Pierre E. Dupont

Fabio Leuenberger

Max McCandless

Edward O'Leary

CoRR, 2024

Continuum Robot Shape Estimation Using Magnetic Ball Chains.

[BibT_eX]

[DOI]

Abdulhamit Donder

CoRR, 2024

Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots.

[BibT_eX]

[DOI]

Proceedings of the International Symposium on Medical Robotics, 2024

2023

Using robotics to move a neurosurgeon's hands to the tip of their endoscope.

[BibT_eX]

[DOI]

Karl Price

Joseph Peine

Sci. Robotics, September, 2023

Closed-form Kinematic Model and Workspace Characterization for Magnetic Ball Chain Robots.

[BibT_eX]

[DOI]

Proceedings of the International Symposium on Medical Robotics, 2023

Modeling Tendon-actuated Concentric Tube Robots.

[BibT_eX]

[DOI]

Yash Chitalia

Abdulhamit Donder

Proceedings of the International Symposium on Medical Robotics, 2023

Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions.

[BibT_eX]

[DOI]

Abdulhamit Donder

Yash Chitalia

IROS, 2023

Magnetic Ball Chain Robots for Endoluminal Interventions.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

Eccentric Tube Robots as Multiarmed Steerable Sheaths.

[BibT_eX]

[DOI]

Jiaole Wang

Joseph Peine

IEEE Trans. Robotics, 2022

What we look for at <i>Science Robotics</i>.

[BibT_eX]

[DOI]

Sci. Robotics, 2022

Continuum Robots for Medical Interventions.

[BibT_eX]

[DOI]

Proc. IEEE, 2022

2021

A decade retrospective of medical robotics research from 2010 to 2020.

[BibT_eX]

[DOI]

Sci. Robotics, 2021

2020

Pediatric Airway Stent Designed to Facilitate Mucus Transport and Atraumatic Removal.

[BibT_eX]

[DOI]

IEEE Trans. Biomed. Eng., 2020

2019

Modeling Tube Clearance and Bounding the Effect of Friction in Concentric Tube Robot Kinematics.

[BibT_eX]

[DOI]

Georgios Fagogenis

IEEE Trans. Robotics, 2019

Autonomous robotic intracardiac catheter navigation using haptic vision.

[BibT_eX]

[DOI]

Georgios Fagogenis

Sci. Robotics, 2019

Steering a Multi-armed Robotic Sheath Using Eccentric Precurved Tubes.

[BibT_eX]

[DOI]

Jiaole Wang

Proceedings of the International Conference on Robotics and Automation, 2019

2018

In vivo tissue regeneration with robotic implants.

[BibT_eX]

[DOI]

Sci. Robotics, 2018

The grand challenges of <i>Science Robotics</i>.

[BibT_eX]

[DOI]

Sci. Robotics, 2018

Varying ultrasound power level to distinguish surgical instruments and tissue.

[BibT_eX]

[DOI]

Banani Anuraj

Medical Biol. Eng. Comput., 2018

2017

Optimizing Tube Precurvature to Enhance the Elastic Stability of Concentric Tube Robots.

[BibT_eX]

[DOI]

Frank C. Park

IEEE Trans. Robotics, 2017

Medical robotics - Regulatory, ethical, and legal considerations for increasing levels of autonomy.

[BibT_eX]

[DOI]

Sci. Robotics, 2017

Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2017

Incorporating tube-to-tube clearances in the kinematics of concentric tube robots.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

2016

Elastic Stability of Concentric Tube Robots Subject to External Loads.

[BibT_eX]

[DOI]

Frank C. Park

IEEE Trans. Biomed. Eng., 2016

Toward on-line parameter estimation of concentric tube robots using a mechanics-based kinematic model.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Adaptive nonparametric kinematic modeling of concentric tube robots.

[BibT_eX]

[DOI]

Georgios Fagogenis

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

2015

Achieving Commutation Control of an MRI-Powered Robot Actuator.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2015

Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2015

Intensity-Based Visual Servoing for Instrument and Tissue Tracking in 3D Ultrasound Volumes.

[BibT_eX]

[DOI]

IEEE Trans Autom. Sci. Eng., 2015

Tissue removal inside the beating heart using a robotically delivered metal MEMS tool.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2015

Real-time adaptive kinematic model estimation of concentric tube robots.

