Publications

Journal Papers

  1. K. E. Riojas, R. J. Hendrick, and R. J. Webster, III, “Can Elastic Instability be Beneficial in Concentric Tube Robots?”, Robotics and Automation Letters, vol. 3, no. 3, pp. 1624-1630, 2018.
  2. Y. Chen, I. S. Godage, Z. Tsz Ho Tse, R. J. Webster, III, and E. J. Barth, “Characterization and Control of a Pneumatic Motor for MR-conditional Robotic Applications”, IEEE/ASME Transactions on Mechatronics , vol. 22, no. 6, 2017. PDF (1.11 MB)
  3. N. P. Dillon, L. Fichera, K. Kesler, M. G. Zuniga, J. E. Mitchell, R. J. Webster, and R. F. Labadie, “Pre-operative screening and manual drilling strategies to reduce the risk of thermal injury during minimally invasive cochlear implantation surgery”, Annals of Biomedical Engineering, vol. 45, no. 9, pp. 2184-2195, 2017.
  4. M. Mizuta, T. Kurita, N. P. Dillon, E. E. Kimball, C. G. Garrett, M. P. Sivasankar, R. J. Webster, III, and B. Rousseau, “In-Vivo Measurement of Vocal Fold Surface Resistance”, The Laryngoscope, vol. 127, no. 10, pp. E364-E370, 2017.
  5. P. L. Anderson, A. Mahoney, and R. J. Webster III, “Continuum Reconfigurable Parallel Robots for Surgery: Shape Sensing and State Estimation With Uncertainty”, IEEE Robotics and Automation Letters, vol. 2, no. 3, pp. 1617-1624, 2017. PDF (916.71 KB)
  6. P. S. Wellborn, N. P. Dillon, P. T. Russell, III, and R. J. Webster, III, “Coffee: the key to safer image-guided surgery-- a granular jamming cap for non-invasive, rigid fixation of fiducial markers to the patient”, International Journal of Computer Assisted Radiology and Surgery, vol. 12, no. 6, pp. 1069-1077, 2017. PDF (1.23 MB)
  7. L. Fichera, N. P. Dillon, D. Zhang, I. S. Godage, M. A. Siebold, B. I. Hartley, J. H. Noble, P. T. Russell, III, R. F. Labadie, and R. J. Webster, III, “Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into The Middle Ear”, IEEE Robotics and Automation Letters, vol. 2, no. 3, pp. 1488-1494, 2017. PDF (1.18 MB)
  8. N. P. Dillon, R. Balachandran, M. A. Siebold, R. J. Webster, G. B. Wanna, and R. F. Labadie, “Cadaveric Testing of Robot-Assisted Access to the Internal Auditory Canal for Vestibular Schwannoma Removal”, Otology & Neurotology, vol. 38, no. 3, pp. 441-447, 2017. PDF (834.96 KB)
  9. L. B. Kratchman, T. L. Bruns, J. J. Abbott, and R. J. Webster, III, “Guiding Elastic Rods with a Robot-Manipulated Magnet for Medical Applications”, IEEE Transactions on Robotics, vol. 33, no. 1, pp. 227-233, 2017. PDF (458.55 KB)
  10. M. A. Siebold, N. P. Dillon, L. Fichera, R. F. Labadie, R. J. Webster III, and J. M. Fitzpatrick, “Safety Margins in Robotic Bone Milling: From Registration Uncertainty to Statistically Safe Surgeries”, The International Journal of Medical Robotics and Computer Assisted Surgery, vol. 13, no. 3, 2017. PDF (1.02 MB)
  11. D. B. Comber, E. B. Pitt, H. B. Gilbert, M. W. Powelson, E. Matijevich, J. S. Neimat, R. J. Webster, III, and E. J. Barth, “Optimization of Curvilinear Needle Trajectories for Transforamenal Hippocampotomy”, Operative Neurosurgery, vol. 13, no. 1, pp. 15-22, 2017.
