1978 …2020

Research output per year

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Research Output

2020

Abstract: Learning to avoid poor images: towards task-aware c-arm cone-beam ct trajectories

Zaech, J. N., Gao, C., Bier, B., Taylor, R., Maier, A., Navab, N. & Unberath, M., Jan 1 2020, Bildverarbeitung für die Medizin 2020 Algorithmen - Systeme - Anwendungen. Proceedings des Workshops. Tolxdorff, T., Deserno, T. M., Handels, H., Maier, A., Maier-Hein, K. H. & Palm, C. (eds.). Springer, 1 p. (Informatik aktuell).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Open Access

Automatic annotation of hip anatomy in fluoroscopy for robust and efficient 2D/3D registration

Grupp, R. B., Unberath, M., Gao, C., Hegeman, R. A., Murphy, R. J., Alexander, C. P., Otake, Y., McArthur, B. A., Armand, M. & Taylor, R. H., Jan 1 2020, (Accepted/In press) In : International Journal of Computer Assisted Radiology and Surgery.

Research output: Contribution to journalArticle

Combating COVID-19-The role of robotics in managing public health and infectious diseases

Yang, G. Z., Nelson, B. J., Murphy, R. R., Choset, H., Christensen, H., Collins, S. H., Dario, P., Goldberg, K., Ikuta, K., Jacobstein, N., Kragic, D., Taylor, R. H. & McNutt, M., Mar 25 2020, In : Science Robotics. 5, 40, eabb5589.

Research output: Contribution to journalEditorial

Open Access

Dense Depth Estimation in Monocular Endoscopy with Self-Supervised Learning Methods

Liu, X., Sinha, A., Ishii, M., Hager, G. D., Reiter, A., Taylor, R. H. & Unberath, M., May 2020, In : IEEE transactions on medical imaging. 39, 5, p. 1438-1447 10 p., 8889760.

Research output: Contribution to journalArticle

Open Access

SCADE: Simultaneous Sensor Calibration and Deformation Estimation of FBG-Equipped Unmodeled Continuum Manipulators

Alambeigi, F., Aghajani Pedram, S., Speyer, J. L., Rosen, J., Iordachita, I., Taylor, R. H. & Armand, M., Feb 2020, In : IEEE Transactions on Robotics. 36, 1, p. 222-239 18 p., 8886726.

Research output: Contribution to journalArticle

Spatial Radiation Dose Influence on Xerostomia Recovery and Its Comparison to Acute Incidence in Patients With Head and Neck Cancer

Guo, Y., Jiang, W., Lakshminarayanan, P., Han, P., Cheng, Z., Bowers, M., Hui, X., Shpitser, I., Siddiqui, S., Taylor, R. H., Quon, H. & McNutt, T., Mar 1 2020, In : Advances in Radiation Oncology. 5, 2, p. 221-230 10 p.

Research output: Contribution to journalArticle

Open Access
2019

A Novel Semi-Autonomous Control Framework for Retina Confocal Endomicroscopy Scanning

Li, Z., Yang, G. Z., Taylor, R. H., Shahbazi, M., Patel, N., Sullivan, E. O., Zhang, H., Vyas, K., Chalasani, P., Gehlbach, P. L. & Iordachita, I., Nov 2019, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Institute of Electrical and Electronics Engineers Inc., p. 7083-7090 8 p. 8967751. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Applied Force during Piston Prosthesis Placement in a 3D-Printed Model: Freehand vs Robot-Assisted Techniques

Razavi, C. R., Wilkening, P. R., Yin, R., Lamaison, N., Taylor, R. H., Carey, J. P. & Creighton, F., Feb 1 2019, In : Otolaryngology - Head and Neck Surgery (United States). 160, 2, p. 320-325 6 p.

Research output: Contribution to journalArticle

A unified framework for the teleoperation of surgical robots in constrained workspaces

Marinho, M. M., Adorno, B. V., Harada, K., Deie, K., Deguet, A., Kazanzides, P., Taylor, R. H. & Mitsuishi, M., May 1 2019, 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., p. 2721-2727 7 p. 8794363. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2019-May).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Open Access

Dose/Volume histogram patterns in Salivary Gland subvolumes influence xerostomia injury and recovery

Han, P., Lakshminarayanan, P., Jiang, W., Shpitser, I., Hui, X., Lee, S. H., Cheng, Z., Guo, Y., Taylor, R. H., Siddiqui, S. A., Bowers, M., Sheikh, K., Kiess, A. P., Page, B., Lee, J., Quon, H. & McNutt, T., Dec 1 2019, In : Scientific reports. 9, 1, 3616.

