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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: Research - peer-reviewArticle

Surgery
Robots
Sensors
robots
surgery

Catheter tracking in an interventional photoacoustic surgical system

Cheng, A., Itsarachaiyot, Y., Kim, Y., Zhang, H. K., Taylor, R. H. & Boctor, E. M. 2017 Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling. SPIE, Vol. 10135, 1013527

Research output: ResearchConference contribution

Photoacoustic effect
Catheters
Imaging techniques
markers
Cameras

Co-robotic ultrasound imaging: A cooperative force control approach

Finocchi, R., Aalamifar, F., Fang, T. Y., Taylor, R. H. & Boctor, E. M. 2017 Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling. SPIE, Vol. 10135, 1013510

Research output: ResearchConference contribution

Force control
Robotics
Ultrasonics
Imaging techniques
Physical Exertion

Force-assisted ultrasound imaging system through dual force sensing and admittance robot control

Fang, T. Y., Zhang, H. K., Finocchi, R., Taylor, R. H. & Boctor, E. M. Mar 25 2017 (Accepted/In press) In : International Journal of Computer Assisted Radiology and Surgery. p. 1-9 9 p.

Research output: Research - peer-reviewArticle

Robotics
Ultrasonography
Musculoskeletal Pain
Posture
Human Body

Force-controlled exploration for updating virtual fixture geometry in model-mediated telemanipulation

Wang, L., Chen, Z., Chalasani, P., Yasin, R. M., Kazanzides, P., Taylor, R. H. & Simaan, N. Apr 1 2017 In : Journal of Mechanisms and Robotics. 9, 2, 021010

Research output: Research - peer-reviewArticle

Geometry
Robots
Bearings (structural)
Force control
Motion control

Localization of subsurface photoacoustic fiducials for intraoperative guidance

Cheng, A., Zhang, H. K., Kang, J. U., Taylor, R. H. & Boctor, E. M. 2017 Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XV. SPIE, Vol. 10054, 100541D

Research output: ResearchConference contribution

Transducers
Acoustics
Surgeons
Photoacoustic effect
Ultrasonics

Motorized Micro-Forceps with Active Motion Guidance based on Common-Path SSOCT for Epiretinal Membranectomy

Cheon, G. W., Gonec, B., Taylor, R. H., Gehlbach, P. L. & Kang, J. U. Sep 4 2017 (Accepted/In press) In : IEEE/ASME Transactions on Mechatronics.

Research output: Research - peer-reviewArticle

Sensors
Optical tomography
Fibers
Monitoring
Polymers

On the reproducibility of expert-operated and robotic ultrasound acquisitions

Kojcev, R., Khakzar, A., Fuerst, B., Zettinig, O., Fahkry, C., DeJong, R., Richmon, J., Taylor, R., Sinibaldi, E. & Navab, N. Mar 20 2017 (Accepted/In press) In : International Journal of Computer Assisted Radiology and Surgery. p. 1-9 9 p.

Research output: Research - peer-reviewArticle

Robotics
Ultrasonography
Expert Systems
Healthy Volunteers
Thyroid Gland

Pose-aware C-arm for automatic re-initialization of interventional 2D/3D image registration

Fotouhi, J., Fuerst, B., Johnson, A., Lee, S. C., Taylor, R., Osgood, G., Navab, N. & Armand, M. Jul 1 2017 In : International Journal of Computer Assisted Radiology and Surgery. 12, 7, p. 1221-1230 10 p.

Research output: Research - peer-reviewArticle

Calibration
Equipment and Supplies
Workflow
Gelatin
Femur

Proof of Concept of a Tracheoesophageal Voice Prosthesis Insufflator for Speech Production After Total Laryngectomy

Starmer, H., Taylor, R. H., Noureldine, S. I. & Richmon, J. D. 2017 (Accepted/In press) In : Journal of Voice.

Research output: Research - peer-reviewArticle

Artificial Larynges
Laryngectomy
Acoustics
Equipment and Supplies
Phonation

Robotic microlaryngeal phonosurgery: Testing of a "steady-hand" microsurgery platform

Akst, L. M., Olds, K. C., Balicki, M., Chalasani, P. & Taylor, R. H. 2017 (Accepted/In press) In : Laryngoscope.