  12. P. J. Swaney, A. W. Mahoney, B. I. Hartley, A. A. Remirez, E. P. Lamers, R. H. Feins, R. Alterovitz, and R. J. Webster, III, “Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles”, Journal of Medical Robotics Research, vol. 2, no. 1, p. 1750001, 2017. PDF (679.79 KB)
  13. A. L. Tam, H. J. Lim, I. I. Wistuba, A. Tamrazi, M. D. Kuo, E. Z, iv, S. Wong, A. J. Shih, R. J. Webster, G. S. Fischer, S. Nagrath, S. E. Davis, S. B. White, and K. Ahrar, “Image-guided biopsy in the era of personalized cancer care: Proceedings from the society of interventional radiology research consensus panel”, Journal of Vascular and Interventional Radiology, vol. 27, no. 1, pp. 8-19, 2016. PDF (102.98 KB)
  14. C. R. Mitchell, R. J. Hendrick, R. J. Webster, III, and S. D. Herrell, “Toward Improving Transurethral Prostate Surgery: Development and Initial Experiments with a Prototype Concentric Tube Robotic Platform”, Journal of Endourology, vol. 30, no. 6, pp. 692-696, 2016. PDF (262.65 KB) Best Basic Science Paper, Endourology Fellows Competition
  15. P. S. Wellborn, P. J. Swaney, and R. J. Webster, III, “Curving Clinical Biopsy Needles: Can We Steer Needles and Still Obtain Core Biopsy Samples?”, ASME Journal of Medical Devices, vol. 10, no. 3, p. 030904, 2016. PDF (536.87 KB)
  16. P. J. Swaney, P. A. York, H. B. Gilbert, J. Burgner-Kahrs, and R. J. Webster, III, “Design, Fabrication, and Testing of a Needle-sized Wrist for Surgical Instruments”, ASME Journal of Medical Devices, vol. 11, no. 1, pp. 014501-9, 2016. PDF (483.63 KB)
  17. N. P. Dillon, J. E. Mitchell, G. M. Zuniga, R. J. Webster, III, and R. F. Labadie, “Design and Thermal Testing of an Automatic Drill Guide for Less Invasive Cochlear Implantation”, ASME Journal of Medical Devices, vol. 10, no. 2, p. 020923, 2016. PDF (777.38 KB)
  18. Y. Zhu, P. J. Swaney, I. S. Godage, R. A. Lathrop, and R. J. Webster, III, “A Disposable Robot for Intracerebral Hemorrhage Removal”, ASME Journal of Medical Devices, vol. 10, no. 2, p. 020952, 2016. PDF (315.43 KB)
  19. E. B. Pitt, D. B. Comber, Y. Chen, J. S. Neimat, R. J. Webster, III, and E. J. Barth, “Follow-the-Leader Deployment of Steerable Needles Using a Magnetic Resonance-Compatible Robot with Stepper Actuators”, ASME Journal of Medical Devices, vol. 10, no. 2, p. 020945, 2016. PDF (562.93 KB)
  20. P. L. Anderson, R. A. Lathrop, and R. J. Webster, III, “Robot-Like Dexterity Without Computers and Motors: A Review of Hand-Held Laparoscopic Instruments with Wrist-Like Tip Articulation”, Expert Review of Medical Devices, vol. 13, no. 7, pp. 661-672, 2016. PDF (483.03 KB)
  21. P. L. Anderson, R. A. Lathrop, D. S Herrell, and R. J. Webster III, “Comparing a Mechanical Analogue with the da Vinci User Interface: Suturing at Challenging Angles”, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 1060-1065, 2016. PDF (899.89 KB)
  22. J. Granna, I. S. Godage, R. Wirz, K. D. Weaver, R. J. Webster, III, and J. Burgner-Kahrs, “A 3D Volume Coverage Path Planning Algorithm with Application to Intracerebral Hemorrhage Evacuation”, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 876-883, 2016. PDF (846.57 KB)