Research output: Contribution to journalArticle

Open Access

Enabling machine learning in X-ray-based procedures via realistic simulation of image formation

Unberath, M., Zaech, J. N., Gao, C., Bier, B., Goldmann, F., Lee, S. C., Fotouhi, J., Taylor, R. H., Armand, M. & Navab, N., Jan 1 2019, In : International Journal of Computer Assisted Radiology and Surgery.

Research output: Contribution to journalArticle

Image-Guided Mastoidectomy with a Cooperatively Controlled ENT Microsurgery Robot

Razavi, C. R., Wilkening, P. R., Yin, R., Barber, S. R., Taylor, R. H., Carey, J. P. & Creighton, F., Jan 1 2019, (Accepted/In press) In : Otolaryngology - Head and Neck Surgery (United States).

Research output: Contribution to journalArticle

Learning to Avoid Poor Images: Towards Task-aware C-arm Cone-beam CT Trajectories

Zaech, J. N., Gao, C., Bier, B., Taylor, R., Maier, A., Navab, N. & Unberath, M., Jan 1 2019, Medical Image Computing and Computer Assisted Intervention – MICCAI 2019 - 22nd International Conference, Proceedings. Shen, D., Yap, P-T., Liu, T., Peters, T. M., Khan, A., Staib, L. H., Essert, C. & Zhou, S. (eds.). Springer, p. 11-19 9 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 11768 LNCS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Learning to Detect Collisions for Continuum Manipulators Without a Prior Model

Sefati, S., Sefati, S., Iordachita, I., Taylor, R. H. & Armand, M., Jan 1 2019, Medical Image Computing and Computer Assisted Intervention – MICCAI 2019 - 22nd International Conference, Proceedings. Shen, D., Yap, P-T., Liu, T., Peters, T. M., Khan, A., Staib, L. H., Essert, C. & Zhou, S. (eds.). Springer, p. 182-190 9 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 11768 LNCS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Machine Learning Methods Uncover Radiomorphologic Dose Patterns in Salivary Glands that Predict Xerostomia in Patients with Head and Neck Cancer

Jiang, W., Lakshminarayanan, P., Hui, X., Han, P., Cheng, Z., Bowers, M., Shpitser, I., Siddiqui, S., Taylor, R. H., Quon, H. & McNutt, T., Jan 1 2019, (Accepted/In press) In : Advances in Radiation Oncology.

Research output: Contribution to journalArticle

Mosquito pick-and-place: Automating a key step in PfSPZ-based Malaria vaccine production

Phalen, H., Vagdargi, P., Pozin, M., Chakravarty, S., Chirikjian, G. S., Iordachita, I. & Taylor, R. H., Aug 1 2019, 2019 IEEE 15th International Conference on Automation Science and Engineering, CASE 2019. IEEE Computer Society, p. 12-17 6 p. 8842860. (IEEE International Conference on Automation Science and Engineering; vol. 2019-August).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mosquito Staging Apparatus for Producing PfSPZ Malaria Vaccines

Xu, M., Lyu, S., Xu, Y., Kocabalkanli, C., Chirikjian, B. K., Chirikjian, J. S., Davis, J., Kim, J. S., Iordachita, I., Taylor, R. H. & Chirikjian, G. S., Aug 1 2019, 2019 IEEE 15th International Conference on Automation Science and Engineering, CASE 2019. IEEE Computer Society, p. 443-449 7 p. 8843147. (IEEE International Conference on Automation Science and Engineering; vol. 2019-August).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Multi-mosquito object detection and 2d pose estimation for automation of PfSPZ malaria vaccine production

Wu, H., Mu, J., Da, T., Xu, M., Taylor, R. H., Iordachita, I. & Chirikjian, G. S., Aug 1 2019, 2019 IEEE 15th International Conference on Automation Science and Engineering, CASE 2019. IEEE Computer Society, p. 411-417 7 p. 8842953. (IEEE International Conference on Automation Science and Engineering; vol. 2019-August).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Pose Estimation of Periacetabular Osteotomy Fragments with Intraoperative X-Ray Navigation

Grupp, R. B., Hegeman, R., Murphy, R., Alexander, C., Otake, Y., McArthur, B., Armand, M. & Taylor, R. H., Jan 1 2019, In : IEEE Transactions on Biomedical Engineering.

