A Phantom Study on Intraluminal Suturing With Concentric Tube Robots IEEE transactions on medical robotics and bionics. 2020 Oct 29; 2 (4). 578-581
Kavoussi Nicholas L , Pitt Bryn , Ferguson James M , Granna Josephine , Remirez Andria , Nimmagadda Naren , Melnyk Rachel , Ghazi Ahmed , Barth Eric J , Webster Robert J , Herrell Stanley Duke , Accuracy of Touch-Based Registration During Robotic Image-Guided Partial Nephrectomy Before and After Tumor Resection in Validated Phantoms Journal of endourology. 2020 Nov 11; 35 (3). 362-368
Campisano Federico , Remirez Andria A , Caló Simone , Chandler James H , Obstein Keith L , Webster Robert J , Valdastri Pietro , Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators IEEE robotics and automation letters. 2020 Feb 10; 5 (2). 2642-2649
Till John , Aloi Vincent , Riojas Katherine E , Anderson Patrick L , Webster Robert J , Rucker Caleb , A Dynamic Model for Concentric Tube Robots IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society. 2020 Jul 27; 36 (6). 1704-1718
Kuntz Alan , Sethi Armaan , Webster Robert J , Alterovitz Ron , Learning the Complete Shape of Concentric Tube Robots IEEE transactions on medical robotics and bionics. 2020 Feb 19; 2 (2). 140-147
Ferguson James M , Pitt E Bryn , Remirez Andria A , Siebold Michael A , Kuntz Alan , Kavoussi Nicholas L , Barth Eric J , Herrell S Duke , Webster Robert J , Toward Practical and Accurate Touch-Based Image Guidance for Robotic Partial Nephrectomy IEEE transactions on medical robotics and bionics. 2020 May 1; 2 (2). 196-205
Gafford Joshua , Freeman Michael , Fichera Loris , Noble Jack , Labadie Robert , Webster Robert J , Eyes in Ears: A Miniature Steerable Digital Endoscope for Trans-Nasal Diagnosis of Middle Ear Disease Annals of biomedical engineering. 2020 May 26; 49 (1). 219-232
Morrel William G , Riojas Katherine E , Webster Robert J , Noble Jack H , Labadie Robert F , Custom mastoid-fitting templates to improve cochlear implant electrode insertion trajectory International journal of computer assisted radiology and surgery. 2020 May 14; 15 (10). 1713-1718
Harvey Lara , Hendrick Richard , Dillon Neal , Blum Evan , Branscombe Lauren , Webster Scott , Webster Robert J , Anderson Ted , A Novel Robotic Endoscopic Device Used for Operative Hysteroscopy Journal of minimally invasive gynecology. 2020 Jun 12; 27 (7). 1631-1635
Campisano Federico , Remirez Andria A. , Landewee Claire A. , Caló Simone , Obstein Keith L. , Webster Robert J. , Valdastri Pietro , Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy IEEE Robotics and Automation Letters. 2020 Oct ; 5 (4). 6427-6434
Ferguson James M , Pitt Bryn , Kuntz Alan , Granna Josephine , Kavoussi Nicholas L , Nimmagadda Naren , Barth Eric J , Herrell Stanley Duke , Webster Robert J , Comparing the accuracy of the da Vinci Xi and da Vinci Si for image guidance and automation The international journal of medical robotics + computer assisted surgery : MRCAS. 2020 Sep 1; 16 (6). 1-10
Bruns Trevor , Design of Surgical Robotic Systems for Skull Base Interventions 2020 Apr 2;
Rox Margaret F , Ropella Dominick S , Hendrick Richard J , Blum Evan , Naftel Robert P , Bow Hansen C , Herrell S Duke , Weaver Kyle D , Chambless Lola B , Webster Robert J , Mechatronic Design of a Two-Arm Concentric Tube Robot System for Rigid Neuroendoscopy IEEE/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
Bruns Trevor L , Riojas Katherine E , Ropella Dominick S , Cavilla Matt S , Petruska Andrew J , Freeman Michael H , Labadie Robert F , Abbott Jake J , Webster Robert J , Magnetically Steered Robotic Insertion of Cochlear-Implant Electrode Arrays: System Integration and First-In-Cadaver Results IEEE Robotics and Automation Letters. 2020 Feb 3; 5 (2). 2240-2247
Rox Margaret , Emerson Maxwell , Ertop Tayfun Efe , Fried Inbar , Fu Mengyu , Hoelscher Janine , Kuntz Alan , Granna Josephine , Mitchell Jason , Lester Michael , Maldonado Fabien , Gillaspie Erin A , Akulian Jason A , Alterovitz Ron , Webster Robert J , Decoupling Steerability from Diameter: Helical Dovetail Laser Patterning for Steerable Needles IEEE access : practical innovations, open solutions. 2020 Oct 2; 8 181411-181419