Research output: Research - peer-reviewArticle

Microsurgery
Robotics
Hand
Pharynx
Nose

Simultaneous segmentation and correspondence improvement using statistical modes

Sinha, A., Reiter, A., Leonard, S., Ishii, M., Hager, G. D. & Taylor, R. H. 2017 Medical Imaging 2017: Image Processing. SPIE, Vol. 10133, 101331B

Research output: ResearchConference contribution

Statistical Models
Principal component analysis
Momentum
Principal Component Analysis
Patient Care

Software architecture of the da vinci research kit

Chen, Z., Deguet, A., Taylor, R. H. & Kazanzides, P. May 11 2017 Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017. Institute of Electrical and Electronics Engineers Inc., p. 180-187 8 p. 7926536

Research output: ResearchConference contribution

Software Architecture
Manipulator
Operating Systems
Open Source
Subsystem

The robotic ENT microsurgery system: A novel robotic platform for microvascular surgery

Feng, A. L., Razavi, C. R., Lakshminarayanan, P., Ashai, Z., Olds, K., Balicki, M., Gooi, Z., Day, A. T., Taylor, R. H. & Richmon, J. D. 2017 (Accepted/In press) In : Laryngoscope.

Research output: Research - peer-reviewArticle

Microsurgery
Robotics
Tremor
Pharynx
Nose

Towards robot-assisted retinal vein cannulation: A motorized force-sensing microneedle integrated with a handheld micromanipulator

Gonenc, B., Chae, J., Gehlbach, P., Taylor, R. H. & Iordachita, I. Oct 1 2017 In : Sensors (Switzerland). 17, 10, 2195

Research output: Research - peer-reviewArticle

Micromanipulators
Robots
Tissue
Retinal Vein
Catheterization
2016

Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system

Feng, L., Wilkening, P., Sevimli, Y., Balicki, M., Olds, K. C. & Taylor, R. H. Oct 13 2016 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-October, p. 5091-5094 4 p. 7591872

Research output: ResearchConference contribution

Robotics
Biomechanical Phenomena
Calibration
Kinematics
Optical Devices

Anatomically constrained video-CT registration via the V-IMLOP algorithm

Billings, S. D., Sinha, A., Reiter, A., Leonard, S., Ishii, M., Hager, G. D. & Taylor, R. H. 2016 Medical Image Computing and Computer-Assisted Intervention - MICCAI 2016 - 19th International Conference, Proceedings. Springer Verlag, Vol. 9902 LNCS, p. 133-141 9 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 9902 LNCS)

Research output: ResearchConference contribution

Registration
Navigation System
Surgery
Navigation systems
Endoscope

Automatic segmentation and statistical shape modeling of the paranasal sinuses to estimate natural variations

Sinha, A., Leonard, S., Reiter, A., Ishii, M., Taylor, R. H. & Hager, G. D. 2016 Medical Imaging 2016: Image Processing. SPIE, Vol. 9784, 97840D

Research output: ResearchConference contribution

Paranasal Sinuses
Tomography
Population
paranasal sinuses
estimates

Catheter tracking in an interventional photoacoustic surgical system

Cheng, A., Kim, Y., Zhang, H. K., Taylor, R. H. & Boctor, E. M. Dec 16 2016 2016 Conference on Lasers and Electro-Optics, CLEO 2016. Institute of Electrical and Electronics Engineers Inc., 7787359

Research output: ResearchConference contribution

Photoacoustic effect
Catheters
Imaging techniques

Concurrent nonparametric estimation of organ geometry and tissue stiffness using continuous adaptive palpation

Chalasani, P., Wang, L., Roy, R., Simaan, N., Taylor, R. H. & Kobilarov, M. Jun 8 2016 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-June, p. 4164-4171 8 p. 7487609

Research output: ResearchConference contribution

Stiffness
Tissue
Geometry
Sensors
End effectors

Development of a snake-like dexterous manipulator for skull base surgery

Coemert, S., Gao, A., Carey, J. P., Traeger, M. F., Taylor, R. H., Lueth, T. C. & Armand, M. Oct 13 2016 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-October, p. 5087-5090 4 p. 7591871

Research output: ResearchConference contribution

Snakes
Skull Base
Surgery
Manipulators
Direction compound

Dual-robot ultrasound-guided needle placement: closing the planning-imaging-action loop

Kojcev, R., Fuerst, B., Zettinig, O., Fotouhi, J., Lee, S. C., Frisch, B., Taylor, R., Sinibaldi, E. & Navab, N. Apr 20 2016 (Accepted/In press) In : International Journal of Computer Assisted Radiology and Surgery. p. 1-9 9 p.

