Robert J. Webster

Publication Activity (10 Years)

Years Active: 2008-2022
Publications (10 Years): 38

Top Topics

Cochlear Implant

Minimally Invasive

Top Venues

Medical Imaging: Image-Guided Procedures

IEEE Trans. Robotics

IEEE Robotics Autom. Lett.

Publications

Tayfun Efe Ertop, Jesse F. d'Almeida, Ernar Amanov, Jason Shrand, Naren Nimmagadda, Shaan Setia, Nicholas L. Kavoussi, S. Duke Herrell, Robert J. Webster
Towards Suturing From Within the Urethra Using Concentric Tube Robots: First Experiences in Biological Tissues. ISMR (2022)
Janine Hoelscher, Inbar Fried, Mengyu Fu, Mihir Patwardhan, Max Christman, Jason A. Akulian, Robert J. Webster, Ron Alterovitz
A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation. IROS (2022)
Inbar Fried, Janine Hoelscher, Mengyu Fu, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Alan Kuntz, Jason A. Akulian, Robert J. Webster, Ron Alterovitz
Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume. ICRA (2021)
Nicholas E. Pacheco, Joshua B. Gafford, Mostafa A. Atalla, Robert J. Webster, Loris Fichera
Beyond Constant Curvature: A New Mechanics Model for Unidirectional Notched-Tube Continuum Wrists. J. Medical Robotics Res. 6 (1&2) (2021)
Federico Campisano, Andria A. Remirez, Simone Caló, James H. Chandler, Keith L. Obstein, Robert J. Webster, Pietro Valdastri
Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators. IEEE Robotics Autom. Lett. 5 (2) (2020)
Margaret Rox, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Alan Kuntz, Josephine Granna, Jason E. Mitchell, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Jason A. Akulian, Ron Alterovitz, Robert J. Webster
Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles. IEEE Access 8 (2020)
Trevor L. Bruns, Katherine E. Riojas, Dominick S. Ropella, Matt S. Cavilla, Andrew J. Petruska, Michael H. Freeman, Robert F. Labadie, Jake J. Abbott, Robert J. Webster
Magnetically Steered Robotic Insertion of Cochlear-Implant Electrode Arrays: System Integration and First-In-Cadaver Results. IEEE Robotics Autom. Lett. 5 (2) (2020)
Maxwell Emerson, James M. Ferguson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Ron Alterovitz, Robert J. Webster, Alan Kuntz
A Recurrent Neural Network Approach to Roll Estimation for Needle Steering. ISER (2020)
William G. Morrel, Katherine E. Riojas, Robert J. Webster, Jack H. Noble, Robert F. Labadie
Custom mastoid-fitting templates to improve cochlear implant electrode insertion trajectory. Int. J. Comput. Assist. Radiol. Surg. 15 (10) (2020)
Michael A. Siebold, James M. Ferguson, Bryn Pitt, Nicholas Kavoussi, Naren Nimmagadda, S. Duke Herrell, Robert J. Webster
Choosing Statistically Safe, Variable-Thickness Margins in Robot-Assisted Partial Nephrectomy. ISMR (2020)
Alex J. Chiluisa, Floris J. Van Rossum, Joshua B. Gafford, Robert F. Labadie, Robert J. Webster, Loris Fichera
Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot. ISMR (2020)
Katherine E. Riojas, Narendran Narasimhan, William G. Morrel, Jason E. Mitchell, Trevor L. Bruns, Robert J. Webster, Robert F. Labadie
A new manual insertion tool for minimally invasive, image-guided cochlear implant surgery. Medical Imaging: Image-Guided Procedures (2019)
Minh Vu, Rueben A. Banalagay, Dongqing Zhang, Alejandro Rivas, Loris Fichera, Robert J. Webster, Robert F. Labadie, Jack H. Noble
Analysis of middle ear morphology for design of a transnasal endoscope. Medical Imaging: Image-Guided Procedures (2019)
