1978 …2019
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Research Output 1978 2019

Article

2D–3D radiograph to cone-beam computed tomography (CBCT) registration for C-arm image-guided robotic surgery

Liu, W. P., Otake, Y., Azizian, M., Wagner, O. J., Sorger, J. M., Armand, M. & Taylor, R. H., Dec 12 2014, In : International journal of computer assisted radiology and surgery. 10, 8, p. 1239-1252 14 p.

Research output: Contribution to journalArticle

Computer-Assisted Surgery
Cone-Beam Computed Tomography
Robotics
Tomography
Cones

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

robots
surgery
Surgery
Robots
Sensors

A C-arm fluoroscopy-guided progressive cut refinement strategy using a surgical robot

Yao, J., Taylor, R. H., Goldberg, R. P., Kumar, R., Bzostek, A., Van Vorhis, R., Kazanzides, P. & Gueziec, A., 2000, In : Computer Aided Surgery. 5, 6, p. 373-390 18 p.

Research output: Contribution to journalArticle

Fluoroscopy
Robots
Image sensors
Hip Replacement Arthroplasties
Orthopedics

A computational architecture for programmable automation research

Taylor, R. H., Korein, J. U., Maier, G. E. & Durfee, L. F., Mar 27 1987, In : Proceedings of SPIE - The International Society for Optical Engineering. 726, p. 438-444 7 p.

Research output: Contribution to journalArticle

automation
Automation
real time operation
Sensor
sensors

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. S. & Armand, M., Jul 1 2017, In : IEEE Robotics and Automation Letters. 2, 3, p. 1480-1487 8 p., 7855629.

Research output: Contribution to journalArticle

Drilling
Manipulator
Manipulators
Continuum
Cable

A force-sensing microsurgical instrument that detects forces below human tactile sensation

Sunshine, S., Balicki, M., He, X., Olds, K., Kang, J., Gehlbach, P., Taylor, R. H., Iordachita, I. & Handa, J., Jan 2013, In : Retina. 33, 1, p. 200-206 7 p.

Research output: Contribution to journalArticle

Touch
Retinal Perforations
Membranes
Chorioallantoic Membrane
Vitrectomy

A Miniature Microsurgical Instrument Tip Force Sensor for Enhanced Force Feedback During Robot-Assisted Manipulation

Berkelman, P. J., Whitcomb, L. L., Taylor, R. H. & Jensen, P., Oct 2003, In : IEEE Transactions on Robotics and Automation. 19, 5, p. 917-922 6 p.

Research output: Contribution to journalArticle

Miniature instruments
Robots
Feedback
Sensors

AML: A MANUFACTURING LANGUAGE.

Taylor, R. H., Summers, P. D. & Meyer, J. M., Sep 1982, In : International Journal of Robotics Research. 1, 3, p. 19-41 23 p.

Research output: Contribution to journalArticle

Robot programming
Robot applications
Manufacturing
Programming
Robot

A modular 2-DOF force-sensing instrument for laparoscopic surgery

Prasad, S. K., Kitagawa, M., Fischer, G. S., Zand, J., Talamini, M. A., Taylor, R. H. & Okamura, A. M., 2003, In : Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). 2878, p. 279-286 8 p.

Research output: Contribution to journalArticle

Minimally Invasive Surgical Procedures
Minimally Invasive Surgery
Laparoscopy
Surgery
Equipment Design

An active contour method for bone cement reconstruction from C-arm X-ray images

Lucas, B. C., Otake, Y., Armand, M. & Taylor, R. H., Apr 2012, In : IEEE Transactions on Medical Imaging. 31, 4, p. 860-869 10 p., 6043907.

Research output: Contribution to journalArticle

Bone cement
Bone Cements
X-Rays
X rays
Tomography

Anatomy-based registration of CT-scan and intraoperative X-ray images for guiding a surgical robot

Guéziec, A., Kazanzides, P., Williamson, B. & Taylor, R. H., 1998, In : IEEE Transactions on Medical Imaging. 17, 5, p. 715-728 14 p.

Research output: Contribution to journalArticle

Tomography
Anatomy
X-Rays
X rays
Bone

An Image-Directed Robotic System for Precise Orthopaedic Surgery

Taylor, R. H., Mittelstadt, B. D., Paul, H. A., Hanson, W., Kazanzides, P., Zuhars, J. F., Williamson, B., Musits, B. L., Glassman, E. & Bargar, W. L., 1994, In : IEEE Transactions on Robotics and Automation. 10, 3, p. 261-275 15 p.

Research output: Contribution to journalArticle

Orthopedics
Surgery
Robotics
Machining
Bone

An Integrated Robot System Architecture

Taylor, R. H. & Grossman, D. D., 1983, In : Proceedings of the IEEE. 71, 7, p. 842-856 15 p.

Research output: Contribution to journalArticle

Robots
Ships
Automation
Systems analysis
Hardware

An in vivo comparison of hip structure analysis (HSA) with measurements obtained by QCT

Ramamurthi, K., Ahmad, O., Engelke, K., Taylor, R. H., Zhu, K., Gustafsson, S., Prince, R. L. & Wilson, K. E., Feb 2012, In : Osteoporosis International. 23, 2, p. 543-551 9 p.

Research output: Contribution to journalArticle

Hip
Femur Neck
Tomography
X-Rays
Neck

An on-board surgical tracking and video augmentation system for C-arm image guidance

Reaungamornrat, S., Otake, Y., Uneri, A., Schafer, S., Mirota, D. J., Nithiananthan, S., Stayman, J. W., Kleinszig, G., Khanna, A. J., Taylor, R. H. & Siewerdsen, J. H., Sep 2012, In : International journal of computer assisted radiology and surgery. 7, 5, p. 647-665 19 p.

Research output: Contribution to journalArticle

Arm
X rays
Cones
Planning
X-Rays

An overview of computer-integrated surgery at the IBM Thomas J. Watson Research Center

Taylor, R. H., Funda, J., Joskowicz, L., Kalvin, A. D., Gomory, S. H., Gueziec, A. P. & Brown, L. M. G., Mar 1996, In : IBM Journal of Research and Development. 40, 2, p. 163-182 20 p.

Research output: Contribution to journalArticle

Surgery
Orthopedics
Research laboratories

A perspective on medical robotics

Taylor, R. H., Sep 2006, In : Proceedings of the IEEE. 94, 9, p. 1652-1664 13 p.

Research output: Contribution to journalArticle

Robotics
Robots
Patient rehabilitation
Surgery
Large scale systems

Applications of Robotics for Laryngeal Surgery

Hillel, A. T., Kapoor, A., Simaan, N., Taylor, R. H. & Flint, P., Aug 2008, In : Otolaryngologic Clinics of North America. 41, 4, p. 781-791 11 p.

Research output: Contribution to journalArticle

Robotics
Skull Base
Otolaryngology
Tremor
Thoracic Surgery

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

Robotics
Prostheses and Implants
Incus
Microsurgery
Stapes

A remote center of motion robotic arm for computer assisted surgery

Eldridge, B., Gruben, K., LaRose, D., Funda, J., Gomory, S., Karidis, J., McVicker, G., Taylor, R. H. & Anderson, J., 1996, In : Robotica. 14, 1, p. 103-109 7 p.

Research output: Contribution to journalArticle

Robotic arms
Surgery
Robotics
Robots
Motion

A robotic assistant for trans-oral surgery: The robotic endo-laryngeal flexible (Robo-ELF) scope

Olds, K., Hillel, A. T., Kriss, J., Nair, A., Kim, H., Cha, E., Curry, M., Akst, L. M., Yung, R., Richmon, J. & Taylor, R. H., Mar 2012, In : Journal of Robotic Surgery. 6, 1, p. 13-18 6 p.

Research output: Contribution to journalArticle

Oral Surgery
Endoscopes
Robotics
Cadaver
Arm

A robotic system for percutaneous renal access

Cadeddu, J. A., Bzostek, A., Schreiner, S., Barnes, A. C., Roberts, W. W., Anderson, J. H., Taylor, R. H. & Kavoussi, L. R., Oct 1997, In : Journal of Urology. 158, 4, p. 1589-1593 5 p.

Research output: Contribution to journalArticle

Robotics
Needles
Kidney
Swine
Sepharose

A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery

Iordachita, I., Sun, Z., Balicki, M., Kang, J. U., Phee, S. J., Handa, J., Gehlbach, P. & Taylor, R. H., Jun 2009, In : International journal of computer assisted radiology and surgery. 4, 4, p. 383-390 8 p.

Research output: Contribution to journalArticle

Integrated optics
Microsurgery
Optical resolving power
Fiber optics
Sclera

A submillimetric 3-DOF force sensing instrument with integrated fiber bragg grating for retinal microsurgery

He, X., Handa, J., Gehlbach, P., Taylor, R. H. & Iordachita, I., Feb 2014, In : IEEE Transactions on Biomedical Engineering. 61, 2, p. 522-534 13 p., 6609063.

Research output: Contribution to journalArticle

Fiber Bragg gratings
Sensors
Calibration
Surgery
Fatigue of materials

A system for video-Based navigation for endoscopic endonasal skull base surgery

Mirota, D. J., Wang, H., Taylor, R. H., Ishii, M., Gallia, G. L. & Hager, G., Apr 2012, In : IEEE Transactions on Medical Imaging. 31, 4, p. 963-976 14 p., 6084839.

Research output: Contribution to journalArticle

Endoscopy
Skull Base
Navigation systems
Surgery
Navigation

A Telerobotic Assistant for Laparoscopic Surgery

LaRose, D., Taylor, R. H., Funda, J., Eldridge, B., Gomory, S., Talamini, M., Kavoussi, L., Anderson, J. & Gruben, K., 1995, In : IEEE Engineering in Medicine and Biology Magazine. 14, 3, p. 279-288 10 p.

Research output: Contribution to journalArticle

Robotics
Laparoscopy
Surgery

Auditory force feedback substitution improves surgical precision during simulated ophthalmic surgery

Cutler, N., Balicki, M., Finkelstein, M., Wang, J., Gehlbach, P., McGready, J., Iordachita, I., Taylor, R. H. & Handa, J., Feb 2013, In : Investigative Ophthalmology and Visual Science. 54, 2, p. 1316-1324 9 p.

Research output: Contribution to journalArticle

Membranes
Bandages
Surgeons

Augmented reality and cone beam CT guidance for transoral robotic surgery

Liu, W. P., Richmon, J. D., Sorger, J. M., Azizian, M. & Taylor, R. H., Jul 21 2015, In : Journal of Robotic Surgery. 9, 3, p. 223-233 11 p.

Research output: Contribution to journalArticle

Cone-Beam Computed Tomography
Robotics
Workflow
Blood Vessels
Dissection

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

Arm
X-Rays
Radiation
Orthopedic Procedures
Operative Time

Augmented Reality During Robot-assisted Laparoscopic Partial Nephrectomy: Toward Real-Time 3D-CT to Stereoscopic Video Registration

Su, L. M., Vagvolgyi, B. P., Agarwal, R., Reiley, C. E., Taylor, R. H. & Hager, G., Apr 2009, In : Urology. 73, 4, p. 896-900 5 p.

Research output: Contribution to journalArticle

Nephrectomy
Video Recording
Kidney
Tomography
Technology

AUTOMATIC SYNTHESIS OF FINE-MOTION STRATEGIES FOR ROBOTS.

Lozano-Perez, T., Mason, M. T. & Taylor, R. H., Mar 1984, In : International Journal of Robotics Research. 3, 1, p. 3-24 22 p.

Research output: Contribution to journalArticle

Robot
Robots
Synthesis
Motion
Correctness

Brachytherapy optimal planning with application to intravascular radiation therapy

Sadegh, P., Mourtada, F. A., Taylor, R. H. & Andersen, J. H., 1999, In : Medical Image Analysis. 3, 3, p. 223-236 14 p.

Research output: Contribution to journalArticle

Brachytherapy
Radiotherapy
Seeds
Seed
Planning

Cadaveric feasibility study of da Vinci Si-assisted cochlear implant with augmented visual navigation for otologic surgery

Liu, W. P., Azizian, M., Sorger, J., Taylor, R. H., Reilly, B. K., Cleary, K. & Preciado, D., 2014, In : JAMA Otolaryngology - Head and Neck Surgery. 140, 3, p. 208-214 7 p.

Research output: Contribution to journalArticle

Cochlear Implants
Feasibility Studies
Cochlea
Facial Nerve
Cone-Beam Computed Tomography

Challenges in image-guided therapy system design

DiMaio, S., Kapur, T., Cleary, K., Aylward, S., Kazanzides, P., Vosburgh, K., Ellis, R., Duncan, J., Farahani, K., Lemke, H., Peters, T., Lorensen, W. B., Gobbi, D., Haller, J., Clarke, L. L., Pizer, S., Taylor, R. H., Galloway, R., Fichtinger, G., Hata, N. & 4 others, Lawson, K., Tempany, C., Kikinis, R. & Jolesz, F., 2007, In : NeuroImage. 37, SUPPL. 1

Research output: Contribution to journalArticle

National Institutes of Health (U.S.)
Therapeutics
Education
Research
Industry

CHIP-PLACEMENT ALIGNMENT TECHNIQUE.

Chester, M. S., Lavin, M. A. & Taylor, R. H., Nov 1984, In : IBM technical disclosure bulletin. 27, 6, p. 3653-3655 3 p.

Research output: Contribution to journalArticle

Soldering alloys

Comment on: A planning quality evaluation tool for prostate adaptive IMRT based on machine learning Med. Phys. 38, 719 (2011)

Kazhdan, M., McNutt, T., Taylor, R. H., Wu, B. & Simari, P., May 2011, In : Medical Physics. 38, 5, p. 2820 1 p.

Research output: Contribution to journalArticle

Prostate
Machine Learning

COMPLIANT GRIPPER.

Glassman, E., Hollis, R. L. & Taylor, R. H., Jun 1984, In : IBM technical disclosure bulletin. 27, 1 B, p. 772-773 2 p.

Research output: Contribution to journalArticle

Grippers
Robots

Computer-aided orthopedic surgery with near-real-time biomechanical feedback

Armand, M., Lepistö, J. V. S., Merkle, A. C., Tallroth, K., Liu, X., Taylor, R. H. & Wenz, J., Jul 2004, In : Johns Hopkins APL Technical Digest (Applied Physics Laboratory). 25, 3, p. 242-252 11 p.

Research output: Contribution to journalArticle

orthopedics
Orthopedics
surgery
Surgery
Feedback

Computer-assisted orthopedic surgery with real-time biomechanics

Armand, M., Armiger, R., Mendat, D., Lepistö, J., Tallroth, K., Mears, S., Belkoff, S. M., Taylor, R. H., Murphy, R., Chintalapani, G. & Sadowski, O., 2010, In : Johns Hopkins APL Technical Digest (Applied Physics Laboratory). 28, 3, p. 214-215 2 p.

Research output: Contribution to journalArticle

biodynamics
orthopedics
Biomechanics
Orthopedics
surgery

Computer-integrated revision total hip replacement surgery: Concept and preliminary results

Taylor, R. H., Joskowicz, L., Williamson, B., Guéiec, A., Kalvin, A., Kazanzides, P., Van Vorhis, R., Yao, J., Kumar, R., Bzostek, A., Sahay, A., Börner, M. & Lahmer, A., 1999, In : Medical Image Analysis. 3, 3, p. 301-319 19 p.

Research output: Contribution to journalArticle

Hip Replacement Arthroplasties
Surgery
Cements
Canals
Computer Systems

Computer-integrated surgery. Technology and clinical applications. 1996.

Taylor, R. H., Lavelleé, S., Burdea, G. C. & Mösges, R., Sep 1998, In : Clinical Orthopaedics and Related Research. 354, p. 5-7 3 p.

Research output: Contribution to journalArticle

20th Century History
Computer-Assisted Therapy
User-Computer Interface
Computer Systems
Technology

Computers in imaging and guided surgery

Joskowicz, E. O. & Taylor, R. H., Sep 2001, In : Computing in Science and Engineering. 3, 5, p. 65 1 p.

Research output: Contribution to journalArticle

Surgery
Imaging techniques

Constrained cartesian motion control for teleoperated surgical robots

Funda, J., Taylor, R. H., Eldridge, B., Gomory, S. & Gruben, K. G., 1996, In : IEEE Transactions on Robotics and Automation. 12, 3, p. 453-465 13 p.

Research output: Contribution to journalArticle

Motion control
Robots
Laparoscopy
Kinematics
Navigation

Data-driven approach to generating achievable dose-volume histogram objectives in intensity-modulated radiotherapy planning

Wu, B., Ricchetti, F., Sanguineti, G., Kazhdan, M., Simari, P., Jacques, R., Taylor, R. H. & McNutt, T., Mar 15 2011, In : International Journal of Radiation Oncology, Biology, Physics. 79, 4, p. 1241-1247 7 p.

Research output: Contribution to journalArticle

Intensity-Modulated Radiotherapy
histograms
planning
radiation therapy
dosage

Deformable image registration for cone-beam CT guided transoral robotic base-of-tongue surgery

Reaungamornrat, S., Liu, W. P., Wang, A. S., Otake, Y., Nithiananthan, S., Uneri, A., Schafer, S., Tryggestad, E., Richmon, J., Sorger, J. M., Siewerdsen, J. H. & Taylor, R. H., Jul 21 2013, In : Physics in Medicine and Biology. 58, 14, p. 4951-4979 29 p.

Research output: Contribution to journalArticle

Cone-Beam Computed Tomography
Robotics
Tongue
Entropy
Hyoid Bone

Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat

Simaan, N., Xu, K., Wei, W., Kapoor, A., Kazanzides, P., Taylor, R. H. & Flint, P., Sep 2009, In : International Journal of Robotics Research. 28, 9, p. 1134-1153 20 p.

Research output: Contribution to journalArticle

Telerobotics
Minimally Invasive Surgery
Surgery
Robot
Robots

Development and Experimental Evaluation of Concurrent Control of a Robotic Arm and Continuum Manipulator for Osteolytic Lesion Treatment

Wilkening, P., Alambeigi, F., Murphy, R. J., Taylor, R. H. & Armand, M., Jul 1 2017, In : IEEE Robotics and Automation Letters. 2, 3, p. 1625-1631 7 p., 7872381.

Research output: Contribution to journalArticle

Robotic arms
Manipulator
Experimental Evaluation
Manipulators
Robotics

Development of a biomechanical guidance system for periacetabular osteotomy

Murphy, R. J., Armiger, R. S., Lepistö, J., Mears, S. C., Taylor, R. H. & Armand, M., Apr 1 2015, In : International journal of computer assisted radiology and surgery. 10, 4, p. 497-508 12 p.

Research output: Contribution to journalArticle

Osteotomy
Surgery
Joints
Hip Dislocation
Workflow

Development of a surgical robot for cementless total hip arthroplasty

Paul, H. A., Bargar, W. L., Mittlestadt, B., Musits, B., Taylor, R. H., Kazanzides, P., Zuhars, J., Williamson, B. & Hanson, W., 1992, In : Clinical Orthopaedics and Related Research. 285, p. 57-66 10 p.

Research output: Contribution to journalArticle

Thigh
Arthroplasty
Prostheses and Implants
Hip
Bone and Bones

Direct three-dimensional ultrasound-to-video registration using photoacoustic markers

Cheng, A., Kang, J. U., Taylor, R. H. & Boctor, E., 2013, In : Journal of Biomedical Optics. 18, 6, 66013.

Research output: Contribution to journalArticle

Photoacoustic effect
markers
Surgical Equipment
Ultrasonics
surgeons