Peter Gehlbach

Publication Activity (10 Years)

Years Active: 2009-2024
Publications (10 Years): 54

Top Topics

Preliminary Study

Top Venues

Publications

Mojtaba Esfandiari, Ji Woong Kim, Botao Zhao, Golchehr Amirkhani, Muhammad Hadi, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study. ICRA (2024)
Mojtaba Esfandiari, Golchehr Amirkhani, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
Bimanual Manipulation of Steady Hand Eye Robots with Adaptive Sclera Force Control: Cooperative vs. Teleoperation Strategies. CoRR (2024)
Shervin Dehghani, Michael Sommersperger, Mahdi Saleh, Alireza Alikhani, Benjamin Busam, Peter Gehlbach, Iulian Iordachita, Nassir Navab, M. Ali Nasseri
Colibri5: Real-Time Monocular 5-DoF Trocar Pose Tracking for Robot-Assisted Vitreoretinal Surgery. ICRA (2024)
Ji Woong Kim, Shuwen Wei, Peiyao Zhang, Peter Gehlbach, Jin U. Kang, Iulian Iordachita, Marin Kobilarov
Towards Autonomous Retinal Microsurgery Using RGB-D Images. IEEE Robotics Autom. Lett. 9 (4) (2024)
Simon Pannek, Shervin Dehghani, Michael Sommersperger, Peiyao Zhang, Peter Gehlbach, M. Ali Nasseri, Iulian Iordachita, Nassir Navab
Exploring the Needle Tip Interaction Force with Retinal Tissue Deformation in Vitreoretinal Surgery. ICRA (2024)
Mojtaba Esfandiari, Yanlin Zhou, Shervin Dehghani, Muhammad Hadi, Adnan Munawar, Henry Phalen, David E. Usevitch, Peter Gehlbach, Iulian Iordachita
RIS Robot. ISMR (2024)
Peiyao Zhang, Ji Woong Kim, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov
Autonomous Needle Navigation in Subretinal Injections via iOCT. IEEE Robotics Autom. Lett. 9 (5) (2024)
Peiyao Zhang, Ji Woong Kim, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov
Autonomous Needle Navigation in Retinal Microsurgery: Evaluation in ex vivo Porcine Eyes. ICRA (2023)
Shervin Dehghani, Michael Sommersperger, Peiyao Zhang, Alejandro Martin-Gomez, Benjamin Busam, Peter Gehlbach, Nassir Navab, M. Ali Nasseri, Iulian Iordachita
Robotic Navigation Autonomy for Subretinal Injection via Intelligent Real-Time Virtual iOCT Volume Slicing. ICRA (2023)
Mojtaba Esfandiari, Yanlin Zhou, Shervin Dehghani, Muhammad Hadi, Adnan Munawar, Henry Phalen, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
A Data-Driven Model with Hysteresis Compensation for I2RIS Robot. CoRR (2023)
Alireza Alamdar, David E. Usevitch, Jiahao Wu, Russell H. Taylor, Peter Gehlbach, Iulian Iordachita
Steady-Hand Eye Robot 3.0: Optimization and Benchtop Evaluation for Subretinal Injection. CoRR (2023)
Peiyao Zhang, Ji Woong Kim, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov
Autonomous Needle Navigation in Retinal Microsurgery: Evaluation in ex vivo Porcine Eyes. CoRR (2023)
Botao Zhao, Mojtaba Esfandiari, David E. Usevitch, Peter Gehlbach, Iulian Iordachita
Human-Robot Interaction in Retinal Surgery: A Comparative Study of Serial and Parallel Cooperative Robots. CoRR (2023)
Botao Zhao, Mojtaba Esfandiari, David E. Usevitch, Peter Gehlbach, Iulian Iordachita
Human-Robot Interaction in Retinal Surgery: A Comparative Study of Serial and Parallel Cooperative Robots. RO-MAN (2023)
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov
Micromanipulation in Surgery: Autonomous Needle Insertion Inside the Eye for Targeted Drug Delivery. CoRR (2023)
Shervin Dehghani, Michael Sommersperger, Peiyao Zhang, Alejandro Martin-Gomez, Benjamin Busam, Peter Gehlbach, Nassir Navab, M. Ali Nasseri, Iulian Iordachita
Robotic Navigation Autonomy for Subretinal Injection via Intelligent Real-Time Virtual iOCT Volume Slicing. CoRR (2023)
Ji Woong Kim, Shuwen Wei, Peiyao Zhang, Peter Gehlbach, Jin U. Kang, Iulian Iordachita, Marin Kobilarov
Deep Learning Guided Autonomous Retinal Surgery using a Robotic Arm, Microscopy, and iOCT Imaging. CoRR (2023)
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov
Deep Learning Guided Autonomous Surgery: Guiding Small Needles into Sub-Millimeter Scale Blood Vessels. CoRR (2023)
Ali Ebrahimi, Shahriar Sefati, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