Stephanie Amack, Margaret Rox, Jason E. Mitchell, Tayfun Efe Ertop, Maxwell Emerson, Alan Kuntz, Fabien Maldonado, Jason A. Akulian, Joshua B. Gafford, Ron Alterovitz, Robert J. Webster
Design and control of a compact modular robot for transbronchial lung biopsy. Medical Imaging: Image-Guided Procedures (2019)
Isuru S. Godage, Robert J. Webster, Ian D. Walker
Center-of-Gravity-Based Approach for Modeling Dynamics of Multisection Continuum Arms. IEEE Trans. Robotics 35 (5) (2019)
Alan Kuntz, Chris Bowen, Cenk Baykal, Arthur W. Mahoney, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster, Ron Alterovitz
Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning. ICRA (2018)
Mengyu Fu, Alan Kuntz, Robert J. Webster, Ron Alterovitz
Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images. IROS (2018)
Katherine E. Riojas, Richard J. Hendrick, Robert J. Webster
Can Elastic Instability Be Beneficial in Concentric Tube Robots? IEEE Robotics Autom. Lett. 3 (3) (2018)
James M. Ferguson, Leon Y. Cai, Alexander Reed, Michael A. Siebold, Smita De, S. Duke Herrell, Robert J. Webster
Toward image-guided partial nephrectomy with the da Vinci robot: exploring surface acquisition methods for intraoperative re-registration. Medical Imaging: Image-Guided Procedures (2018)
Shan Lin, Loris Fichera, Mitchell J. Fulton, Robert J. Webster
Don't get burned: thermal monitoring of vessel sealing using a miniature infrared camera. Medical Imaging: Image-Guided Procedures (2017)
Trevor L. Bruns, Robert J. Webster
An image guidance system for positioning robotic cochlear implant insertion tools. Medical Imaging: Image-Guided Procedures (2017)
Philip J. Swaney, Arthur W. Mahoney, Bryan I. Hartley, Andria A. Remirez, Erik Lamers, Richard H. Feins, Ron Alterovitz, Robert J. Webster
Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles. J. Medical Robotics Res. 2 (1) (2017)
Patrick S. Wellborn, Neal P. Dillon, Paul T. Russell III, Robert J. Webster
Coffee: the key to safer image-guided surgery - a granular jamming cap for non-invasive, rigid fixation of fiducial markers to the patient. Int. J. Comput. Assist. Radiol. Surg. 12 (6) (2017)
Louis B. Kratchman, Trevor L. Bruns, Jake J. Abbott, Robert J. Webster
Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications. IEEE Trans. Robotics 33 (1) (2017)
Alan Kuntz, Arthur W. Mahoney, Nicolas E. Peckman, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster, Ron Alterovitz
Motion planning for continuum reconfigurable incisionless surgical parallel robots. IROS (2017)
Patrick L. Anderson, Ray A. Lathrop, S. Duke Herrell, Robert J. Webster
Comparing a Mechanical Analogue With the Da Vinci User Interface: Suturing at Challenging Angles. IEEE Robotics Autom. Lett. 1 (2) (2016)
Neal P. Dillon, Michael A. Siebold, Jason E. Mitchell, Grégoire S. Blachon, Ramya Balachandran, J. Michael Fitzpatrick, Robert J. Webster
Increasing safety of a robotic system for inner ear surgery using probabilistic error modeling near vital anatomy. Medical Imaging: Image-Guided Procedures (2016)
Rowena E. Ong, Courtenay L. Glisson, Jessica Burgner-Kahrs, Amber L. Simpson, Andrei Danilchenko, Ray A. Lathrop, S. Duke Herrell, Robert J. Webster, Michael I. Miga, Robert L. Galloway
A novel method for texture-mapping conoscopic surfaces for minimally invasive image-guided kidney surgery. Int. J. Comput. Assist. Radiol. Surg. 11 (8) (2016)
Neal P. Dillon, Loris Fichera, Patrick S. Wellborn, Robert F. Labadie, Robert J. Webster