Research output: Research - peer-reviewArticle

Needles
Robotics
Gelatin
Ultrasonography
Water

Endoscopic-CT: Learning-based photometric reconstruction for endoscopic sinus surgery

Reiter, A., Leonard, S., Sinha, A., Ishii, M., Taylor, R. H. & Hager, G. D. 2016 Medical Imaging 2016: Image Processing. SPIE, Vol. 9784, 978418

Research output: ResearchConference contribution

sinuses
surgery
learning
Surgery
Geometry

Image-based navigation for functional endoscopic sinus surgery using structure from motion

Leonard, S., Reiter, A., Sinha, A., Ishii, M., Taylor, R. H. & Hager, G. D. 2016 Medical Imaging 2016: Image Processing. SPIE, Vol. 9784, 97840V

Research output: ResearchConference contribution

sinuses
endoscopes
navigation
surgery
Endoscopy

Progress toward robotic surgery of the lateral skull base: Integration of a dexterous continuum manipulator and flexible ring curette

Gao, A., Carey, J. P., Murphy, R. J., Iordachita, I., Taylor, R. H. & Armand, M. Jun 8 2016 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-June, p. 4429-4435 7 p. 7487642

Research output: ResearchConference contribution

Manipulators
Robotic surgery
Dissection
Brain
Kinematics

Robot-assisted retinal vein cannulation with force-based puncture detection: Micron vs. the steady-hand eye robot

Gonenc, B., Tran, N., Gehlbach, P., Taylor, R. H. & Iordachita, I. Oct 13 2016 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-October, p. 5107-5111 5 p. 7591876

Research output: ResearchConference contribution

Retinal Vein
Punctures
Catheterization
Hand
End effectors
Maximum likelihood estimation
Surface reconstruction
Gaussian distribution
Medical applications
Error analysis

Ultrasound to video registration using a bi-plane transrectal probe with photoacoustic markers

Cheng, A., Kang, H. J., Zhang, H. K., Kang, J. U., Taylor, R. H. & Boctor, E. M. 2016 Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling. SPIE, Vol. 9786, 97860J

Research output: ResearchConference contribution

Photoacoustic effect
Transducers
Ultrasonics
markers
transducers

Updating virtual fixtures from exploration data in force-controlled model-based telemanipulation

Wang, L., Chen, Z., Chalasani, P., Pile, J., Kazanzides, P., Taylor, R. H. & Simaan, N. 2016 40th Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), Vol. 5A-2016

Research output: ResearchConference contribution

Updating
Model-based
Model
Robots
Path Following

Virtual fixture assistance for needle passing and knot tying

Chen, Z., Malpani, A., Chalasani, P., Deguet, A., Vedula, S. S., Kazanzides, P. & Taylor, R. H. Nov 28 2016 IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-November, p. 2343-2350 8 p. 7759365

Research output: ResearchConference contribution

Needles
Robotics
Surgery
Manipulators
2015

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: Research - peer-reviewArticle

Cone-Beam Computed Tomography
Robotics
Neoplasms
Workflow
Blood Vessels

Comparison of optimization strategy and similarity metric in atlas-to-subject registration using statistical deformation model

Otake, Y., Murphy, R. J., Grupp, R. B., Sato, Y., Taylor, R. H. & Armand, M. 2015 Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling. SPIE, Vol. 9415, 94150Q

Research output: ResearchConference contribution

Atlases
Statistical Models
optimization
Covariance matrix
Cone-Beam Computed Tomography

Creating a data science platform for developing complication risk models for personalized treatment planning in radiation oncology

Marungo, F., Robertson, S., Quon, H., Rhee, J., Paisley, H., Taylor, R. H. & McNutt, T. Mar 26 2015 Proceedings of the Annual Hawaii International Conference on System Sciences. IEEE Computer Society, Vol. 2015-March, p. 3132-3140 9 p. 7070193

Research output: ResearchConference contribution

Oncology
Tissue
Radiation
Planning
Health

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: Research - peer-reviewArticle

Osteotomy
Joints
Hip Dislocation
Workflow
Validation Studies

Direct ultrasound to video registration using photoacoustic markers from a single image pose

Cheng, A., Guo, X., Kang, H. J., Choti, M. A., Kang, J. U., Taylor, R. H. & Boctor, E. M. 2015 Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XIII. SPIE, Vol. 9313, 93130X

Research output: ResearchConference contribution

markers
Photoacoustic effect
Ultrasonics
Transducers
registers

Effects of micro-vibratory modulation during robot-assisted membrane peeling

Gonenc, B., Gehlbach, P., Taylor, R. H. & Iordachita, I. Dec 11 2015 IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-December, p. 3811-3816 6 p. 7353912

Research output: ResearchConference contribution

Peeling
Modulation
Robots
Membranes
Delamination

FBG-based sensorized light pipe for robotic intraocular illumination facilitates bimanual retinal microsurgery

Horise, Y., He, X., Gehlbach, P., Taylor, R. & Iordachita, I. Nov 4 2015 Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-November, p. 13-16 4 p. 7318249

Research output: ResearchConference contribution

Fiber Bragg gratings
Surgery
Fiber optics
Robotics
Lighting

Five-dimensional ultrasound system for soft tissue visualization

Deshmukh, N. P., Caban, J. J., Taylor, R. H., Hager, G. D. & Boctor, E. M. Dec 1 2015 In : International Journal of Computer Assisted Radiology and Surgery. 10, 12, p. 1927-1939 13 p.

