Robert J. Webster III

Publication Activity (10 Years)

Years Active: 2002-2024
Publications (10 Years): 37

Top Topics

Experimentally Validated

Robotic Manipulator

Top Venues

IEEE Robotics Autom. Lett.

Medical Imaging: Image-Guided Procedures

IEEE Trans. Robotics

Publications

Khoa T. Dang, Stephen Qiu, Carter Hatch, Peter Connor, Tony Qin, Ron Alterovitz, Robert J. Webster III, Caleb Rucker
Design of Transmission Tubes for Surgical Concentric Push-Pull Robots. ISMR (2024)
Daniel S. Esser, Emily M. McCabe, Tayfun Efe Ertop, Alan Kuntz, Robert J. Webster III
Directional Stiffness-Switching Soft Robots via Phase-Changing Metallic Spines. RoboSoft (2024)
Brian Y. Cho, Daniel S. Esser, Jordan Thompson, Bao Thach, Robert J. Webster III, Alan Kuntz
Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network. CoRR (2024)
Janine Hoelscher, Inbar Fried, Spiros Tsalikis, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz
Safe Start Regions for Medical Steerable Needle Automation. CoRR (2024)
Jason Shrand, Jesse F. d'Almeida, Ethan Wilke, Amy Reed, Nicholas L. Kavoussi, S. Duke Herrell III, Tayfun Efe Ertop, Robert J. Webster III
Enhancing Accuracy in Transendoscopic Concentric Tube Robots for Monocular Endoscope Guidance. ISMR (2024)
Emily M. McCabe, Daniel S. Esser, Tayfun Efe Ertop, Alan Kuntz, Robert J. Webster III
Combining Thermoelectrics and Low Melting Point Alloys to Create Reconfigurable Stiff-Compliant Manipulators. RoboSoft (2024)
James M. Ferguson, D. Caleb Rucker, Robert J. Webster III
Unified Shape and External Load State Estimation for Continuum Robots. IEEE Trans. Robotics 40 (2024)
Patrick L. Anderson, Richard J. Hendrick, Margaret F. Rox, Robert J. Webster III
Exceeding traditional curvature limits of concentric tube robots through redundancy resolution. Int. J. Robotics Res. 43 (1) (2024)
Margaret Rox, Daniel S. Esser, Mariana E. Smith, Tayfun Efe Ertop, Maxwell Emerson, Fabien Maldonado, Erin A. Gillaspie, Alan Kuntz, Robert J. Webster III
Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks. IEEE Robotics Autom. Lett. 8 (6) (2023)
Abby M. Grillo, John E. Peters, Daniel S. Esser, Sarah J. Garrow, Tyler Ball, Robert Naftel, Dario J. Englot, Joseph S. Neimat, William A. Grissom, Eric J. Barth, Robert J. Webster III
Design considerations for robotic, MRI-guided, trans-foramen ovale access to the brain. Medical Imaging: Image-Guided Procedures (2023)
Alan Kuntz, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Margaret Rox, Jason A. Akulian, Erin A. Gillaspie, Yueh Z. Lee, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz
Autonomous medical needle steering in vivo. Sci. Robotics 8 (82) (2023)
James M. Ferguson, Tayfun Efe Ertop, S. Duke Herrell III, Robert J. Webster III
Unified robot and inertial sensor self-calibration. Robotica 41 (5) (2023)
Jason Shrand, Jesse F. d'Almeida, Tayfun Efe Ertop, Nicholas L. Kavoussi, Shaan Setia, S. Duke Herrell III, Robert J. Webster III
A virtual reality framework for evaluating concentric tube surgical robot designs. Medical Imaging: Image-Guided Procedures (2023)
Katherine E. Riojas, Trevor L. Bruns, Josephine Granna, Robert J. Webster III, Robert F. Labadie
Robotic pullback technique of a precurved cochlear-implant electrode array using real-time impedance sensing feedback. Int. J. Comput. Assist. Radiol. Surg. 18 (3) (2023)
Mariana E. Smith, Daniel S. Esser, Margaret Rox, Alan Kuntz, Robert J. Webster III
A Radial Folding Mechanism to Enable Surgical Continuum Manipulators to Fit Through Smaller Ports. ISMR (2023)