[BibT_eX]

[DOI]

Chunwoo Kim

Seok Chang Ryu

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Stabilizing the relative position of millirobots inside an MRI scanner considering magnetic interaction forces.

[BibT_eX]

[DOI]

Alina Eqtami

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Toward tissue penetration by MRI-powered millirobots using a self-assembled Gauss gun.

[BibT_eX]

[DOI]

Aaron T. Becker

Ouajdi Felfoul

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014

Achieving elastic stability of concentric tube robots through optimization of tube precurvature.

[BibT_eX]

[DOI]

Frank Chongwoo Park

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

MRI-powered closed-loop control for multiple magnetic capsules.

[BibT_eX]

[DOI]

Alina Eqtami

Ouajdi Felfoul

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Simultaneously powering and controlling many actuators with a clinical MRI scanner.

[BibT_eX]

[DOI]

Aaron T. Becker

Ouajdi Felfoul

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

FBG-based shape sensing tubes for continuum robots.

[BibT_eX]

[DOI]

Seok Chang Ryu

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Optimizing curvature sensor placement for fast, accurate shape sensing of continuum robots.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Robotic implant to apply tissue traction forces in the treatment of esophageal atresia.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013

An MRI-powered and controlled actuator technology for tetherless robotic interventions.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2013

Planning stable paths for concentric tube robots.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Closed-loop commutation control of an MRI-powered robot actuator.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Simultaneous soft sensing of tissue contact angle and force for millimeter-scale medical robots.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012

Passive Markers for Tracking Surgical Instruments in Real-Time 3-D Ultrasound Imaging.

[BibT_eX]

[DOI]

Jeffrey A. Stoll

IEEE Trans. Medical Imaging, 2012

Percutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2012

Robotic neuro-emdoscope with concentric tube augmentation.

[BibT_eX]

[DOI]

Evan J. Butler

Robert Hammond-Oakley

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Motion planning for multiple millimeter-scale magnetic capsules in a fluid environment.

[BibT_eX]

[DOI]

M. Reza Akhavan-Sharif

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Tubular Enhanced Geodesic Active Contours for continuum robot detection using 3D ultrasound.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Metal MEMS tools for beating-heart tissue removal.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Tracking and position control of an MRI-powered needle-insertion robot.

[BibT_eX]

[DOI]

Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012

2011

Stiffness Control of Surgical Continuum Manipulators.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2011

MRI-powered actuators for robotic interventions.

[BibT_eX]

[DOI]

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Detection of curved robots using 3D ultrasound.

[BibT_eX]

[DOI]

Nikolay V. Vasilyev

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Friction modeling in concentric tube robots.

[BibT_eX]

[DOI]

Jesse Lock

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Metal MEMS tools for beating-heart tissue approximation.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Design optimization of concentric tube robots based on task and anatomical constraints.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Algorithms for design of continuum robots using the concentric tubes approach: A neurosurgical example.

[BibT_eX]

[DOI]

Tomer Anor

Joseph R. Madsen

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Beating-heart mitral valve chordal replacement.

[BibT_eX]

[DOI]

Genevieve Laing

Proceedings of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011

Tubular structure enhancement for surgical instrument detection in 3D ultrasound.

[BibT_eX]

[DOI]

Proceedings of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011

2010

Design and Control of Concentric-Tube Robots.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2010

Mechanics of Dynamic Needle Insertion into a Biological Material.

[BibT_eX]

[DOI]

IEEE Trans. Biomed. Eng., 2010

Stiffness control of a continuum manipulator in contact with a soft environment.

[BibT_eX]

[DOI]

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Quasistatic modeling of concentric tube robots with external loads.

[BibT_eX]

[DOI]

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Real-time position control of concentric tube robots.

[BibT_eX]

[DOI]

Jesse Lock

Brandon Itkowitz

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

IN-HAPTICS: Interactive navigation using haptics.

[BibT_eX]

[DOI]

Proceedings of the 2010 IEEE Haptics Symposium, 2010

2009

Discrete-Time Elasto-Plastic Friction Estimation.

[BibT_eX]

[DOI]

IEEE Trans. Control. Syst. Technol., 2009

Fast needle insertion to minimize tissue deformation and damage.

[BibT_eX]

[DOI]

Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Torsional kinematic model for concentric tube robots.