2019

Fu Mengyu , Kuntz Alan , Webster Robert J , Alterovitz Ron , Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. 2019 Jan 7; 2018 4942-4949
Riojas Katherine E , Narendran Narendran , Morrel William G , Mitchell Jason , Bruns Trevor , Webster Robert J , Labadie Robert F , A New Manual Insertion Tool for Minimally Invasive, Image-Guided Cochlear Implant Surgery 2019 ; 10951 122-128
Godage Isuru S , Webster Robert J , Walker Ian D , Center-of-Gravity-Based Approach for Modeling Dynamics of Multisection Continuum Arms IEEE Transactions on Robotics. 2019 Jun 27; 35 (5). 1097-1108
Riojas Katherine E , Anderson Patrick L , Lathrop Ray A , Herrell S Duke , Rucker D Caleb , Webster Robert J , A Hand-Held Non-Robotic Surgical Tool With a Wrist and an Elbow IEEE transactions on bio-medical engineering. 2019 Feb 26; 66 (11). 3176-3184
Wellborn Patrick S , Russell Paul T , Webster Iii Robert J , A multi-subject accuracy study on granular jamming for non-invasive attachment of fiducial markers to patients International journal of computer assisted radiology and surgery. 2019 Jul 10; 15 (1). 69-74
Gafford Joshua B , Webster Scott , Dillon Neal , Blum Evan , Hendrick Richard , Maldonado Fabien , Gillaspie Erin A , Rickman Otis B , Herrell S Duke , Webster Robert J , A Concentric Tube Robot System for Rigid Bronchoscopy: A Feasibility Study on Central Airway Obstruction Removal Annals of biomedical engineering. 2019 Jul 24; 48 (1). 181-191

2018

Ferguson James M , Cai Leon Y , Reed Alexander , Siebold Michael , De Smita , Herrell S Duke , Webster Robert J , Toward Image-Guided Partial Nephrectomy with the da Vinci Robot: Exploring Surface Acquisition Methods for Intraoperative Re-Registration 2018 ;
Poorman Megan E , Chen Yue , Webster Robert J , Barth Eric J , Grissom William A , MR Imaging Simulator and Optimized Multi-echo Z-shimmed Sequence for Temperature Mapping Near Metallic Ablation Probes 2018 ;
Kuntz Alan , Bowen Chris , Baykal Cenk , Mahoney Arthur W , Anderson Patrick L , Maldonado Fabien , Webster Robert J , Alterovitz Ron , Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning 2018 ;
Rox Margaret , Riojas Katherine , Emerson Maxwell , Oliver-Butler Kaitlin , Rucker Caleb , Webster Robert J , Luminal Robots Small Enough to Fit Through Endoscope Ports: Initial Tumor Resection Experiments in the Airways 2018 ;
Anderson P L , Ertop T E , Kuntz A , Maldonado F , Alterovitz R , Webster R J , Sand Blasting Inside a Patient: A CRISP Robot for Spraying Powder inside the Chest Cavity to Preclude Lung Collapse 2018 ;
Riojas Katherine E , Hendrick Richard J , Webster Robert J , Can Elastic Instability be Beneficial in Concentric Tube Robots? IEEE robotics and automation letters. 2018 Feb 1; 3 (3). 1624-1630