Trevor L. Bruns, Katherine E. Riojas, Robert F. Labadie, Robert J. Webster III
Real-Time Localization of Cochlear-Implant Electrode Arrays Using Bipolar Impedance Sensing. IEEE Trans. Biomed. Eng. 69 (2) (2022)
Alan Kuntz, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Margaret Rox, Jason A. Akulian, Erin A. Gillaspie, Yueh Z. Lee, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz
Autonomous Medical Needle Steering In Vivo. CoRR (2022)
Adrian N. Florea, Dominick S. Ropella, Ernar Amanov, S. Duke Herrell III, Robert J. Webster III
Design of a modular, multi-arm concentric tube robot featuring roller gears. Medical Imaging: Image-Guided Procedures (2022)
Juyoung Kim, James M. Ferguson, Jason Shrand, Bryn Pitt, Josephine Granna, Naren Nimmagadda, Nicholas L. Kavoussi, S. Duke Herrell III, Robert J. Webster III
Integrating FireFly fluorescence into image guidance for the da Vinci robot. Medical Imaging: Image-Guided Procedures (2021)
Federico Campisano, Simone Caló, Andria A. Remirez, James H. Chandler, Keith L. Obstein, Robert J. Webster III, Pietro Valdastri
Closed-loop control of soft continuum manipulators under tip follower actuation. Int. J. Robotics Res. 40 (6-7) (2021)
Maxwell Emerson, James M. Ferguson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Ron Alterovitz, Robert J. Webster III, Alan Kuntz
A Recurrent Neural Network Approach to Roll Estimation for Needle Steering. CoRR (2021)
Janine Hoelscher, Mengyu Fu, Inbar Fried, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Alan Kuntz, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz
Backward Planning for a Multi-Stage Steerable Needle Lung Robot. IEEE Robotics Autom. Lett. 6 (2) (2021)
John Till, Vincent A. Aloi, Katherine E. Riojas, Patrick L. Anderson, Robert J. Webster III, D. Caleb Rucker
A Dynamic Model for Concentric Tube Robots. IEEE Trans. Robotics 36 (6) (2020)
Federico Campisano, Andria A. Remirez, Claire A. Landewee, Simone Caló, Keith L. Obstein, Robert J. Webster III, Pietro Valdastri
Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy. IEEE Robotics Autom. Lett. 5 (4) (2020)
Patrick S. Wellborn, Paul T. Russell III, Robert J. Webster III
A multi-subject accuracy study on granular jamming for non-invasive attachment of fiducial markers to patients. Int. J. Comput. Assist. Radiol. Surg. 15 (1) (2020)
Katherine E. Riojas, Patrick L. Anderson, Ray A. Lathrop, S. Duke Herrell, D. Caleb Rucker, Robert J. Webster III
A Hand-Held Non-Robotic Surgical Tool With a Wrist and an Elbow. IEEE Trans. Biomed. Eng. 66 (11) (2019)
Isuru S. Godage, Robert J. Webster III, Ian D. Walker
Center of Gravity-based Approach for Modeling Dynamics of Multisection Continuum Arms. CoRR (2019)
Saramati Narasimhan, Jared A. Weis, Isuru S. Godage, Robert J. Webster III, Kyle D. Weaver, Michael I. Miga
Development of a mechanics-based model of brain deformations during intracerebral hemorrhage evacuation. Medical Imaging: Image-Guided Procedures (2017)
Loris Fichera, Neal P. Dillon, Dongqing Zhang, Isuru S. Godage, Michael A. Siebold, Bryan I. Hartley, Jack H. Noble, Paul T. Russell III, Robert F. Labadie, Robert J. Webster III
Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into the Middle Ear. IEEE Robotics Autom. Lett. 2 (3) (2017)
Hunter B. Gilbert, Richard J. Hendrick, Robert J. Webster III
Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test. IEEE Trans. Robotics 32 (1) (2016)
Hunter B. Gilbert, Robert J. Webster III
Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots. IEEE Robotics Autom. Lett. 1 (1) (2016)
Arthur W. Mahoney, Trevor L. Bruns, Ron Alterovitz, Robert J. Webster III
Design, Sensing, and Planning: Fundamentally Coupled Problems for Continuum Robots. ISRR (1) (2015)
Richard J. Hendrick, Christopher R. Mitchell, S. Duke Herrell, Robert J. Webster III
Hand-held transendoscopic robotic manipulators: A transurethral laser prostate surgery case study. Int. J. Robotics Res. 34 (13) (2015)
Richard J. Hendrick, Hunter B. Gilbert, Robert J. Webster III
Designing snap-free concentric tube robots: A local bifurcation approach. ICRA (2015)
Alan Kuntz, Luis G. Torres, Richard H. Feins, Robert J. Webster III, Ron Alterovitz
Motion planning for a three-stage multilumen transoral lung access system. IROS (2015)
Isuru S. Godage, Andria A. Remirez, Raul Wirz, Kyle D. Weaver, Jessica Burgner-Kahrs, Robert J. Webster III
Robotic intracerebral hemorrhage evacuation: An in-scanner approach with concentric tube robots. IROS (2015)
Peter A. York, Philip J. Swaney, Hunter B. Gilbert, Robert J. Webster III
A wrist for needle-sized surgical robots. ICRA (2015)
Richard J. Hendrick, S. Duke Herrell, Christopher R. Mitchell, Robert J. Webster III
Experiments on the Simultaneous Hand-Held Control of Rigid Endoscopes and Robots Passing Through Them. ISER (2014)
Jessica Burgner-Kahrs, Hunter B. Gilbert, Josephine Granna, Philip J. Swaney, Robert J. Webster III
Workspace characterization for concentric tube continuum robots. IROS (2014)
Richard J. Hendrick, S. Duke Herrell, Robert J. Webster III
A multi-arm hand-held robotic system for transurethral laser Prostate surgery. ICRA (2014)
Amber L. Simpson, Jessica Burgner, Courtenay L. Glisson, S. Duke Herrell, Burton Ma, Thomas S. Pheiffer, Robert J. Webster III, Michael I. Miga
Comparison Study of Intraoperative Surface Acquisition Methods for Surgical Navigation. IEEE Trans. Biomed. Eng. 60 (4) (2013)
Hunter B. Gilbert, D. Caleb Rucker, Robert J. Webster III
Concentric Tube Robots: The State of the Art and Future Directions. ISRR (2013)
Jenna L. Gorlewicz, Santina Battaglia, Byron F. Smith, Gastone Ciuti, Jason Gerding, Arianna Menciassi, Keith Obstein, Pietro Valdastri, Robert J. Webster III
Wireless Insufflation of the Gastrointestinal Tract. IEEE Trans. Biomed. Eng. 60 (5) (2013)
Louis B. Kratchman, Daniel Schurzig, Theodore R. McRackan, Ramya Balachandran, Jack H. Noble, Robert J. Webster III, Robert F. Labadie
A Manually Operated, Advance Off-Stylet Insertion Tool for Minimally Invasive Cochlear Implantation Surgery. IEEE Trans. Biomed. Eng. 59 (10) (2012)
Jessica Burgner, Hunter B. Gilbert, Philip J. Swaney, Paul T. Russell III, Robert J. Webster III
Kontinuumsroboter auf Basis vorgebogener Nitinolröhrchen: Evaluierung eines Prototypen für die Transnasale Schädelbasischirurgie. CURAC (2012)
D. Caleb Rucker, Robert J. Webster III
Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading. IEEE Trans. Robotics 27 (6) (2011)
D. Caleb Rucker, Robert J. Webster III
Computing Jacobians and compliance matrices for externally loaded continuum robots. ICRA (2011)
D. Caleb Rucker, Robert J. Webster III
Deflection-based force sensing for continuum robots: A probabilistic approach. IROS (2011)
Jessica Burgner, Philip J. Swaney, D. Caleb Rucker, Hunter B. Gilbert, Scott T. Nill, Paul T. Russell III, Kyle D. Weaver, Robert J. Webster III
A bimanual teleoperated system for endonasal skull base surgery. IROS (2011)