Simultaneous Online Registration-Independent Stiffness Identification and Tip Localization of Surgical Instruments in Robot-Assisted Eye Surgery. IEEE Trans. Robotics 39 (2) (2023)
Mojtaba Esfandiari, Ji Woong Kim, Botao Zhao, Golchehr Amirkhani, Muhammad Hadi, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study. CoRR (2023)
Azade Farshad, Yousef Yeganeh, Peter Gehlbach, Nassir Navab
Y-Net: A Spatiospectral Dual-Encoder Network for Medical Image Segmentation. MICCAI (2) (2022)
Boyang Xiao, Alireza Alamdar, Kefan Song, Ali Ebrahimi, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
. ISMR (2022)
Shervin Dehghani, Michael Sommersperger, Junjie Yang, Mehrdad Salehi, Benjamin Busam, Kai Huang, Peter Gehlbach, Iulian Iordachita, Nassir Navab, M. Ali Nasseri
ColibriDoc: an Eye-in-Hand Autonomous Trocar Docking System. ICRA (2022)
Alireza Alamdar, Niravkumar A. Patel, Muller Urias, Ali Ebrahimi, Peter Gehlbach, Iulian Iordachita
Force and Velocity Based Puncture Detection in Robot Assisted Retinal Vein Cannulation: In-Vivo Study. IEEE Trans. Biomed. Eng. 69 (3) (2022)
Kristina Mach, Shuwen Wei, Ji Woong Kim, Alejandro Martin-Gomez, Peiyao Zhang, Jin U. Kang, M. Ali Nasseri, Peter Gehlbach, Nassir Navab, Iulian Iordachita
OCT-guided Robotic Subretinal Needle Injections: A Deep Learning-Based Registration Approach. BIBM (2022)
Azade Farshad, Yousef Yeganeh, Peter Gehlbach, Nassir Navab
Υ-Net: A Spatiospectral Network for Retinal OCT Segmentation. CoRR (2022)
Robert Roth, Jiahao Wu, Alireza Alamdar, Russell H. Taylor, Peter Gehlbach, Iulian Iordachita
Towards a Clinically Optimized Tilt Mechanism for Bilateral Micromanipulation with Steady-Hand Eye Robot. ISMR (2021)
Ali Ebrahimi, Müller G. Urias, Niravkumar A. Patel, Russell H. Taylor, Peter Gehlbach, Iulian Iordachita
Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study. IEEE Trans. Biomed. Eng. 68 (11) (2021)
Mingchuan Zhou, Jiahao Wu, Ali Ebrahimi, Niravkumar A. Patel, Yunhui Liu, Nassir Navab, Peter Gehlbach, Alois C. Knoll, M. Ali Nasseri, Iulian Iordachita
Spotlight-Based 3D Instrument Guidance for Autonomous Task in Robot-Assisted Retinal Surgery. IEEE Robotics Autom. Lett. 6 (4) (2021)
Shervin Dehghani, Michael Sommersperger, Junjie Yang, Benjamin Busam, Kai Huang, Peter Gehlbach, Iulian Iordachita, Nassir Navab, M. Ali Nasseri
ColibriDoc: An Eye-in-Hand Autonomous Trocar Docking System. CoRR (2021)
Jiahao Wu, Changyan He, Mingchuan Zhou, Ali Ebrahimi, Muller Urias, Niravkumar A. Patel, Yunhui Liu, Peter Gehlbach, Iulian Iordachita
Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study. ISMR (2020)
Ji Woong Kim, Changyan He, Muller Urias, Peter Gehlbach, Gregory D. Hager, Iulian Iordachita, Marin Kobilarov
Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration. CoRR (2020)
Mingchuan Zhou, Jiahao Wu, Ali Ebrahimi, Niravkumar A. Patel, Changyan He, Peter Gehlbach, Russell H. Taylor, Alois C. Knoll, M. Ali Nasseri, Iulian Iordachita
Spotlight-based 3D Instrument Guidance for Retinal Surgery. ISMR (2020)
Mingchuan Zhou, Jiahao Wu, Ali Ebrahimi, Niravkumar A. Patel, Changyan He, Peter Gehlbach, Russell H. Taylor, Alois C. Knoll, M. Ali Nasseri, Iulian Iordachita
Spotlight-based 3D Instrument Guidance for Retinal Surgery. CoRR (2020)
Jiahao Wu, Gang Li, Muller Urias, Niravkumar A. Patel, Yun-Hui Liu, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
An Optimized Tilt Mechanism for a New Steady-Hand Eye Robot. IROS (2020)
Changyan He, Ali Ebrahimi, Emily Yang, Muller Urias, Yang Yang, Peter Gehlbach, Iulian Iordachita
Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller. ICRA (2020)
Ali Ebrahimi, Marina Roizenblatt, Niravkumar A. Patel, Peter Gehlbach, Iulian Iordachita
Auditory Feedback Effectiveness for Enabling Safe Sclera Force in Robot-Assisted Vitreoretinal Surgery: a Multi-User Study. IROS (2020)
Ji Woong Kim, Changyan He, Muller Urias, Peter Gehlbach, Gregory D. Hager, Iulian Iordachita, Marin Kobilarov
Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration. ICRA (2020)
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov
Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control. CoRR (2020)
Niravkumar A. Patel, Muller Urias, Ali Ebrahimi, Peter Gehlbach, Iulian Iordachita
Scleral Force Evaluation During Vitreoretinal Surgery: in an In Vivo Rabbit Eye Model. EMBC (2020)
Changyan He, Niravkumar A. Patel, Mahya Shahbazi, Yang Yang, Peter Gehlbach, Marin Kobilarov, Iulian Iordachita
Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-Based Active Interventional Control Framework. IEEE Trans. Biomed. Eng. 67 (4) (2020)
Ali Ebrahimi, Muller Urias, Niravkumar A. Patel, Peter Gehlbach, Farshid Alambeigi, Iulian Iordachita
FBG-based Kalman Filtering and Control of Tool Insertion Depth For Safe Robot-assisted Vitrectomy. ISMR (2020)
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov
Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control. CoRL (2020)
Ali Ebrahimi, Farshid Alambeigi, Ingrid E. Zimmer-Galler, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
Toward Improving Patient Safety and Surgeon Comfort in a Synergic Robot-Assisted Eye Surgery: A Comparative Study. IROS (2019)
Niravkumar A. Patel, Muller Urias, Ali Ebrahimi, Changyan He, Peter Gehlbach, Iulian Iordachita
Sclera Force Evaluation During Vitreoretinal Surgeries in Ex Vivo Porcine Eye Model. IEEE SENSORS (2019)
Ali Ebrahimi, Changyan He, Niravkumar A. Patel, Marin Kobilarov, Peter Gehlbach, Iulian Iordachita
Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback. ISMR (2019)
Ali Ebrahimi, Changyan He, Niravkumar A. Patel, Marin Kobilarov, Peter Gehlbach, Iulian Iordachita
Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback. CoRR (2019)
Ali Ebrahimi, Muller Urias, Niravkumar A. Patel, Changyan He, Russell H. Taylor, Peter Gehlbach, Iulian Iordachita
Towards securing the sclera against patient involuntary head movement in robotic retinal surgery. RO-MAN (2019)
Ali Ebrahimi, Niravkumar A. Patel, Changyan He, Peter Gehlbach, Marin Kobilarov, Iulian Iordachita
Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery. ICRA (2019)
Ali Ebrahimi, Changyan He, Marina Roizenblatt, Niravkumar A. Patel, Shahriar Sefati, Peter Gehlbach, Iulian Iordachita
Real-Time Sclera Force Feedback for Enabling Safe Robot-Assisted Vitreoretinal Surgery. EMBC (2018)
Berk Gonenc, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
Safe tissue manipulation in retinal microsurgery via motorized instruments with force sensing. IEEE SENSORS (2017)
Berk Gonenc, Jeremy Chae, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
Towards Robot-Assisted Retinal Vein Cannulation: A Motorized Force-Sensing Microneedle Integrated with a Handheld Micromanipulator. Sensors 17 (10) (2017)
Berk Gonenc, Nhat Tran, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
Robot-assisted retinal vein cannulation with force-based puncture detection: Micron vs. the steady-hand eye robot. EMBC (2016)
Anzhu Gao, Berk Gonenc, Jiangzhen Guo, Hao Liu, Peter Gehlbach, Iulian Iordachita
3-DOF force-sensing micro-forceps for robot-assisted membrane peeling: Intrinsic actuation force modeling. BioRob (2016)
Xingchi He, Vincent van Geirt, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
IRIS: Integrated Robotic Intraocular Snake. ICRA (2015)
Berk Gonenc, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
Effects of micro-vibratory modulation during robot-assisted membrane peeling. IROS (2015)
Berk Gonenc, Nhat Tran, Cameron N. Riviere, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
Force-based puncture detection and active position holding for assisted retinal vein cannulation. MFI (2015)
Yuki Horise, Xingchi He, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
FBG-based sensorized light pipe for robotic intraocular illumination facilitates bimanual retinal microsurgery. EMBC (2015)
Xingchi He, Marcin Balicki, Peter Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita
A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery. ICRA (2014)
Berk Gonenc, Peter Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita
Motorized force-sensing micro-forceps with tremor cancelling and controlled micro-vibrations for easier membrane peeling. BioRob (2014)
Xingchi He, Peter Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita
Toward robotically assisted membrane peeling with 3-DOF distal force sensing in retinal microsurgery. EMBC (2014)
Xingchi He, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
A Submillimetric 3-DOF Force Sensing Instrument With Integrated Fiber Bragg Grating for Retinal Microsurgery. IEEE Trans. Biomed. Eng. 61 (2) (2014)
Berk Gonenc, Ellen Feldman, Peter Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita
Towards robot-assisted vitreoretinal surgery: Force-sensing micro-forceps integrated with a handheld micromanipulator. ICRA (2014)
Amrita Gupta, Berk Gonenc, Marcin Balicki, Kevin C. Olds, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
Human eye phantom for developing computer and robot-assisted epiretinal membrane peeling. EMBC (2014)
Xingchi He, Peter Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita
Development of a miniaturized 3-DOF force sensing instrument for robotically assisted retinal microsurgery and preliminary results. BioRob (2014)
Berk Gonenc, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
A comparative study for robot assisted vitreoretinal surgery: Micron vs. the Steady-Hand Robot. ICRA (2013)
Trent S. Wells, Sungwook Yang, Robert A. MacLachlan, James Handa, Peter Gehlbach, Cameron N. Riviere
Comparison of Baseline Tremor under Various Microsurgical Conditions. SMC (2013)
Berk Gonenc, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
Design of 3-DOF force sensing micro-forceps for robot assisted vitreoretinal surgery. EMBC (2013)
Xingchi He, Marcin Balicki, Peter Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita
A novel dual force sensing instrument with cooperative robotic assistant for vitreoretinal surgery. ICRA (2013)
Marcin Balicki, Rogério Richa, Balázs Vágvölgyi, Peter Kazanzides, Peter Gehlbach, James Handa, Jin U. Kang, Russell H. Taylor
Interactive OCT Annotation and Visualization for Vitreoretinal Surgery. AE-CAI (2012)
Ismail Kuru, Berk Gonenc, Marcin Balicki, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
Force sensing micro-forceps for robot assisted retinal surgery. EMBC (2012)
Berk Gonenc, Marcin Balicki, James Handa, Peter Gehlbach, Cameron N. Riviere, Russell H. Taylor, Iulian Iordachita
Preliminary evaluation of a micro-force sensing handheld robot for vitreoretinal surgery. IROS (2012)
Raphael Sznitman, Anasuya Basu, Rogério Richa, Jim Handa, Peter Gehlbach, Russell H. Taylor, Bruno Jedynak, Gregory D. Hager
Unified Detection and Tracking in Retinal Microsurgery. MICCAI (1) (2011)
Marcin Balicki, Ali Uneri, Iulian Iordachita, James Handa, Peter Gehlbach, Russell H. Taylor
Micro-force Sensing in Robot Assisted Membrane Peeling for Vitreoretinal Surgery. MICCAI (3) (2010)
Raphael Sznitman, Seth Billings, Diego Rother, Daniel Mirota, Yi Yang, James Handa, Peter Gehlbach, Jin U. Kang, Gregory D. Hager, Russell H. Taylor
Active Multispectral Illumination and Image Fusion for Retinal Microsurgery. IPCAI (2010)
Raphael Sznitman, Diego Rother, James Handa, Peter Gehlbach, Gregory D. Hager, Russell H. Taylor
Adaptive Multispectral Illumination for Retinal Microsurgery. MICCAI (3) (2010)
Marcin Balicki, Jae-Ho Han, Iulian Iordachita, Peter Gehlbach, James Handa, Russell H. Taylor, Jin U. Kang
Single Fiber Optical Coherence Tomography Microsurgical Instruments for Computer and Robot-Assisted Retinal Surgery. MICCAI (1) (2009)
Iulian Iordachita, Zhenglong Sun, Marcin Balicki, Jin U. Kang, Soo Jay Phee, James Handa, Peter Gehlbach, Russell H. Taylor
A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery. Int. J. Comput. Assist. Radiol. Surg. 4 (4) (2009)