Making robots mill bone more like human surgeons: Using bone density and anatomic information to mill safely and efficiently. IROS (2016)
Arthur W. Mahoney, Trevor L. Bruns, Philip J. Swaney, Robert J. Webster
On the inseparable nature of sensor selection, sensor placement, and state estimation for continuum robots or "where to put your sensors and how to use them". ICRA (2016)
Josephine Granna, Isuru S. Godage, Raul Wirz, Kyle D. Weaver, Robert J. Webster, Jessica Burgner-Kahrs
A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation. IEEE Robotics Autom. Lett. 1 (2) (2016)
Andria A. Remirez, Robert J. Webster
Endoscopes and robots for tight surgical spaces: use of precurved elastic elements to enhance curvature. Medical Imaging: Image-Guided Procedures (2016)
Arthur W. Mahoney, Patrick L. Anderson, Philip J. Swaney, Fabien Maldonado, Robert J. Webster
Reconfigurable parallel continuum robots for incisionless surgery. IROS (2016)
Hunter B. Gilbert, Joseph S. Neimat, Robert J. Webster
Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment. IEEE Trans. Robotics 31 (2) (2015)
Philip J. Swaney, Arthur W. Mahoney, Andria A. Remirez, Erik Lamers, Bryan I. Hartley, Richard H. Feins, Ron Alterovitz, Robert J. Webster
Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system. ICRA (2015)
Luis G. Torres, Alan Kuntz, Hunter B. Gilbert, Philip J. Swaney, Richard J. Hendrick, Robert J. Webster, Ron Alterovitz
A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation. ICRA (2015)
Michael A. Siebold, Neal P. Dillon, Robert J. Webster, J. Michael Fitzpatrick
Incorporating target registration error into robotic bone milling. Medical Imaging: Image-Guided Procedures (2015)
Raul Wirz, Ray A. Lathrop, Isuru S. Godage, Jessica Burgner-Kahrs, Paul T. Russell III, Robert J. Webster
Can coffee improve image guidance? Medical Imaging: Image-Guided Procedures (2015)
Sachin Patil, Jessica Burgner, Robert J. Webster, Ron Alterovitz
Needle Steering in 3-D Via Rapid Replanning. IEEE Trans. Robotics 30 (4) (2014)
Neal P. Dillon, Ramya Balachandran, Antoine Motte dit Falisse, George B. Wanna, Robert F. Labadie, Thomas J. Withrow, J. Michael Fitzpatrick, Robert J. Webster
Preliminary testing of a compact bone-attached robot for otologic surgery. Medical Imaging: Image-Guided Procedures (2014)
Jessica Burgner, Philip J. Swaney, Ray A. Lathrop, Kyle D. Weaver, Robert J. Webster
Debulking From Within: A Robotic Steerable Cannula for Intracerebral Hemorrhage Evacuation. IEEE Trans. Biomed. Eng. 60 (9) (2013)
Jessica Burgner, Philip J. Swaney, Ray A. Lathrop, Kyle D. Weaver, Robert J. Webster
Robot-assisted intracerebral hemorrhage evacuation: an experimental evaluation. Medical Imaging: Image-Guided Procedures (2013)
Dylan P. Losey, Peter A. York, Philip J. Swaney, Jessica Burgner, Robert J. Webster
A flexure-based wrist for needle-sized surgical robots. Medical Imaging: Image-Guided Procedures (2013)
Philip J. Swaney, Jessica Burgner, Hunter B. Gilbert, Robert J. Webster
A Flexure-Based Steerable Needle: High Curvature With Reduced Tissue Damage. IEEE Trans. Biomed. Eng. 60 (4) (2013)
Jessica Burgner, Hunter B. Gilbert, Robert J. Webster
On the computational design of concentric tube robots: Incorporating volume-based objectives. ICRA (2013)
D. Caleb Rucker, Jadav Das, Hunter B. Gilbert, Philip J. Swaney, Michael I. Miga, Nilanjan Sarkar, Robert J. Webster
Sliding Mode Control of Steerable Needles. IEEE Trans. Robotics 29 (5) (2013)
Hunter B. Gilbert, Robert J. Webster
Can concentric tube robots follow the leader? ICRA (2013)
