Search Results - "Webster, Robert J"

Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review by Webster, Robert J., Jones, Bryan A.

“…Continuum robotics has rapidly become a rich and diverse area of research, with many designs and applications demonstrated. Despite this diversity in form and…”
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Advanced Technologies for Gastrointestinal Endoscopy by Valdastri, Pietro, Simi, Massimiliano, Webster, Robert J

“…The gastrointestinal tract is home to some of the most deadly human diseases. Exacerbating the problem is the difficulty of accessing it for diagnosis or…”
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A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots by Rucker, D Caleb, Jones, Bryan A, Webster, Robert J

“…Continuum robots, which are composed of multiple concentric, precurved elastic tubes, can provide dexterity at diameters equivalent to standard surgical…”
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Unified Shape and External Load State Estimation for Continuum Robots by Ferguson, James M., Rucker, D. Caleb, Webster, Robert J.

“…Continuum robots navigate narrow, winding passageways while safely and compliantly interacting with their environments. Sensing the robot's shape under these…”
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A Telerobotic System for Transnasal Surgery by Burgner, Jessica, Rucker, D. Caleb, Gilbert, Hunter B., Swaney, Philip J., Russell, Paul T., Weaver, Kyle D., Webster, Robert J.

“…Mechanics-based models of concentric tube continuum robots have recently achieved a level of sophistication that makes it possible to begin to apply these…”
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Real-Time Localization of Cochlear-Implant Electrode Arrays Using Bipolar Impedance Sensing by Bruns, Trevor L., Riojas, Katherine E., Labadie, Robert F., Webster III, Robert J.

“…Objective: Surgeons have no direct objective feedback on cochlear-implant electrode array (EA) positioning during insertion, yet optimal hearing outcomes are…”
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Nonholonomic Modeling of Needle Steering by Webster, Robert J., Kim, Jin Seob, Cowan, Noah J., Chirikjian, Gregory S., Okamura, Allison M.

“…As a flexible needle with a bevel tip is pushed through soft tissue, the asymmetry of the tip causes the needle to bend. We propose that, by using nonholonomic…”
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Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test by Gilbert, Hunter B., Hendrick, Richard J., Webster III, Robert J.

“…Concentric tube robots are needle-sized manipulators which have been investigated for use in minimally invasive surgeries. It was noted early in the…”
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Robot-like dexterity without computers and motors: a review of hand-held laparoscopic instruments with wrist-like tip articulation by Anderson, Patrick L, Lathrop, Ray A, Webster, III, Robert J

“…Conventional manual laparoscopic instruments for minimally invasive surgery have limited dexterity within the patient, making procedures challenging. Surgical…”
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Mechanics of Precurved-Tube Continuum Robots by Webster, Robert J., Romano, Joseph M., Cowan, Noah J.

“…This paper presents a new class of thin, dexterous continuum robots, which we call active cannulas due to their potential medical applications. An active…”
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Mechatronic Design of a Two-Arm Concentric Tube Robot System for Rigid Neuroendoscopy by 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.

“…Open surgical approaches are still often employed in neurosurgery, despite the availability of neuroendoscopic approaches that reduce invasiveness. The…”
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Image-Guided Biopsy in the Era of Personalized Cancer Care: Proceedings from the Society of Interventional Radiology Research Consensus Panel by Tam, Alda L., MD, Lim, Howard J., MD, Wistuba, Ignacio I., MD, Tamrazi, Anobel, MD, PhD, Kuo, Michael D., MD, Ziv, Etay, MD, PhD, Wong, Stephen, PhD, Shih, Albert J., PhD, Webster, Robert J., PhD, Fischer, Gregory S., PhD, Nagrath, Sunitha, PhD, Davis, Suzanne E., MMS, MBA, White, Sarah B., MD, Ahrar, Kamran, MD

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Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading by Rucker, D. C., Webster, R. J.

“…Tendons are a widely used actuation strategy for continuum robots that enable forces and moments to be transmitted along the robot from base-mounted actuators…”
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Needle Steering in 3-D Via Rapid Replanning by Patil, Sachin, Burgner, Jessica, Webster, Robert J., Alterovitz, Ron

“…Steerable needles have the potential to improve the effectiveness of needle-based clinical procedures such as biopsy and drug delivery by improving targeting…”
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A Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-Loop Targeting by Su, Hao, Li, Gang, Rucker, D. Caleb, Webster III, Robert J., Fischer, Gregory S.

“…This paper presents the design, modeling and experimental evaluation of a magnetic resonance imaging (MRI)-compatible concentric tube continuum robotic system…”
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Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment by Gilbert, Hunter B., Neimat, Joseph, Webster, Robert J.

“…Concentric tube robots can enable new clinical interventions if they are able to pass through soft tissue, deploy along desired paths through open cavities, or…”
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A Dynamic Model for Concentric Tube Robots by Till, John, Aloi, Vincent, Riojas, Katherine E., Anderson, Patrick L., Webster III, Robert James, Rucker, Caleb

“…Existing static and kinematic models of concentric tube robots are based on the ordinary differential equations of a static Cosserat rod. In this article, we…”
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Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images by Fu, Mengyu, Kuntz, Alan, Webster, Robert J., Alterovitz, Ron

“…Lung cancer is the deadliest form of cancer, and early diagnosis is critical to favorable survival rates. Definitive diagnosis of lung cancer typically…”
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Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications by Kratchman, Louis B., Bruns, Trevor L., Abbott, Jake J., Webster, Robert J.

“…Magnet-tipped, elastic rods can be steered by an external magnetic field to perform surgical tasks. Such rods could be useful for a range of new medical…”
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Exceeding traditional curvature limits of concentric tube robots through redundancy resolution by Anderson, Patrick L, Hendrick, Richard J, Rox, Margaret F, Webster, Robert J

“…Understanding elastic instability has been a recent focus of concentric tube robot research. Modeling advances have enabled prediction of when instabilities…”
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