Research output: Research - peer-reviewArticle

Elasticity Imaging Techniques
Computer Systems
Anatomy
Software

Force-based puncture detection and active position holding for assisted retinal vein cannulation

Gonenc, B., Tran, N., Riviere, C. N., Gehlbach, P., Taylor, R. H. & Iordachita, I. Oct 9 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-October, p. 322-327 6 p. 7295828

Research output: ResearchConference contribution

Drug delivery
Needles
Micromanipulators
Membranes
Testing

Generalized iterative most likely oriented-point (G-IMLOP) registration

Billings, S. & Taylor, R. Aug 5 2015 In : International Journal of Computer Assisted Radiology and Surgery. 10, 8, p. 1213-1226 14 p.

Research output: Research - peer-reviewArticle

Statistical Models
Femur
Uncertainty
Anatomy

Intraoperative image-guided transoral robotic surgery: Pre-clinical studies

Liu, W. P., Reaugamornrat, S., Sorger, J. M., Siewerdsen, J. H., Taylor, R. H. & Richmon, J. D. Jun 1 2015 In : International Journal of Medical Robotics and Computer Assisted Surgery. 11, 2, p. 256-267 12 p.

Research output: Research - peer-reviewArticle

Robotics
Clinical Studies
Robotic surgery
Tongue
Imaging techniques

IRIS: Integrated Robotic Intraocular Snake

He, X., Van Geirt, V., Gehlbach, P., Taylor, R. & Iordachita, I. Jun 29 2015 Proceedings - IEEE International Conference on Robotics and Automation. June ed. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-June, p. 1764-1769 6 p. 7139426

Research output: ResearchConference contribution

Robotics
Wire
Surgery
Mechanics
Kinematics

Iterative Most-Likely Point Registration (IMLP): A Robust Algorithm for Computing Optimal Shape Alignment

Billings, S. D., Boctor, E. M. & Taylor, R. H. Mar 6 2015 In : PLoS One. 10, 3, e0117688

Research output: Research - peer-reviewArticle

Least-Squares Analysis
Noise
least squares
methodology
Names

Large deflection shape sensing of a continuum manipulator for minimally-invasive surgery

Liu, H., Farvardin, A., Pedram, S. A., Iordachita, I., Taylor, R. H. & Armand, M. Jun 29 2015 Proceedings - IEEE International Conference on Robotics and Automation. June ed. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-June, p. 201-206 6 p. 7139000

Research output: ResearchConference contribution

Surgery
Manipulators
Sensors
Fiber Bragg gratings
Wire
Computer-Assisted Surgery
Femur
Orthopedics
Bone and Bones
Hip Replacement Arthroplasties

Rendering-based video-CT registration with physical constraints for image-guided endoscopic sinus surgery

Otake, Y., Leonard, S., Reiter, A., Rajan, P., Siewerdsen, J. H., Ishii, M., Taylor, R. H. & Hager, G. D. 2015 Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling. SPIE, Vol. 9415, 94150A

Research output: ResearchConference contribution

sinuses
surgery
Endoscopy
Surgery
Endoscopes

Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors

Liu, H., Farvardin, A., Grupp, R., Murphy, R. J., Taylor, R. H., Iordachita, I. & Armand, M. Oct 1 2015 In : IEEE Sensors Journal. 15, 10, p. 5494-5503 10 p., 7118633

Research output: Research - peer-reviewArticle

deflection
manipulators
continuums
sensors
Manipulators

Smooth extrapolation of unknown anatomy via statistical shape models

Grupp, R. B., Chiang, H., Otake, Y., Murphy, R. J., Gordon, C. R., Armand, M. & Taylor, R. H. 2015 Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling. SPIE, Vol. 9415, 941524

Research output: ResearchConference contribution

Statistical Models
Anatomy
anatomy
extrapolation
Extrapolation
2014

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: Research - peer-reviewArticle

Computer-Assisted Surgery
Cone-Beam Computed Tomography
Robotics
Workflow
Thorax

3D optical coherence tomography image registration for guiding cochlear implant insertion

Cheon, G. W., Jeong, H. W., Chalasani, P., Chien, W. W., Iordachita, I., Taylor, R., Niparko, J. & Kang, J. U. 2014 Progress in Biomedical Optics and Imaging - Proceedings of SPIE. SPIE, Vol. 8926, 89261Z

Research output: ResearchConference contribution

Cochlear implants
Optical tomography
Image registration
Tomography
Electrodes