Research output: Contribution to journalArticle

Recovering Physiological Changes in Nasal Anatomy with Confidence Estimates

Sinha, A., Liu, X., Ishii, M., Hager, G. D. & Taylor, R. H., Jan 1 2019, Uncertainty for Safe Utilization of Machine Learning in Medical Imaging and Clinical Image-Based Procedures - 1st International Workshop, UNSURE 2019, and 8th International Workshop, CLIP 2019, Held in Conjunction with MICCAI 2019, Proceedings. Greenspan, H., Tanno, R., Erdt, M., Arbel, T., Baumgartner, C., Dalca, A., Sudre, C. H., Wells, W. M., Drechsler, K., Erdt, M., Linguraru, M. G., Shekhar, R., Oyarzun Laura, C., Wesarg, S. & González Ballester, M. Á. (eds.). Springer, p. 115-124 10 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 11840 LNCS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ten robotics technologies of the year

Yang, G. Z., Full, R. J., Jacobstein, N., Fischer, P., Bellingham, J., Choset, H., Christensen, H., Dario, P., Nelson, B. J. & Taylor, R., Jan 16 2019, In : Science Robotics. 4, 26, p. 1-5 5 p., eaaw1826.

Research output: Contribution to journalReview article

The deformable most-likely-point paradigm

Sinha, A., Billings, S. D., Reiter, A., Liu, X., Ishii, M., Hager, G. & Taylor, R. H., Jul 1 2019, In : Medical Image Analysis. 55, p. 148-164 17 p.

Research output: Contribution to journalArticle

Toward Improving Patient Safety and Surgeon Comfort in a Synergic Robot-Assisted Eye Surgery: A Comparative Study

Ebrahimi, A., Alambeigi, F., Zimmer-Galler, I. E., Gehlbach, P., Taylor, R. H. & Iordachita, I., Nov 2019, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Institute of Electrical and Electronics Engineers Inc., p. 7075-7082 8 p. 8967806. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Towards securing the sclera against patient involuntary head movement in robotic retinal surgery

Ebrahimi, A., Urias, M., Patel, N., He, C., Taylor, R. H., Gehlbach, P. & Iordachita, I., Oct 2019, 2019 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019. Institute of Electrical and Electronics Engineers Inc., 8956341. (2019 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2018

A computational framework for complementary situational awareness (CSA) in surgical assistant robots

Chalasani, P., Deguet, A., Kazanzides, P. & Taylor, R. H., Apr 2 2018, Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018. Institute of Electrical and Electronics Engineers Inc., Vol. 2018-January. p. 9-16 8 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Augmented reality-based feedback for technician-in-the-loop C-arm repositioning

Unberath, M., Fotouhi, J., Hajek, J., Maier, A., Osgood, G., Taylor, R. H., Armand, M. & Navab, N., Jan 1 2018, In : Healthcare Technology Letters. 5, 5, p. 143-147 5 p.

Research output: Contribution to journalArticle

Biomechanical guidance system for periacetabular osteotomy

Armand, M., Grupp, R., Murphy, R., Hegman, R., Armiger, R., Taylor, R. H., McArthur, B. & Lepisto, J., Jan 1 2018, Advances in Experimental Medicine and Biology. Springer New York LLC, p. 169-179 11 p. (Advances in Experimental Medicine and Biology; vol. 1093).

Research output: Chapter in Book/Report/Conference proceedingChapter

Endoscopic Navigation in the Absence of CT Imaging

Sinha, A., Liu, X., Reiter, A., Ishii, M., Hager, G. & Taylor, R. H., Jan 1 2018, Medical Image Computing and Computer Assisted Intervention – MICCAI 2018 - 21st International Conference, 2018, Proceedings. Frangi, A. F., Fichtinger, G., Schnabel, J. A., Alberola-López, C. & Davatzikos, C. (eds.). Springer Verlag, p. 64-71 8 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 11073 LNCS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Exploiting Partial Structural Symmetry for Patient-Specific Image Augmentation in Trauma Interventions