Jordan M. Croom, D. Caleb Rucker, Joseph M. Romano, Robert J. Webster III
Visual sensing of continuum robot shape using self-organizing maps. ICRA (2010)
D. Caleb Rucker, Robert J. Webster III
Mechanics of Continuum Robots with External Loading and General Tendon Routing. ISER (2010)
D. Caleb Rucker, Bryan A. Jones, Robert J. Webster III
A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots. IEEE Trans. Robotics 26 (5) (2010)
Robert J. Webster III, Bryan A. Jones
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review. Int. J. Robotics Res. 29 (13) (2010)
D. Caleb Rucker, Bryan A. Jones, Robert J. Webster III
A model for concentric tube continuum robots under applied wrenches. ICRA (2010)
D. Caleb Rucker, Robert J. Webster III, Gregory S. Chirikjian, Noah J. Cowan
Equilibrium Conformations of Concentric-tube Continuum Robots. Int. J. Robotics Res. 29 (10) (2010)
Ray A. Lathrop, D. Caleb Rucker, Robert J. Webster III
Guidance of a steerable cannula robot in soft tissue using preoperative imaging and conoscopic surface contour sensing. ICRA (2010)
Daniel Schurzig, Robert F. Labadie, Andreas Hussong, Thomas S. Rau, Robert J. Webster III
A force sensing Automated Insertion Tool for cochlear electrode implantation. ICRA (2010)
Lisa A. Lyons, Robert J. Webster III, Ron Alterovitz
Motion planning for active cannulas. IROS (2009)
D. Caleb Rucker, Robert J. Webster III
Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas. ICRA (2009)
Robert J. Webster III, Joseph M. Romano, Noah J. Cowan
Kinematics and calibration of active cannulas. ICRA (2008)
Nicola Ng Pak, Robert J. Webster III, Arianna Menciassi, Paolo Dario
Electrolytic Silicone Bourdon Tube Microactuator for Reconfigurable Surgical Robots. ICRA (2007)
Joseph M. Romano, Robert J. Webster III, Allison M. Okamura
Teleoperation of Steerable Needles. ICRA (2007)
Marco Quirini, Robert J. Webster III, Arianna Menciassi, Paolo Dario
Design of a Pill-Sized 12-legged Endoscopic Capsule Robot. ICRA (2007)
Robert J. Webster III, Allison M. Okamura, Noah J. Cowan
Toward Active Cannulas: Miniature Snake-Like Surgical Robots. IROS (2006)
Robert J. Webster III
Object capture with a camera-mobile robot system. IEEE Robotics Autom. Mag. 13 (1) (2006)
Robert J. Webster III, Jin Seob Kim, Noah J. Cowan, Gregory S. Chirikjian, Allison M. Okamura
Nonholonomic Modeling of Needle Steering. Int. J. Robotics Res. 25 (5-6) (2006)
Robert J. Webster III, Jasenka Memisevic, Allison M. Okamura
Design Considerations for Robotic Needle Steering. ICRA (2005)
Robert J. Webster III, Todd E. Murphy, Lawton N. Verner, Allison M. Okamura
A novel two-dimensional tactile slip display: design, kinematics and perceptual experiments. ACM Trans. Appl. Percept. 2 (2) (2005)
Robert J. Webster III, Noah J. Cowan, Gregory S. Chirikjian, Allison M. Okamura
Nonholonomic Modeling of Needle Steering. ISER (2004)
Emad Boctor, Robert J. Webster III, Michael A. Choti, Russell H. Taylor, Gabor Fichtinger
Robotically assisted ablative treatment guided by freehand 3D ultrasound. CARS (2004)
Allison M. Okamura, Robert J. Webster III, Jason T. Nolin, K. W. Johnson, H. Jafry
The haptic scissors: cutting in virtual environments. ICRA (2003)
Emad Boctor, Robert J. Webster III, Hervé Mathieu, Allison M. Okamura, Gabor Fichtinger
Virtual Remote Center of Motion Control for Needle Placement Robots. MICCAI (1) (2003)
Robert J. Webster III, Alan S. Brannon
The Electronic Ball Boy: A Reactive Visually Guided Mobile Robot for the Tennis Court. ICRA (2002)