Philip J. Swaney, Jessica Burgner, Ray A. Lathrop, Hunter B. Gilbert, Kyle D. Weaver, Robert J. Webster
Minimally-invasive intracerebral hemorrhage removal using an active cannula. ICRA (2013)
Hao Su, Diana C. Cardona, Weijian Shang, Alexander Camilo, Gregory A. Cole, D. Caleb Rucker, Robert J. Webster, Gregory S. Fischer
A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study. ICRA (2012)
Luis G. Torres, Robert J. Webster, Ron Alterovitz
Task-oriented design of concentric tube robots using mechanics-based models. IROS (2012)
Amber L. Simpson, Jessica Burgner, Ishita Chen, Thomas S. Pheiffer, Kay Sun, Reid Carleton Thompson, Robert J. Webster, Michael I. Miga
Intraoperative brain tumor resection cavity characterization with conoscopic holography. Medical Imaging: Image-Guided Procedures (2012)
Philip J. Swaney, Jessica Burgner, Thomas S. Pheiffer, D. Caleb Rucker, Hunter B. Gilbert, Janet E. Ondrake, Amber L. Simpson, Everette Clif Burdette, Michael I. Miga, Robert J. Webster
Tracked 3D ultrasound targeting with an active cannula. Medical Imaging: Image-Guided Procedures (2012)
Jenna L. Toennies, Jessica Burgner, Thomas J. Withrow, Robert J. Webster
Toward haptic/aural touchscreen display of graphical mathematics for the education of blind students. World Haptics (2011)
Louis B. Kratchman, Mohammed M. Rahman, Justin R. Saunders, Philip J. Swaney, Robert J. Webster
Toward robotic needle steering in lung biopsy: a tendon-actuated approach. Medical Imaging: Image-Guided Procedures (2011)
Ramya Balachandran, Jason E. Mitchell, Jack H. Noble, Daniel Schurzig, Grégoire S. Blachon, Theodore R. McRackan, Robert J. Webster, Benoit M. Dawant, J. Michael Fitzpatrick, Robert F. Labadie
Insertion of electrode array using percutaneous cochlear implantation technique: a cadaveric study. Medical Imaging: Image-Guided Procedures (2011)
Louis B. Kratchman, Grégoire S. Blachon, Thomas J. Withrow, Ramya Balachandran, Robert F. Labadie, Robert J. Webster
Design of a Bone-Attached Parallel Robot for Percutaneous Cochlear Implantation. IEEE Trans. Biomed. Eng. 58 (10) (2011)
Lisa A. Lyons, Robert J. Webster, Ron Alterovitz
Planning active cannula configurations through tubular anatomy. ICRA (2010)
Ray A. Lathrop, Douglas M. Hackworth, Robert J. Webster
Minimally Invasive Holographic Surface Scanning for Soft-Tissue Image Registration. IEEE Trans. Biomed. Eng. 57 (6) (2010)
Emad M. Boctor, Philipp J. Stolka, Hyun-Jae Kang, Clyde Clarke, D. Caleb Rucker, Jordon M. Croom, Everette Clif Burdette, Robert J. Webster
Precisely shaped acoustic ablation of tumors utilizing steerable needle and 3D ultrasound image guidance. Medical Imaging: Image-Guided Procedures (2010)
Pietro Valdastri, Robert J. Webster, Claudio Quaglia, Marco Quirini, Arianna Menciassi, Paolo Dario
A New Mechanism for Mesoscale Legged Locomotion in Compliant Tubular Environments. IEEE Trans. Robotics 25 (5) (2009)
D. Caleb Rucker, Robert J. Webster
Parsimonious Evaluation of Concentric-Tube Continuum Robot Equilibrium Conformation. IEEE Trans. Biomed. Eng. 56 (9) (2009)
Robert J. Webster, Joseph M. Romano, Noah J. Cowan
Mechanics of Precurved-Tube Continuum Robots. IEEE Trans. Robotics 25 (1) (2009)
Ray A. Lathrop, Tiffany T. Cheng, Robert J. Webster
Conoscopic holography for image registration: a feasibility study. Medical Imaging: Image-Guided Procedures (2009)
Robert J. Webster, John P. Swensen, Joseph M. Romano, Noah J. Cowan
Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing. ISER (2008)