Fotouhi, J., Unberath, M., Taylor, G., Farashahi, A. G., Bier, B., Taylor, R. H., Osgood, G., Armand, M. & Navab, N., Jan 1 2018, Medical Image Computing and Computer Assisted Intervention – MICCAI 2018 - 21st International Conference, 2018, Proceedings. Frangi, A. F., Fichtinger, G., Schnabel, J. A., Alberola-López, C. & Davatzikos, C. (eds.). Springer Verlag, p. 107-115 9 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 11073 LNCS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

FBG-Based Control of a Continuum Manipulator Interacting with Obstacles∗

Sefati, S., Murphy, R. J., Alambeigi, F., Pozin, M., Iordachita, I., Taylor, R. H. & Armand, M., Dec 27 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., p. 6477-6483 7 p. 8594407. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

On the effect of vibration on shape sensing of continuum manipulators using fiber Bragg gratings

Sefati, S., Alambeigi, F., Iordachita, I., Taylor, R. H. & Armand, M., Apr 6 2018, 2018 International Symposium on Medical Robotics, ISMR 2018. Institute of Electrical and Electronics Engineers Inc., Vol. 2018-January. p. 1-6 6 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Patch-based image similarity for intraoperative 2D/3D pelvis registration during periacetabular osteotomy

Grupp, R. B., Armand, M. & Taylor, R. H., Jan 1 2018, OR 2.0 Context-Aware Operating Theaters, Computer Assisted Robotic Endoscopy, Clinical Image-Based Procedures, and Skin Image Analysis - 1st International Workshop, OR 2.0 2018 5th International Workshop, CARE 2018, 7th International Workshop, CLIP 2018, 3rd International Workshop, ISIC 2018 Held in Conjunction with MICCAI 2018. Malpani, A., Zenati, M. A., Oyarzun Laura, C., Celebi, M. E., Sarikaya, D., Codella, N. C., Halpern, A., Erdt, M., Maier-Hein, L., Xiongbiao, L., Wesarg, S., Stoyanov, D., Taylor, Z., Drechsler, K., Dana, K., Martel, A., Shekhar, R., De Ribaupierre, S., Reichl, T., McLeod, J., González Ballester, M. A., Collins, T. & Linguraru, M. G. (eds.). Springer Verlag, p. 153-163 11 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 11041 LNCS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Photoacoustic-based catheter tracking: Simulation, phantom, and in vivo studies

Cheng, A., Kim, Y., Itsarachaiyot, Y., Zhang, H. K., Weiss, C., Taylor, R. H. & Boctor, E., Apr 1 2018, In : Journal of Medical Imaging. 5, 2, 021223.

Research output: Contribution to journalArticle

Plan in 2-D, execute in 3-D: An augmented reality solution for cup placement in total hip arthroplasty

Fotouhi, J., Alexander, C. P., Unberath, M., Taylor, G., Lee, S. C., Fuerst, B., Johnson, A., Osgood, G., Taylor, R. H., Khanuja, H., Armand, M. & Navab, N., Apr 1 2018, In : Journal of Medical Imaging. 5, 2, 021205.

Research output: Contribution to journalArticle

Preliminary evaluation of an online estimation method for organ geometry and tissue stiffness

Chalasani, P., Wang, L., Yasin, R., Simaan, N. & Taylor, R. H., Jul 1 2018, In : IEEE Robotics and Automation Letters. 3, 3, p. 1816-1823 8 p.

Research output: Contribution to journalArticle

Radio-morphology: Parametric shape-based features in radiotherapy

Lakshminarayanan, P., Jiang, W., Robertson, S. P., Cheng, Z., Han, P., Bowers, M., Moore, J. A., Shpitser, I., Siddiqui, S. A., Quon, H., Taylor, R. H. & McNutt, T., Jan 1 2018, (Accepted/In press) In : Medical Physics.

Research output: Contribution to journalArticle

Real-time robotic airway measurement: An additional benefit of a novel steady-hand robotic platform

Razavi, C. R., Creighton, F., Wilkening, P. R., Peine, J., Taylor, R. H. & Akst, L. M., Jan 1 2018, (Accepted/In press) In : Laryngoscope.