2017

Fichera Loris , Dillon Neal P , Zhang Dongqing , Godage Isuru S , Siebold Michael A , Hartley Bryan I , Noble Jack H , Russell Paul T , Labadie Robert F , Webster Robert J , Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into The Middle Ear IEEE robotics and automation letters. 2017 Feb 14; 2 (3). 1488-1494
Wellborn Patrick S , Dillon Neal P , Russell Paul T , Webster Robert J , Coffee: the key to safer image-guided surgery-a granular jamming cap for non-invasive, rigid fixation of fiducial markers to the patient International journal of computer assisted radiology and surgery. 2017 Mar 30; 12 (6). 1069-1077
Anderson Patrick L , Mahoney Arthur W , Webster Robert J , Continuum Reconfigurable Parallel Robots for Surgery: Shape Sensing and State Estimation with Uncertainty IEEE robotics and automation letters. 2017 Mar 6; 2 (3). 1617-1624
Kuntz Alan , Mahoney Arthur W , Peckman Nicolas E , Anderson Patrick L , Webster Robert J , Alterovitz Ron , Motion Planning for Continuum Reconfigurable Incisionless Surgical Parallel Robots 2017 ;
Mahoney A W , Anderson P L , Maldonado F , Webster R J , More Ports = Less Invasive? A Multi-­Needle Robot for Lung Ablation 2017 ;
Odenbach Robert , Chen Yue , Sengupta Saikat , Webster Robert J , Barth Eric J , Friebe Michael , 3D-printed Z-frame marker for MRI-guided interventions 2017 ;
Dillon Neal P , Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery 2017 Jan 27;
Hendrick Richard J , System Design and Elastic Stability Modeling of Transendoscopic Continuum Robots 2017 Jul 20;
Chen Yue , Godage Isuru S , Sengupta Saikat , Liu Cindy L , Weaver Kyle D , Barth Eric J , Webster Robert J , An MRI-Compatible Robot for Intracerebral Hemorrhage Removal 2017 Oct 31;
Burns Trevor L , Webster Robert J , An Image Guidance System for Positioning Robotic Cochlear Implant Insertion Tools 2017 Mar 3;
Rox Margaret F , Hendrick Richard J , Herrell S. Duke , Webster Robert J , An Experimental Comparison of Two User Interface Designs for a Hand-Held Surgical Robot 2017 Oct 31;
Chen Yue , Poorman Megan E , Comber David B , Pitt E. Bryn , Liu Cindy , Godage Isuru S. , Yu Hong , Grissom William A , Barth Eric J , Webster Robert J , Treating Epilepsy via Thermal Ablation: Initial Experiments With an MRI-Guided Concentric Tube Robot 2017 Oct 31;
Narasimhan Saramati , Weis Jared A , Godage Isuru S , Webster Robert J , Weaver Kyle , Miga Michael I. , Development of a mechanics-based model of brain deformations during intracerebral hemorrhage evacuation SPIE Proceedings. 2017 Mar 3; 10135
Lin Shan , Fichera Loris , Fulton Mitchell J , Webster Robert J , Don’t Get Burned: Thermal Monitoring of Vessel Sealing using a Miniature Infrared Camera SPIE Proceedings. 2017 Mar 3; 10135 101350Y-101350Y-7
Mizuta Masanobu , Kurita Takashi , Dillon Neal P , Kimball Emily E , Garrett C Gaelyn , Sivasankar M Preeti , Webster Robert J , Rousseau Bernard , In vivo measurement of vocal fold surface resistance The Laryngoscope. 2017 Jun 2; 127 (10). E364-E370
Dillon Neal P , Fichera Loris , Kesler Kyle , Zuniga M Geraldine , Mitchell Jason E , Webster Robert J , Labadie Robert F , Pre-operative Screening and Manual Drilling Strategies to Reduce the Risk of Thermal Injury During Minimally Invasive Cochlear Implantation Surgery Annals of biomedical engineering. 2017 May 18; 45 (9). 2184-2195
Chen Yue , Godage Isuru S , Tse Zion Tsz Ho , Webster Robert J , Barth Eric J , Characterization and Control of a Pneumatic Motor for MR-conditional Robotic Applications IEEE/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

