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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: Contribution to journalArticle

robots
surgery
Surgery
Robots
Sensors

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

Fiber Bragg gratings
Manipulators
Sensors
Medical applications
Signal to noise ratio

Catheter tracking in an interventional photoacoustic surgical system

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

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

Photoacoustic effect
Catheters
markers
Imaging techniques
Cameras

Co-robotic ultrasound imaging: A cooperative force control approach

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

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

Physical Exertion
approach control
Force control
Robotics
robotics

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., Mar 25 2017, (Accepted/In press) In : International journal of computer assisted radiology and surgery. p. 1-9 9 p.

Research output: Contribution to journalArticle

Robotics
Imaging systems
Ultrasonography
Ultrasonics
Robots

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: Contribution to journalArticle

Geometry
Bearings (structural)
Robots
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., 2017, Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XV. SPIE, Vol. 10054. 100541D

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

Photoacoustic effect
Transducers
Acoustics
surgeons
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. & Kang, J. U., Sep 4 2017, (Accepted/In press) In : IEEE/ASME Transactions on Mechatronics.

Research output: Contribution to journalArticle

Optical tomography
Sensors
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. H., 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: Contribution to journalArticle

Robotics
Ultrasonics
Robots
Ultrasonography
Imaging techniques

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. H., 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: Contribution to journalArticle

Image registration
Calibration
Imaging techniques
Equipment and Supplies
Workflow

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: Contribution to journalArticle

Artificial Larynges
Laryngectomy
Acoustics
Phonation
Equipment and Supplies

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: Contribution to journalArticle

Microsurgery
Robotics
Hand
Pharynx
Nose

Safe tissue manipulation in retinal microsurgery via motorized instruments with force sensing

Gonenc, B., Gehlbach, P., Taylor, R. H. & Iordachita, I., 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

Peeling
Tissue
Membranes
Fiber Bragg gratings
Adhesion

Simultaneous segmentation and correspondence improvement using statistical modes

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

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

Software architecture
Software Architecture
Manipulator
Operating Systems
Open Source

Surgical data science for next-generation interventions

Maier-Hein, L., Vedula, S. S., Speidel, S., Navab, N., Kikinis, R., Park, A., Eisenmann, M., Feussner, H., Forestier, G., Giannarou, S., Hashizume, M., Katic, D., Kenngott, H., Kranzfelder, M., Malpani, A., März, K., Neumuth, T., Padoy, N., Pugh, C., Schoch, N. & 5 othersStoyanov, D., Taylor, R. H., Wagner, M., Hager, G. & Jannin, P., Sep 1 2017, In : Nature Biomedical Engineering. 1, 9, p. 691-696 6 p.

Research output: Contribution to journalComment/debate

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: Contribution to journalArticle

Microsurgery
Robotics
Tremor
Pharynx
Nose

The surgical robot challenge

Merrifield, R. & Taylor, R. H., Jun 1 2017, In : IEEE Robotics and Automation Magazine. 24, 2, p. 22-23 2 p., 7947289.

Research output: Contribution to journalEditorial

Robotic surgery

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: Contribution to journalArticle

Micromanipulators
Retinal Vein
robots
veins
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: Chapter in Book/Report/Conference proceedingConference 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. & 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: Chapter in Book/Report/Conference proceedingConference contribution

Registration
Navigation System
Navigation systems
Surgery
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., 2016, Medical Imaging 2016: Image Processing. SPIE, Vol. 9784. 97840D

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

paranasal sinuses
Paranasal Sinuses
sinuses
Tomography
Snakes

Catheter tracking in an interventional photoacoustic surgical system

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

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

Snakes
Skull Base
Surgery
Manipulators
Endoscopy

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. H., 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: Contribution to journalArticle

Plant shutdowns
Needles
Ultrasonics
Robots
Imaging techniques

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

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

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

sinuses
surgery
Surgery
learning
Learning

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., 2016, Medical Imaging 2016: Image Processing. SPIE, Vol. 9784. 97840V

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

sinuses
endoscopes
Endoscopy
Endoscopes
navigation

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: Chapter in Book/Report/Conference proceedingConference contribution

Manipulators
Dissection
Brain
Kinematics
Visualization

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: Chapter in Book/Report/Conference proceedingConference contribution

Retinal Vein
End effectors
Punctures
Catheterization
Hand
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., 2016, Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling. SPIE, Vol. 9786. 97860J

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

Photoacoustic effect
Transducers
markers
transducers
Ultrasonics

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: Chapter in Book/Report/Conference proceedingConference contribution

Updating
Model-based
Path Following
Bearings (structural)
Registration

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: Chapter in Book/Report/Conference proceedingConference 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: Contribution to journalArticle

Cone-Beam Computed Tomography
Robotics
Workflow
Blood Vessels
Dissection

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: Chapter in Book/Report/Conference proceedingConference contribution

Atlases
Statistical Models
Covariance matrix
optimization
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: Chapter in Book/Report/Conference proceedingConference 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: Contribution to journalArticle

Osteotomy
Surgery
Joints
Hip Dislocation
Workflow

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., 2015, Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XIII. SPIE, Vol. 9313. 93130X

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

Photoacoustic effect
Transducers
markers
Ultrasonics
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: Chapter in Book/Report/Conference proceedingConference contribution

Peeling
Delamination
Modulation
Robots
Membranes

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

Horise, Y., He, X., Gehlbach, P., Taylor, R. H. & 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: Chapter in Book/Report/Conference proceedingConference contribution

Microsurgery
Robotics
Fiber Bragg gratings
Lighting
Surgery

Five-dimensional ultrasound system for soft tissue visualization

Deshmukh, N. P., Caban, J. J., Taylor, R. H., Hager, G. & Boctor, E., Dec 1 2015, In : International journal of computer assisted radiology and surgery. 10, 12, p. 1927-1939 13 p.

Research output: Contribution to journalArticle

Elasticity Imaging Techniques
Visualization
Ultrasonics
Tissue
Transfer functions

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: Chapter in Book/Report/Conference proceedingConference contribution

Drug delivery
Needles
Micromanipulators
Membranes
Testing

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

Billings, S. & Taylor, R. H., Aug 5 2015, In : International journal of computer assisted radiology and surgery. 10, 8, p. 1213-1226 14 p.

Research output: Contribution to journalArticle

Statistical Models
Femur
Uncertainty
Anatomy
Experiments

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

Liu, W. P., Reaugamornrat, S., Sorger, J. M., Siewerdsen, J., 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: Contribution to journalArticle

Robotics
Tongue
Imaging techniques
Swine
Oropharyngeal Neoplasms

IRIS: Integrated Robotic Intraocular Snake

He, X., Van Geirt, V., Gehlbach, P., Taylor, R. H. & 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: Chapter in Book/Report/Conference proceedingConference 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. & Taylor, R. H., Mar 6 2015, In : PLoS One. 10, 3, e0117688.

Research output: Contribution to journalArticle

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: Chapter in Book/Report/Conference proceedingConference contribution

Surgery
Manipulators
Sensors
Fiber Bragg gratings
Wire
Computer-Assisted Surgery
Orthopedics
Femur
Surgery
Bone

Modular interoperability in surgical robotics software

Kazanzides, P., Deguet, A., Vagvolgyi, B., Chen, Z. & Taylor, R. H., Sep 1 2015, Mechanical Engineering, 137, 9, p. 19-22 4 p.

Research output: Contribution to specialist publicationArticle

Interoperability
Robotics