[BibT_eX]

[DOI]

Jesse Lock

Evan J. Butler

Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

2007

GPU based real-time instrument tracking with three-dimensional ultrasound.

[BibT_eX]

[DOI]

Medical Image Anal., 2007

Inverse Kinematics of Concentric Tube Steerable Needles.

[BibT_eX]

[DOI]

Patrick Sears

Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound.

[BibT_eX]

[DOI]

Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

2006

GPU Based Real-Time Instrument Tracking with Three Dimensional Ultrasound.

[BibT_eX]

[DOI]

Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2006

A Steerable Needle Technology Using Curved Concentric Tubes.

[BibT_eX]

[DOI]

Patrick Sears

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

Real-time 3D Ultrasound-based Servoing of a Surgical Instrument.

[BibT_eX]

[DOI]

Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Stereo Display of 3D Ultrasound Images for Surgical Robot Guidance.

[BibT_eX]

[DOI]

Proceedings of the 28th International Conference of the IEEE Engineering in Medicine and Biology Society, 2006

2005

Distinguishability and identifiability testing of contact state models.

[BibT_eX]

[DOI]

Adv. Robotics, 2005

Passive Markers for Ultrasound Tracking of Surgical Instruments.

[BibT_eX]

[DOI]

Jeffrey A. Stoll

Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2005

Trajectory Optimization for Dynamic Needle Insertion.

[BibT_eX]

[DOI]

Matt Heverly

John K. Triedman

Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

2004

Contact State Estimation Using Multiple Model Estimation and Hidden Markov Models.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2004

Distinguishability and Identifiability of Contact States.

[BibT_eX]

[DOI]

Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

Kinematic Error Correction for Minimally Invasive Surgical Robots.

[BibT_eX]

[DOI]

Ryan A. Beasley

Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

2003

Port placement planning in robot-assisted coronary artery bypass.

[BibT_eX]

[DOI]

IEEE Trans. Robotics Autom., 2003

2002

Single state elastoplastic friction models.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2002

Multi-Channel Vibrotactile Display for Teleoperated Assembly.

[BibT_eX]

[DOI]

Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

2001

Optimal Port Placement in Robot-Assisted Coronary Artery Bypass Grafting.

[BibT_eX]

[DOI]

Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2001

2000

Cooperative Human and Machine Perception in Teleoperated Assembly.

[BibT_eX]

[DOI]

Proceedings of the Experimental Robotics VII [ISER 2000, 2000

Automatic Identification of Local Geometric Properties During Teleoperation.

[BibT_eX]

[DOI]

Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Elasto-plastic friction model: contact compliance and stiction.

[BibT_eX]

[DOI]

Brian Armstrong

Vincent Hayward

Proceedings of the American Control Conference, 2000

1999

Automatic Identification of Environment Haptic Properties.

[BibT_eX]

[DOI]

Presence Teleoperators Virtual Environ., 1999

Automatic Property Identification via Parameterized Constraints.

[BibT_eX]

[DOI]

Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

1997

Stability of frictional contact in constrained rigid-body dynamics.

[BibT_eX]

[DOI]

Serge P. Yamajako

IEEE Trans. Robotics Autom., 1997

Experimental identification of kinematic constraints.

[BibT_eX]

[DOI]

Timothy M. Schulteis

Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

1996

Stability of rigid-body dynamics with sliding frictional contacts.

[BibT_eX]

[DOI]

Serge P. Yamajako

Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

1994

Avoiding stick-slip through PD control.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 1994

A survey of models, analysis tools and compensation methods for the control of machines with friction.

[BibT_eX]

[DOI]

Brian Armstrong-Hélouvry

Carlos Canudas de Wit

Autom., 1994

Jamming and Wedging in Constrained Rigid-Body Dynamics.

[BibT_eX]

[DOI]

Serge P. Yamajako

Proceedings of the 1994 International Conference on Robotics and Automation, 1994

1993

The Effect of Friction on the Forward Dynamics Problem.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 1993

1992

The effect of Coulomb friction on the existence and uniqueness of the forward dynamics problem.

[BibT_eX]

[DOI]

Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1992

1991

Avoiding stick-slip in position and force control through feedback.

[BibT_eX]

[DOI]

Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

1990

Friction modeling in dynamic robot simulation.

[BibT_eX]

[DOI]