  23. H. Su, G. Li, C. D. Rucker, R. J. Webster, III, and G. S. Fischer, “Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-loop Targeting”, Annals of Biomedical Engineering, vol. 44, no. 10, pp. 2863-2873, 2016. PDF (766.12 KB)
  24. R. Ong, C. L. Glisson, J. Burgner-Kahrs, A. Simpson, A. Danilchenko, R. Lathrop, D. S. Herrell, R. J. Webster, III, M. Miga, and R. L. Galloway, “A Novel Method for Texture-mapping Conoscopic Surfaces for Minimally Invasive Image-guided Kidney Surgery”, International Journal for Computer Assisted Radiology and Surgery, vol. 11, no. 8, pp. 1515-1526, 2016. PDF (875.29 KB)
  25. H. B. Gilbert and R. J. Webster, III, “Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots”, IEEE Robotics and Automation Letters, vol. 1, no. 1, pp. 98-105, 2016. PDF (1.25 MB)
  26. H. B. Gilbert, R. J. Hendrick, and R. J. Webster, III, “Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test”, IEEE Transactions on Robotics, vol. 32, no. 1, pp. 20-35, 2016. PDF (1.03 MB) Best Student Paper of 2016, Vanderbilt School Of Engineering
  27. I. S. Godage, R. Wirz, I. D. Walker, and R. J. Webster, III, “Accurate and Efficient Dynamics for Variable Length Continuum Arms: A Center of Gravity Approach”, Soft Robotics, vol. 2, no. 3, pp. 96-106, 2015. PDF (1.08 MB)
  28. R. J. Hendrick, C. R. Mitchell, S. D. Herrell, and R. J. Webster III, “Hand-Held Transendoscopic Robotic Manipulators: A Transurethral Laser Prostate Surgery Case Study”, International Journal of Robotics Research, vol. 34, no. 15, pp. 1559-1572, 2015. PDF (984.79 KB)
  29. N. P. Dillon, R. Balachandran, J. M. Fitzpatrick, M. A. Siebold, R. F. Labadie, G. B. Wanna, T. J. Withrow, and R. J. Webster, III, “A Compact Bone-Attached Robot for Mastoidectomy”, ASME Journal of Medical Devices, vol. 9, no. 3, p. 031003, 2015. PDF (1.83 MB)
  30. E. P. Lamers, A. A. Remirez, P. J. Swaney, and R. J. Webster III, “A Bronchial Puncture Mechanism for Transoral Access to the Lung Parenchyma”, ASME Journal of Medical Devices, vol. 9, no. 3, 2015. PDF (613.4 KB)
  31. A. Sarkar, R. J. Hendrick, R. A. Lathrop, B. Alvis, and R. J. Webster III, “Design of a Safer Tracheostomy Tube”, ASME Journal of Medical Devices, vol. 9, no. 2, 2015. PDF (997.71 KB)
  32. H. B. Gilbert, J. Neimat, and R. J. Webster III, “Concentric Tube Robots as Steerable Needles: Achieving Follow-The-Leader Deployment”, IEEE Transactions on Robotics, vol. 31, no. 2, pp. 246-258, 2015. PDF (4.24 MB)
  33. P. J. Swaney, H. B. Gilbert, R. J. Webster III, P. T. Russell III, and K. D. Weaver, “Endonasal Skull Base Tumor Removal Using Concentric Tube Continuum Robots: A Phantom Study”, Journal of Neurological Surgery Part B: Skull Base, vol. 76, no. 2, pp. 145-149, 2015. PDF (227.92 KB)
  34. R. Wirz, L. Torres, P. J. Swaney, H. B. Gilbert, R. Alterovitz, R. J. Webster III, K. D. Weaver, and P. T. Russell III, “An Experimental Feasibility Study on Robotic Endonasal Telesurgery”, Neurosurgery, vol. 76, no. 4, pp. 479-484, 2015. PDF (507.92 KB)
  35. A. A. Remirez, R. A. Lathrop, P. T. Russell III, and R. J. Webster III, “Design of a Stiff Steerable Grasper for Sinus Surgery”, ASME Journal of Medical Devices, vol. 9, no. 3, 2014. PDF (414.77 KB)
  36. D. B. Comber, E. J. Barth, and R. J. Webster III, “Design and Control of an Magnetic Resonance Compatible Precision Pneumatic Active Cannula Robot”, ASME Journal of Medical Devices, vol. 8, no. 1, p. 011003, 2014. PDF (1.5 MB)
  37. H. B. Gilbert, R. Hendrick, A. Remirez, and R. Webster, III, “A Robot for Transnasal Surgery Featuring Needle-Sized Tentacle-Like Arms”, Expert Review of Medical Devices, vol. 11, no. 1, pp. 5-7, 2014. PDF (407.01 KB)
  38. S. D. Herrell, R. J. Webster III, and N. Simaan, “Future Robotic Platforms in Urologic Surgery: Recent Developments”, Current Opinion in Urology, vol. 24, no. 1, pp. 118-126, 2014. PDF (763.08 KB)
  39. J. L. Gorlewicz, J. Burgner, T. J. Withrow, and R. J. Webster III, “Initial Experiences Using Vibratory Touchscreens to Display Graphical Math Concepts to Students with Visual Impairments”, Journal of Special Education Technology, vol. 29, no. 2, pp. 17-26, 2014. PDF (15.01 MB)
  40. J. Burgner, D. C. Rucker, H. B. Gilbert, P. J. Swaney, P. T. Russell III, K. D. Weaver, and R. J. Webster III, “A Telerobotic System for Transnasal Surgery”, IEEE/ASME Transactions on Mechatronics, vol. 19, no. 3, pp. 996-1006, 2014. PDF (780.45 KB)
  41. S. Patil, J. Burgner, R. J. Webster III, and R. Alterovitz, “Needle Steering in 3D via Rapid Replanning”, IEEE Transactions on Robotics, vol. 30, no. 4, pp. 853-864, 2014. PDF (938.75 KB)
  42. J. L. Gorlewicz, L. B. Kratchman, and R. J. Webster III, “Haptic Paddle Enhancements and a Formal Assessment of Student Learning in System Dynamics”, ASEE Advances in Engineering Education, vol. 4, no. 2, pp. 1-31, 2014. PDF (1.15 MB)
  43. R. J. Hendrick, R. A. Lathrop, J. S. Schneider, and R. J. Webster III, “Design of an Endonasal Graft Placement Tool for Repair of Skull Base Defects”, ASME Journal of Medical Devices, vol. 7, no. 2, 2013. PDF (467.37 KB) 3 in 5 Competition Winner
  44. J. S. Schneider, J. Burgner, R. J. Webster III, and P. T. Russell III, “Robotic Surgery for the Sinuses and Skull Base: What are the Possibilities and What are the Obstacles?”, Current Opinion in Otolaryngology & Head and Neck Surgery, vol. 21, no. 1, pp. 11-16, 2013. PDF (294.52 KB)
  45. A. L. Simpson, J. Burgner, C. L. Glisson, S. D. Herrell, B. Ma, T. S. Pheiffer, R. J. Webster III, and M. I. Miga, “Comparison Study of Intraoperative Surface Acquisition Methods for Surgical Navigation”, IEEE Transactions on Biomedical Engineering, vol. 60, no. 4, pp. 1090-1099, 2013. PDF (1.02 MB)
  46. P. J. Swaney, J. Burgner, H. B. Gilbert, and R. J. Webster III, “A Flexure-Based Steerable Needle: High Curvature with Reduced Tissue Damage”, IEEE Transactions on Biomedical Engineering, vol. 60, no. 4, pp. 906-909, 2013. PDF (273.65 KB)
  47. J. L. Gorlewicz, S. Battaglia, B. F. Smith, G. Ciuti, J. Gerding, A. Menciassi, K. Obstein, P. Valdastri, and R. J. Webster III, “Wireless Insufflation of the Gastrointestinal Tract”, IEEE Transactions on Biomedical Engineering, vol. 60, no. 5, pp. 1225-1233, 2013. PDF (753.34 KB)