2016

Swaney Philip J , Mahoney Arthur W , Hartley Bryan I , Remirez Andria A , Lamers Erik , Feins Richard H , Alterovitz Ron , Webster Robert J , Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles Journal of medical robotics research. 2016 Oct 11; 2 (1).
Comber David B , Pitt E Bryn , Gilbert Hunter B , Powelson Matthew W , Matijevich Emily , Neimat Joseph S , Webster Robert J , Barth Eric J , Optimization of Curvilinear Needle Trajectories for Transforamenal Hippocampotomy Operative neurosurgery (Hagerstown, Md.). 2016 Jul 25; 13 (1). 15-22
Siebold Michael A , Dillon Neal P , Fichera Loris , Labadie Robert F , Webster Robert J , Fitzpatrick J Michael , Safety margins in robotic bone milling: from registration uncertainty to statistically safe surgeries The international journal of medical robotics + computer assisted surgery : MRCAS. 2016 Sep 21; 13 (3).
Kratchman Louis B , Bruns Trevor L , Abbott Jake J , Webster Robert J , Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society. 2016 Dec 1; 33 (1). 227-233
Swaney Philip J , Design and Modeling of Distal Dexterity Mechanisms For Needle-Sized Robots: Systems for Lung and Endonasal Interventions 2016 Jul 27;
Gilbert Hunter B , Concentric Tube Robots: Design, Deployment, and Stability 2016 Jul 26;
Wellborn Patrick S , Russell Paul T , Webster Robert J , Can Coffee Improve Surgical Robot Accuracy? Hamlyn Symposium on Medical Robotics. 2016 ; 70-71
Kuntz Alan , Swaney Philip J , Mahoney Art , Feins Richard H , Lee Yueh Z , Webster Robert J , Alterovitz Ron , Toward transoral peripheral lung access: Steering bronchoscope-deployed needles through porcine lung tissue Hamlyn Symposium on Medical Robotics. 2016 ; 9-10
Pitt E. Bryn , Swaney Philip J , Gilbert Hunter B , Webster Robert J , Barth Eric J , Enabling Helical Needle Trajectories with Minimal Actuation: A Screw-Based Approach to Concentric Tube Needle Deployment Hamlyn Symposium on Medical Robotics. 2016 ; 56-57
Mahoney Arthur W , Anderson Patrick L , Swaney Philip J , Maldonado Fabien , Webster Robert J , Reconfigurable Parallel Continuum Robots for Incisionless Surgery IEEE/RSJ International Conference on Intelligent Robots and Systems. 2016 Dec 1; 4330-4336
Wellborn Patrick S , Swaney Philip J , Webster Robert J , Curving Clinical Biopsy Needles: Can We Steer Needles and Still Obtain Core Biopsy Samples? ASME Journal of Medical Devices. 2016 ; 10 (3).

2015

Kratchman Louis B , Image-Guided Targeting and Control of Implantable Electrodes 2015 Apr 10;

2014

Gorlewicz Jenna L , Kratchman Louis B , Webster Robert J , Haptic Paddle Enhancements and a Formal Assessment of Student Learning in System Dynamics Advances in Engineering Education. 2014 ; 4 (2). n2
Gorlewicz Jenna L , Burgner Jessica , Withrow Thomas J , Webster Robert J , Initial Experiences Using Vibratory Touchscreens to Display Graphical Math Concepts to Students with Visual Impairments Journal of Special Education Technology. 2014 ; 29 (2).
Comber David B , Barth Eric J , Webster Robert J , Design and Control of an Magnetic Resonance Compatible Precision Pneumatic Active Cannula Robot ASME Journal of Medical Devices. 2014 Mar ; 8 011003
Remirez Andria A , Lathrop Ray A , Russell Paul T , Webster Robert J , Design of a Stiff Steerable Grasper for Sinus Surgery ASME Journal of Medical Devices. 2014 Jul 21; 9 030915
Lathrop Ray A , Dexterity and Guidance Without Automation: Surgical Robot-Like Capabilities at a Fraction of the Cost 2014 Feb 21;