Research output: Contribution to journalArticle

Self-supervised learning for dense depth estimation in monocular endoscopy

Liu, X., Sinha, A., Unberath, M., Ishii, M., Hager, G., Taylor, R. H. & Reiter, A., Jan 1 2018, OR 2.0 Context-Aware Operating Theaters, Computer Assisted Robotic Endoscopy, Clinical Image-Based Procedures, and Skin Image Analysis - 1st International Workshop, OR 2.0 2018 5th International Workshop, CARE 2018, 7th International Workshop, CLIP 2018, 3rd International Workshop, ISIC 2018 Held in Conjunction with MICCAI 2018. Malpani, A., Zenati, M. A., Oyarzun Laura, C., Celebi, M. E., Sarikaya, D., Codella, N. C., Halpern, A., Erdt, M., Maier-Hein, L., Xiongbiao, L., Wesarg, S., Stoyanov, D., Taylor, Z., Drechsler, K., Dana, K., Martel, A., Shekhar, R., De Ribaupierre, S., Reichl, T., McLeod, J., González Ballester, M. A., Collins, T. & Linguraru, M. G. (eds.). Springer Verlag, p. 128-138 11 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 11041 LNCS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Technical note: An augmented reality system for total hip arthroplasty

Fotouhi, J., Alexander, C. P., Unberath, M., Taylor, G., Lee, S. C., Fuerst, B., Alex Johnson, M. D., Greg Osgood, M. D., Taylor, R. H., Khanuja, H., Navab, N. & Armand, M., Jan 1 2018, Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling. Fei, B. & Webster, R. J. (eds.). SPIE, 105760J. (Progress in Biomedical Optics and Imaging - Proceedings of SPIE; vol. 10576).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

The grand challenges of science robotics

Yang, G. Z., Bellingham, J., Dupont, P. E., Fischer, P., Floridi, L., Full, R., Jacobstein, N., Kumar, V., McNutt, M., Merrifield, R., Nelson, B. J., Scassellati, B., Taddeo, M., Taylor, R. H., Veloso, M., Wang, Z. L. & Wood, R., Jan 31 2018, In : Science Robotics. 3, 14, eaar7650.

Research output: Contribution to journalReview article

Toward Semi-autonomous Cryoablation of Kidney Tumors via Model-Independent Deformable Tissue Manipulation Technique

Alambeigi, F., Wang, Z., Liu, Y. H., Taylor, R. H. & Armand, M., Jun 19 2018, (Accepted/In press) In : Annals of Biomedical Engineering. p. 1-13 13 p.

Research output: Contribution to journalArticle

Using Big Data Analytics to Advance Precision Radiation Oncology

McNutt, T., Benedict, S. H., Low, D. A., Moore, K., Shpitser, I., Jiang, W., Lakshminarayanan, P., Cheng, Z., Han, P., Hui, X., Nakatsugawa, M., Lee, J., Moore, J. A., Robertson, S. P., Shah, V., Taylor, R. H., Quon, H., Wong, J. & DeWeese, T., Jun 1 2018, In : International Journal of Radiation Oncology Biology Physics. 101, 2, p. 285-291 7 p.

Research output: Contribution to journalArticle

Vision-based calibration of dual RCM-based robot arms in human-robot collaborative minimally invasive surgery

Wang, Z., Liu, Z., Ma, Q., Cheng, A., Liu, Y. H., Kim, S., Deguet, A., Reiter, A., Kazanzides, P. & Taylor, R. H., Apr 1 2018, In : IEEE Robotics and Automation Letters. 3, 2, p. 672-679 8 p.

Research output: Contribution to journalArticle

2017

3-DOF Force-Sensing Motorized Micro-Forceps for Robot-Assisted Vitreoretinal Surgery

Gonenc, B., Chamani, A., Handa, J., Gehlbach, P., Taylor, R. H. & Iordachita, I., Jun 1 2017, In : IEEE Sensors Journal. 17, 11, p. 3526-3541 16 p., 7903591.

Research output: Contribution to journalArticle

A Curved-Drilling Approach in Core Decompression of the Femoral Head Osteonecrosis Using a Continuum Manipulator

Alambeigi, F., Wang, Y., Sefati, S., Gao, C., Murphy, R. J., Iordachita, I., Taylor, R. H., Khanuja, H. & Armand, M., Jul 2017, In : IEEE Robotics and Automation Letters. 2, 3, p. 1480-1487 8 p., 7855629.

Research output: Contribution to journalArticle

A highly sensitive fiber Bragg Grating shape sensor for continuum manipulators with large deflections

Sefati, S., Pozin, M., Alambeigi, F., Iordachita, I., Taylor, R. H. & Armand, M., Dec 21 2017, IEEE SENSORS 2017 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., Vol. 2017-December. p. 1-3 3 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution