1978 …2019
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Research Output 1978 2019

2005

Spatial motion constraints for robot assisted suturing using virtual fixtures

Kapoor, A., Li, M. & Taylor, R. H., 2005, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 3750 LNCS. p. 89-96 8 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 3750 LNCS).

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

Feasibility Studies
Robotics
Needles
Surgery
Joints

Spatial motion constraints for robot assisted suturing using virtual fixtures.

Kapoor, A., Li, M. & Taylor, R. H., 2005, Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Pt 2 ed. Vol. 8. p. 89-96 8 p.

Research output: Chapter in Book/Report/Conference proceedingChapter

Feasibility Studies
Robotics
Needles
Joints
Surgeons

Suturing in confined spaces: Constrained motion control of a hybrid 8-DoF robot

Kapoor, A., Simaan, N. & Taylor, R. H., 2005, 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings. Vol. 2005. p. 452-459 8 p. 1507449

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

Motion control
Robots
Kinematics
Level control
Vector spaces

Validation of 3D motion tracking of pulmonary lesions using CT fluoroscopy images for robotically assisted lung biopsy

Xu, S., Fichtinger, G., Taylor, R. H. & Cleary, K., 2005, Progress in Biomedical Optics and Imaging - Proceedings of SPIE. Galloway, Jr., R. L. & Cleary, K. R. (eds.). I ed. Vol. 5744. p. 60-68 9 p. 08

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

Biopsy
Rigidity
Error analysis
Tissue
Imaging techniques
2004

3D motion tracking of pulmonary lesions using CT fluoroscopy images for robotically assisted lung biopsy

Xu, S., Fichtinger, G., Taylor, R. H. & Cleary, K., 2004, Proceedings of SPIE - The International Society for Optical Engineering. Galloway, Jr., R. L. (ed.). Vol. 5367. p. 394-402 9 p.

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

pulmonary lesions
fluoroscopy
Biopsy
lungs
lesions

A dexterous system for laryngeal surgery

Simaan, N., Taylor, R. H. & Flint, P., 2004, Proceedings - IEEE International Conference on Robotics and Automation. 1 ed. Vol. 2004. p. 351-357 7 p.

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

Surgery
Manipulators
Buckling
Redundancy
Kinematics

A dual-armed robotic system for intraoperative ultrasound guided hepatic ablative therapy: A prospective study

Boctor, E., Fischer, G., Choti, M. A., Fichtinger, G. & Taylor, R. H., 2004, Proceedings - IEEE International Conference on Robotics and Automation. 3 ed. Vol. 2004. p. 2517-2522 6 p.

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

Robotics
Ultrasonics
Ultrasonography
Needles
Scanning

A novel closed form solution for ultrasound calibration

Boctor, E., Viswanathan, A., Choti, M., Taylor, R. H., Fichtinger, G. & Hager, G., 2004, 2004 2nd IEEE International Symposium on Biomedical Imaging: Macro to Nano. Vol. 1. p. 527-530 4 p.

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

Ultrasonics
Calibration
Sensors
Experiments

CISUS: An integrated 3D ultrasound system for IGT using a modular tracking API

Boctor, E., Viswanathan, A., Pieper, S., Choti, M. A., Taylor, R. H., Kikinis, R. & Fichtinger, G., 2004, Proceedings of SPIE - The International Society for Optical Engineering. Galloway, Jr., R. L. (ed.). Vol. 5367. p. 247-256 10 p.

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

application programming interface
Application programming interfaces (API)
therapy
Ultrasonics
Robotics

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

Deformable registration of male pelvises in CT images

Zhan, Y., Shen, D. & Taylor, R. H., 2004, 2004 2nd IEEE International Symposium on Biomedical Imaging: Macro to Nano. Vol. 2. p. 1463-1466 4 p.

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

Bone
Tissue

Design of an image-guided robot system for measurement, biopsy and injection in rodents

Li, J. C., Kazanzides, P., Taylor, R. H., Ling, C. & Fichtinger, G., 2004, Bioengineering, Proceedings of the Northeast Conference. Schreiner, S., Cezeaux, J. L. & Muratore, D. M. (eds.). Vol. 30. p. 39-40 2 p.

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

Biopsy
Needles
Tumors
Robots
Single photon emission computed tomography

High dexterity snake-like robotic slaves for minimally invasive telesurgery of the upper airway

Simaan, N., Taylor, R. H. & Flint, P., 2004, Lecture Notes in Computer Science. Barillot, C., Haynor, D. R. & Hellier, P. (eds.). 1 PART 2 ed. Vol. 3217. p. 17-24 8 p.

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

Snakes
Robotics
Robots
Unit
Robot

Immediate ultrasound calibration with three poses and minimal image processing

Viswanathan, A., Boctor, E., Taylor, R. H., Hager, G. & Fichtinger, G., 2004, Lecture Notes in Computer Science. Barillot, C., Haynor, D. R. & Hellier, P. (eds.). 1 PART 2 ed. Vol. 3217. p. 446-454 9 p.

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

Ultrasound Image
Ultrasound
Image Processing
Image processing
Calibration

Needle insertion in CT scanner with image overlay -cadaver studies

Fichtinger, G., Deguet, A., Masamune, K., Balogh, E., Fischer, G., Mathieu, H., Taylor, R. H., Fayad, L. M. & Zinreich, S. J., 2004, Lecture Notes in Computer Science. Barillot, C., Haynor, D. R. & Hellier, P. (eds.). 1 PART 2 ed. Vol. 3217. p. 795-803 9 p.

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

Scanner
Overlay
Needles
Placement
Insertion

Robotically assisted ablative treatment guided by freehand 3D ultrasound

Boctor, E., Webster, R. J., Choti, M. A., Taylor, R. H. & Fichtinger, G., Jun 1 2004, In : International Congress Series. 1268, C, p. 503-508 6 p.

Research output: Contribution to journalArticle

Needles
Costs and Cost Analysis
Olea
Operating Rooms
Calibration

Robotic strain imaging for monitoring thermal ablation of liver

Boctor, E., Fichtinger, G., Yeung, A., Awad, M., Taylor, R. H. & Choti, M. A., 2004, Lecture Notes in Computer Science. Barillot, C., Haynor, D. R. & Hellier, P. (eds.). 1 PART 2 ed. Vol. 3217. p. 81-88 8 p.

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

Ablation
Liver
Robotics
Imaging
Monitoring

Scale-invariant registration of monocular endoscopic images to CT-scans for sinus surgery

Burschka, D., Li, M., Taylor, R. H. & Hager, G., 2004, Lecture Notes in Computer Science. Barillot, C., Haynor, D. R. & Hellier, P. (eds.). 1 PART 2 ed. Vol. 3217. p. 413-421 9 p.

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

Computerized tomography
Scale Invariant
Surgery
Registration
Camera

Scale-invariant registration of monocular stereo images to 3D surface models

Burschka, D., Li, M., Taylor, R. H. & Hager, G., 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 3. p. 2581-2586 6 p.

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

Navigation
Cameras
Recovery
Endoscopy
Surface reconstruction

Spatial motion constraints in medical robot using virtual fixtures generated by anatomy

Li, M. & Taylor, R. H., 2004, Proceedings - IEEE International Conference on Robotics and Automation. 2 ed. Vol. 2004. p. 1270-1275 6 p.

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

Surgery
Robots
Collision avoidance
Bone
Kinematics

Understanding bone responses in B-mode ultrasound images and automatic bone surface extraction using a Bayesian probabilistic framework

Jain, A. K. & Taylor, R. H., 2004, Progress in Biomedical Optics and Imaging - Proceedings of SPIE. Walker, W. F. & Emelianov, S. Y. (eds.). 27 ed. Vol. 5. p. 131-142 12 p. 16

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

Bone
Ultrasonics
Orthopedics
Surgery
Imaging systems
2003

A direction space interpolation technique for calibration of electromagnetic surgical navigation systems

Wu, X. & Taylor, R. H., 2003, Lecture Notes in Computer Science. Ellis, R. E. & Peters, T. M. (eds.). PART 2 ed. Vol. 2879. p. 215-222 8 p.

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

Interpolation Spaces
Navigation System
Navigation systems
Interpolation
Calibration

A Framework for Calibration of Electromagnetic Surgical Navigation Systems

Wu, X. & Taylor, R. H., 2003, IEEE International Conference on Intelligent Robots and Systems. Vol. 1. p. 547-552 6 p.

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

Navigation systems
Calibration
Interpolation
Polynomials

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

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

A multiple-layer flexible mesh template matching method for non-rigid registration between a pelvis model and CT images

Yao, J. & Taylor, R. H., 2003, Proceedings of SPIE - The International Society for Optical Engineering. Sonka, M. & Fitzpatrick, J. M. (eds.). Vol. 5032 II. p. 1117-1124 8 p.

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

pelvis
Template matching
mesh
templates
apexes

A rapid calibration method for registration and 3D tracking of ultrasound images using spatial localizer

Boctor, E., Jain, A., Choti, M. A., Taylor, R. H. & Fichtinger, G., 2003, Proceedings of SPIE - The International Society for Optical Engineering. Walker, W. F. & Insana, M. F. (eds.). Vol. 5035. p. 521-532 12 p.

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

Ultrasonics
Calibration
fixtures
sensors
surgery

Assessing accuracy factors in deformable 2D/3D medical image registration using a statistical pelvis model

Yao, J. & Taylor, R. H., 2003, Proceedings of the IEEE International Conference on Computer Vision. Vol. 2. p. 1329-1334 6 p.

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

Image registration
Electric fuses
Surgery
X rays
Experiments

Guest Editorial and Guide to the Issue

Taylor, R. H., Dario, P. & Troccaz, J., Oct 2003, In : IEEE Transactions on Robotics and Automation. 19, 5, p. 763-764 2 p.

Research output: Contribution to journalArticle

Medical Robotics in Computer-Integrated Surgery

Taylor, R. H. & Stoianovici, D., Oct 2003, In : IEEE Transactions on Robotics and Automation. 19, 5, p. 765-781 17 p.

Research output: Contribution to journalArticle

Computer aided manufacturing
Surgery
Computer aided design
Robotics
Robots

Medical robotic systems in computer-integrated surgery

Taylor, R. H. & Stoianovici, D., Jun 2003, In : Problems in General Surgery. 20, 2, p. 1-9 9 p.

Research output: Contribution to journalArticle

Computer Systems
Robotics
Diagnostic Imaging
Technology
Research
Template matching
Image analysis
Image registration
Robot Control
Surgery
Geometric Constraints
Robots
Motion

Preliminary Experiments in Robot/Human Cooperative Microinjection

Kumar, R., Kapoor, A. & Taylor, R. H., 2003, IEEE International Conference on Intelligent Robots and Systems. Vol. 4. p. 3186-3191 6 p.

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

Robots
Experiments
Force control
End effectors

Robotically assisted intraoperative ultrasound with application to ablative therapy of liver cancer

Boctor, E., Taylor, R. H., Fichtinger, G. & Choti, M. A., 2003, Proceedings of SPIE - The International Society for Optical Engineering. Galloway Jr., R. L. (ed.). Vol. 5029. p. 281-291 11 p.

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

Ultrasonography
liver
Liver
therapy
Ultrasonics
Augmentation
Manipulator
Manipulators
Manipulation
Hand

Task performance in stapedotomy: Comparison between surgeons of different experience levels

Rothbaum, D. L., Roy, J., Hager, G., Taylor, R. H., Whitcomb, L. L., Francis, H. W. & Niparko, J. K., Jan 2003, In : Otolaryngology - Head and Neck Surgery. 128, 1, p. 71-77 7 p.

Research output: Contribution to journalArticle

Stapes
Task Performance and Analysis
Prostheses and Implants
Aptitude
Incus

Tracked 3D ultrasound in radio-frequency liver ablation

Boctor, E., Fichtinger, G., Taylor, R. H. & Choti, M. A., 2003, Proceedings of SPIE - The International Society for Optical Engineering. Walker, W. F. & Insana, M. F. (eds.). Vol. 5035. p. 174-182 9 p.

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

Ablation
liver
Liver
ablation
radio frequencies
2002

A combined statistical and biomechanical model for estimation of intra-operative prostate deformation

Mohamed, A., Davatzikos, C. & Taylor, R. H., 2002, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer Verlag, Vol. 2489. p. 452-460 9 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 2489).

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

Insertion
Ultrasonics
Ultrasound
Probe
Simulation

An image overlay system with enhanced reality for percutaneous therapy performed inside CT scanner

Masamune, K., Fichtinger, G., Deguet, A., Matsuka, D. & Taylor, R. H., 2002, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer Verlag, Vol. 2489. p. 77-84 8 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 2489).

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

Scanner
Overlay
Therapy
Mirrors
Display devices

Robot-assisted stapedotomy: Micropick fenestration of the stapes footplate

Rothbaum, D. L., Roy, J., Stoianovici, D., Berkelman, P., Hager, G., Taylor, R. H., Whitcomb, L. L., Francis, H. W. & Niparko, J. K., Nov 1 2002, In : Otolaryngology - Head and Neck Surgery. 127, 5, p. 417-426 10 p.

Research output: Contribution to journalArticle

Stapes
Robotics
Anatomic Models
Ear

Surgical robot competition - Introducing engineering in medicine to pre-college students

Gerovichev, O., Goldberg, R. P., Bonn, I. D., Viswanathan, A. & Taylor, R. H., 2002, ASEE Annual Conference Proceedings. p. 11547-11559 13 p.

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

Medicine
Robotics
Students
Drawing (graphics)
Education

System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance

Fichtinger, G., DeWeese, T., Patriciu, A., Tanacs, A., Mazilu, D., Anderson, J. H., Masamune, K., Taylor, R. H. & Stoianovici, D., 2002, In : Academic Radiology. 9, 1, p. 60-74 15 p.

Research output: Contribution to journalArticle

Needles
Prostate
Biopsy
Robotics
Needle Biopsy
2001

A modular robotic system for ultrasound image acquisition

Goldberg, R. P., Mazilu, D., Taylor, R. H. & Stoianovici, D., 2001, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer Verlag, Vol. 2208. p. 1430-1432 3 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 2208).

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

Ultrasound Image
Image Acquisition
Image acquisition
Robotics
Ultrasound

Applications of task-level augmentation for cooperative fine manipulation tasks in surgery

Kumar, R., Barnes, A. C., Hager, G., Jensen, P. S. & Taylor, R. H., 2001, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer Verlag, Vol. 2208. p. 1417-1418 2 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 2208).

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

Augmentation
End effectors
Surgery
Manipulation
Endoscope

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

Construction and simplification of bone density models

Yao, J. & Taylor, R. H., 2001, Proceedings of SPIE - The International Society for Optical Engineering. Sonka, M. & Hanson, K. M. (eds.). 2 ed. Vol. 4322. p. 814-823 10 p.

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

bone mineral content
simplification
Bone
mesh
anatomy

Performance evaluation of a cooperative manipulation microsurgical assistant robot applied to stapedotomy

Berkelman, P. J., Rothbaum, D. L., Roy, J., Lang, S., Whitcomb, L. L., Hager, G., Jensen, P. S., De Juan, E., Taylor, R. H. & Niparko, J. K., 2001, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer Verlag, Vol. 2208. p. 1426-1429 4 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 2208).

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

Quantitative Evaluation
Performance Evaluation
Manipulation
Robot
Robots

Reconstructing hierarchical tetrahedral mesh density models of bony anatomy

Yao, J. & Taylor, R. H., 2001, Studies in Health Technology and Informatics. Vol. 81. p. 587-593 7 p.

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

Bone Density
Anatomy
Bone
Bone and Bones
Atlases

Smart alignment tool for knee mosaicplasty surgery

Brzeczko, A. W., Goldberg, R. P., Taylor, R. H. & Evans, P., 2001, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Springer Verlag, Vol. 2208. p. 599-605 7 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 2208).

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

Surgery
Cartilage
Alignment
Grafts
Angle