2013

Bekeny James R , Swaney Philip J , Webster Robert J , Russell Paul T , Weaver Kyle D , Forces Applied at the Skull Base during Transnasal Endoscopic Transsphenoidal Pituitary Tumor Excision Journal of neurological surgery. Part B, Skull base. 2013 May 9; 74 (6). 337-41
Burgner J , Swaney PJ , Lathrop RA , Weaver KD , Webster RJ , Debulking from within: a robotic steerable cannula for intracerebral hemorrhage evacuation IEEE transactions on bio-medical engineering. 2013 Apr 30; 60 (9). 2567-75
Rucker D Caleb , Das Jadav , Gilbert Hunter B , Swaney Philip J , Miga Michael I , Sarkar Nilanjan , Webster Robert J , Sliding Mode Control of Steerable Needles IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society. 2013 Oct ; 29 (5). 1289-1299
Hendrick Richard J , Lanthrop Ray A , Schneider John S , Webster Robert J , Design of an Endonasal Graft Placement Tool for Repair of Skull Base Defects ASME Journal of Medical Devices. 2013 Jun 12; 7 (2). 020916
Gilbert Hunter , Hendrick Richard , Remirez Andria , Webster Robert , A robot for transnasal surgery featuring needle-sized tentacle-like arms Expert review of medical devices. 2013 Dec 2; 11 (1). 5-7
Gorlewicz Jenna L , The Efficacy of Surface Haptics and Force Feedback in Education 2013 Apr 16;

2012

Swaney Philip J , Burgner Jessica , Pheiffer Thomas S , Rucker D Caleb , Gilbert Hunter B , Ondrake Janet E , Simpson Amber L , Burdette E Clif , Miga Michael I , Webster Robert J , Tracked 3D Ultrasound Targeting with an Active Cannula Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling. Image-Guided Procedures, Robotic Interventions, and Modeling. 2012 Feb 17; 8316 251--259
Comber David B , Cardona Diana , Webster Robert J , Barth Eric J , Precision pneumatic robot for MRI-guided neurosurgery ASME Journal of Medical Devices. 2012 Mar ; 1 (6). 017587
Clark , Burgner Jessica , Swaney Philip J , Webster Robert J , Manual Active Cannula Deployment: Experimental Accuracy Evaluation in Free Space Journal of Medical Devices. 2012 Mar 12; 6 (1). 017592
Su Hao , Cardona Diana C , Shang Weijian , Camilo Alexander , Cole Gregory A , Rucker D. Caleb , Webster Robert J , Fischer Gregory S , A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study IEEE International Conference on Robotics and Automation. 2012 ; 1939-1945
Gorlewicz Jenna L , Webster Robert J , A Formal Assessment of the Haptic Paddle Laboratories in Teaching System Dynamics 2012 ASEE Annual Conference & Exposition. 2012 Jun 10; 25.49.1 - 25.49.15
Gilbert Hunter B , Swaney Philip J , Burgner Jessica , Weaver Kyle D , Russell Paul T , Webster Robert J , A Feasibility Study on the use of Concentric Tube Continuum Robots for Endonasal Skull Base Tumor Removal Hamlyn Symposium on Medical Robotics. 2012 ;
Comber David B , Cardona Diana , Webster Robert J , Barth Eric J , Sliding mode control of an MRI-compatible pneumatically actuated robot 2012 ; 283-293
Torres Luis G , Webster Robert J , Alterovitz Ron , Task-oriented design of concentric tube robots using mechanics-based models 2012 ;
Burgner Jessica , Gilbert Hunter B , Swaney Philip J , Russell Paul T , Webster Robert J , Continuum Robots Based on Precurved Nitinol Tubes: Evaluation of a Prototype for Transnasal Skull Base Surgery 2012 ;
Foroughi Pezhman , Burgner Jessica , Choti Michael , Webster Robert , Hager Gregory , Boctor Emad , Towards intraoperative monitoring of ablation using tracked 3D ultrasound elastography and internal palpation 2012 Feb 24;
Simpson Amber , Burgner Jessica , Chen Ishita , Webster Robert , Intraoperative brain tumor resection cavity characterization with conoscopic holography 2012 Feb 17;
Gorlewicz Jenna L , Battaglia Santina , Smith Byron F , Ciuti Gastone , Gerding Jason , Menciassi Arianna , Obstein Keith L , Valdastri Pietro , Webster Robert J , Wireless insufflation of the gastrointestinal tract IEEE transactions on bio-medical engineering. 2012 Nov 29; 60 (5). 1225-33
Kratchman Louis B , Schurzig Daniel , McRackan Theodore R , Balachandran Ramya , Noble Jack H , Webster Robert J , Labadie Robert F , A Manually-Operated, Advance Off-Stylet Insertion Tool for Image-Guided, Minimally Invasive Cochlear Implantation Surgery IEEE Transactions on Biomedical Engineering. 2012 Oct ; 59 (10). 2792-2800
Swaney PJ , Burgner J , Gilbert HB , Webster RJ , A flexure-based steerable needle: high curvature with reduced tissue damage IEEE transactions on bio-medical engineering. 2012 Nov 27; 60 (4). 906-9
Burgner Jessica , Swaney Philip J , Bruns Trevor L , Clark Marlena S , Rucker D Caleb , Burdette E Clif , Webster Robert J , An Autoclavable Steerable Cannula Manual Deployment Device: Design and Accuracy Analysis Journal of medical devices. 2012 Nov 21; 6 (4). 410071-410077
Simpson AL , Burgner J , Glisson CL , Herrell SD , Ma B , Pheiffer TS , Webster RJ , Miga MI , Comparison study of intraoperative surface acquisition methods for surgical navigation IEEE transactions on bio-medical engineering. 2012 Aug 23; 60 (4). 1090-9
Kratchman Louis B , Schurzig Daniel , McRackan Theodore R , Balachandran Ramya , Noble Jack H , Webster Robert J , Labadie Robert F , A manually operated, advance off-stylet insertion tool for minimally invasive cochlear implantation surgery IEEE transactions on bio-medical engineering. 2012 Jul 25; 59 (10). 2792-800
Valdastri Pietro , Simi Massimiliano , Webster Robert J , Advanced technologies for gastrointestinal endoscopy Annual review of biomedical engineering. 2012 May 22; 14 397-429

2011

Burgner Jessica , Swaney Philip , Rucker Caleb , Gilbert Hunter , Nill Scott , Russell Paul , Webster Robert , A Bimanual Teleoperated System for Endonasal Skull Base Surgery 2011 Sep 25;
Kratchman Louis B , Rahman Mohammed M , Saunders Justin R , Swaney Phillip J , Webster Robert J , Toward Robotic Needle Steering in Lung Biopsy: A Tendon-Actuated Approach Proc. SPIE 7964, Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling. 2011 ;
Balachandran Ramya , Mitchell Jason E , Noble Jack , Schurzig Daniel , Blachon Grégoire , McRackan Theodore R , Webster Robert J , Dawant Benoit M , Fitzpatrick J Micheal , Labadie Robert F , Insertion of electrode array using percutaneous cochlear implantation technique: a cadaveric study Proc. SPIE 7964, Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling. 2011 ;
Rucker D Caleb , Webster Robert J , Computing Jacobians and Compliance Matrices for Externally Loaded Continuum Robots IEEE International Conference on Robotics and Automation. 2011 ; 945-950
Kratchman Louis B , Blachon Grégoire S , Withrow Thomas J , Balachandran Ramya , Labadie Robert F , Webster Robert J , Design of a bone-attached parallel robot for percutaneous cochlear implantation IEEE transactions on bio-medical engineering. 2011 Jul 22; 58 (10). 2904-10
Schurzig Daniel , Labadie Robert F , Hussong Andreas , Rau Thomas S , Webster Robert J , Design of a Tool Integrating Force Sensing With Automated Insertion in Cochlear Implantation IEEE/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
Rucker Daniel C , The Mechanics of Continuum Robots: Model-Based Sensing and Control 2011 Oct 4;
Rucker D. Caleb , Webster Robert , Statics and Dynamics of Continuum Robots with General Tendon Routing and External Loading IEEE Transactions on Robotics. 2011 ; 27 (6). 1033-1044

2010

Croom Jordan M , Rucker D Caleb , Romano Joseph M , Webster Robert J , Visual Sensing of Continuum Robot Shape Using Self-Organizing Maps 2010 IEEE International Conference on Robotics and Automation. 2010 ; 4591-6
Burdette E Clif , Rucker D Caleb , Prakash Punit , Diederich Chris J , Coom Jordan M , Clarke Clyde , Stolka Phillip , Juang Titania , Boctor Emad M , Webster Robert J , The ACUSITT Ultrasonic Ablator: The First Steerable Needle with an Integrated Interventional Too Proceedings Volume 7629, Medical Imaging 2010: Ultrasonic Imaging, Tomography, and Therapy;. 2010 Mar 12;
Lathrop Ray A , Rucker D Caleb , Webster Robert J , Guidance of a Steerable Cannula Robot in Soft Tissue Using Preoperative Imaging and Conoscopic Surface Contour Sensing 2010 IEEE International Conference on Robotics and Automation. 2010 ;
Lyons Lisa A , Webster Robert J , Alterovitz Ron , Planning Active Cannula Configurations Through Tubular Anatomy 2010 IEEE International Conference on Robotics and Automation. 2010 ;
Schurzig Daniel , Labadie Robert F , Hussong Andreas , Rau Thomas S , Webster Robert J , A Force Sensing Automated Insertion Tool for Cochlear Electrode Implantation 2010 IEEE International Conference on Robotics and Automation. 2010 ;
Rucker D Caleb , Jones Bryan A , Webster Robert J , A Model for Concentric Tube Continuum Robots Under Applied Wrenches 2010 IEEE International Conference on Robotics and Automation. 2010 ; 1047-52
Toennies Jenna L , Ciuti Gastone , Smith Byron F , Menciassi Arianna , Valdastri Pietro , Webster Robert J , Toward tetherless insufflation of the GI Tract Annual 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
Das Jadav , Rucker Caleb D , Webster Robert J , A Testbed for Multi-Lumen Steerable Needle Experiments 2010 ;
Webster Robert J , Jones Bryan A , Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review International Journal of Robotics Research. 2010 ; 29 (13). 1661-1683
Schurzig Daniel , Webster Robert J , Dietrich Mary S , Labadie Robert F , Force of cochlear implant electrode insertion performed by a robotic insertion tool: comparison of traditional versus Advance Off-Stylet techniques Otology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology. 2010 ; 31 (8). 1207-10

2009

Matinfar M. , Webster R.J. , Ford L. , Iordichata I. , Edwards C.C. , Taylor R.H. , Nerve Tensiometer for Spondyloptosis Surgery 2009 ;
Lathrop Ray A , Cheng Tiffany T , Webster Robert J , Conoscopic Holography for Image Registration: A Feasibility Study 2009 ;
Rucker Caleb D , Webster Robert J , Mechanics of Bending, Torsion, and Variable Precurvature in Multi-Tube Active Cannulas 2009 ;
Lyons Lisa A , Webster Robert J , Alterovitz Ron , Motion Planning for Active Cannulas 2009 ;
Quaglia Claudio , Buselli Elisa , Webster Robert J , Valdastri Pietro , Menciassi Arianna , Dario Paolo , An Endoscopic Capsule Robot: A Meso-Scale Engineering Case Study Journal of Micromechanics and Microengineering. 2009 ; 19 (10). 105007
Valdastri Pietro , Webster Robert J , Quaglia Claudio , Menciassi Arianna , Dario Paolo , A New Mechanism for Meso-Scale Legged Locomotion in Compliant Tubular Environments IEEE Transactions on Robotics. 2009 ; 25 (5). 1047-1057
Webster Robert J , Romano Joseph M , Cowan Noah J , Mechanics of Precurved-Tube Continuum Robots IEEE Transactions on Robotics. 2009 ; 25 (1). pp. 67-78
Rucker Daniel Caleb , Webster III Robert J , Parsimonious evaluation of concentric-tube continuum robot equilibrium conformation IEEE transactions on bio-medical engineering. 2009 Jun 16; 56 (9). 2308-11

2008

Webster Robert J , Romano Joseph M , Cowan Noah J , Kinematics and Calibration of Active Cannulas 2008 ;
Rucker Caleb D , Webster Robert J , Mechanics-Based Modeling of Bending and Torsion in Active Cannulas 2008 ;
Boctor Emad M , Choti Michael A , Burdette Everette C , Webster Robert J , Three-dimensional ultrasound-guided robotic needle placement: an experimental evaluation The international journal of medical robotics + computer assisted surgery : MRCAS. 2008 ; 4 (2). 180-91

2007

Romano Joseph M , Webster Robert J , Okamura Allison M , Teleoperation of Steerable Needles 2007 ;
Pak Nicola Ng , Webster Robert J , Menciassi Arianna , Dario Paolo , Electrolytic Silicone Bourdon Tube Microactuator for Reconfigurable Surgical Robots 2007 ;
Quirini Marco , Webster Robert J , Menciassi Arianna , Dario Paolo , Design of a Pill-Sized 12-legged Endoscopic Capsule Robot 2007 ;
Webster Robert J , Design and Mechanics of Continuum Robots for Surgery 2007 Dec ;

2006

Webster Robert J , Kim Jin Seob , Cowan Noah J , Chirikjian Greg S , Okamura Allison M , Nonholonomic Modeling of Needle Steering International Journal of Robotics Research. 2006 ; 25 (5-6). 509-525
Webster Robert J , Object Capture With a Camera-Mobile Robot System IEEE Robotics & Automation Magazine. 2006 ; 13 (1). 85-88

Cannon Piper C. , Ferguson James M. , Pitt E. Bryn , Shrand Jason A. , Setia Shaan A. , Nimmagadda Naren , Barth Eric J. , Kavoussi Nicholas L. , Galloway Robert L. , Herrell Duke , Webster Robert J. , A Safe Framework for Quantitative In Vivo Human Evaluation of Image Guidance The Hamlyn Symposium on Medical Robotics. IEEE Open Journal of Engineering in Medicine & Biology. ;
Labadie Robert F , Riojas Katherine , Von Wahlde Kathleen , Mitchell Jason , Bruns Trevor , Webster Robert , Dawant Benoit , Fitzpatrick J Michael , Noble Jack , Clinical Implementation of Second-generation Minimally Invasive Image-guided Cochlear Implantation Surgery Otology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology. ; 42 (5). 702-705
Dillon Neal P , Balachandran Ramya , Siebold Michael A , Webster Robert J , Wanna George B , Labadie Robert F , Cadaveric Testing of Robot-Assisted Access to the Internal Auditory Canal for Vestibular Schwannoma Removal Otology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology. ; 38 (3). 441-447
Dillon Neal P , Kratchman Louis B , Dietrich Mary S , Labadie Robert F , Webster Robert J , Withrow Thomas J , An experimental evaluation of the force requirements for robotic mastoidectomy Otology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology. ; 34 (7). e93-102
Lathrop Ray A , Hackworth Douglas M , Webster Robert J , Minimally invasive holographic surface scanning for soft-tissue image registration IEEE transactions on bio-medical engineering. ; 57 (6). 1497-506
Baron S , Eilers H , Munske B , Toennies J L , Balachandran R , Labadie R F , Ortmaier T , Webster R J , Percutaneous inner-ear access via an image-guided industrial robot system Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine. ; 224 (5). 633-49
Schneider John S , Burgner Jessica , Webster Robert J , Russell Paul 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. ; 21 (1). 11-6
Patil Sachin , Burgner Jessica , Webster Robert J , Alterovitz Ron , Needle Steering in 3-D Via Rapid Replanning IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society. ; 30 (4). 853-864
Herrell S Duke , Webster Robert , Simaan Nabil , Future robotic platforms in urologic surgery: recent developments Current opinion in urology. ; 24 (1). 118-26
Wirz Raul , Torres Luis G , Swaney Philip J , Gilbert Hunter , Alterovitz Ron , Webster Robert J , Weaver Kyle D , Russell Paul T , An Experimental Feasibility Study on Robotic Endonasal Telesurgery Neurosurgery. ; 76 (4). 479-84; discussion 484
Danilchenko Andrei , Balachandran Ramya , Toennies Jenna L , Baron Stephan , Munske Benjamin , Fitzpatrick J Michael , Withrow Thomas J , Webster Robert J , Labadie Robert F , Robotic mastoidectomy Otology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology. ; 32 (1). 11-6
Rucker D Caleb , Jones Bryan A , Webster Robert J , A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society. ; 26 (5). 769-780