  48. J. Ueda, D. B. Comber, J. Slightam, M. Turkseven, V. Gervasi, R. J. Webster III, and E. J. Barth, “MRI-Compatible Fluid-Powered Medical Devices”, Dynamic Systems and Control Magazine, vol. 135, no. 6, pp. 13-16, 2013. PDF (2.31 MB)
  49. J. Burgner, A. L. Simpson, J. M. Fitzpatrick, R. A. Lathrop, S. D. Herrell, M. I. Miga, and R. J. Webster III, “A Study on the Theoretical and Practical Accuracy of Conoscopic Holography-Based Surface Measurements: Toward Image Registration in Minimally Invasive Surgery”, International Journal of Medical Robotics and Computer Assisted Surgery, vol. 9, no. 2, pp. 190-203, 2013. PDF (2.14 MB)
  50. N. P. Dillon, L. B. Kratchman, M. S. Dietrich, R. F. Labadie, R. J. Webster, III, and T. J. Withrow, “An Experimental Evaluation of the Force Requirements for Robotic Mastoidectomy”, Otology & Neurotology, vol. 34, no. 7, pp. e93-e102, 2013. PDF (5.09 MB)
  51. J. Burgner, P. J. Swaney, R. A. Lathrop, K. D. Weaver, and R. J. Webster III, “Debulking From Within: A Robotic Steerable Cannula for Intracerebral Hemorrhage Evacuation”, IEEE Transactions on Biomedical Engineering, vol. 60, no. 9, pp. 2567-2575, 2013. PDF (673.46 KB)
  52. J. Bekeny, P. J. Swaney, R. J. Webster III, P. T. Russell, and K. D. Weaver, “Forces Applied at the Skull Base During Transnasal Endoscopic Transsphenoidal Pituitary Tumor Excision”, Journal of Neurological Surgery Part B: Skull Base, vol. 74, no. 6, pp. 337-341, 2013. PDF (163.59 KB)
  53. D. C. Rucker, J. Das, H. B. Gilbert, P. J. Swaney, M. I. Miga, N. Sarkar, and R. J. Webster III, “Sliding Mode Control of Steerable Needles”, IEEE Transactions on Robotics, vol. 29, no. 5, pp. 1289-1299, 2013. PDF (803.04 KB)
  54. D. Schurzig, R. F. Labadie, A. Hussong, T. S. Rau, and R. J. Webster III, “Design of a Tool Integrating Force Sensing with Automated Insertion in Cochlear Implantation”, IEEE/ASME Transactions on Mechatronics, vol. 17, no. 2, pp. 381-389, 2012. PDF (1.42 MB)
  55. P. Valdastri, M. Simi, and R. J. Webster III, “Advanced Technologies for Gastrointestinal Endoscopy”, Annual Review of Biomedical Engineering, vol. 14, pp. 397-429, 2012. PDF (2.14 MB)
  56. L. B. Kratchman, D. Schurzig, T. R. McRackan, R. Balachandran, J. H. Noble, R. J. Webster III, and R. F. Labadie, “A Manually-Operated, Advance Off-Stylet Insertion Tool for Image-Guided, Minimally Invasive Cochlear Implantation Surgery”, IEEE Transactions on Biomedical Engineering, vol. 59, no. 10, pp. 2792-2800, 2012. PDF (715.76 KB)
  57. J. Burgner, P. J. Swaney, T. L. Bruns, M. S. Clark, D. C. Rucker, E. C. Burdette, and R. J. Webster III, “An Autoclavable Steerable Cannula Manual Deployment Device: Design and Accuracy Analysis”, ASME Journal of Medical Devices, vol. 6, no. 4, p. 041007, 2012. PDF (981.52 KB)
  58. A. Danilchenko, R. Balachandran, J. L. Toennies, S. Baron, B. Munske, J. M. Fitzpatrick, T. J. Withrow, R. J. Webster III, and R. F. Labadie, “Robotic Mastoidectomy”, Otology & Neurotology, vol. 32, no. 1, pp. 11-16, 2011. PDF (854.39 KB)
  59. D. C. Rucker and R. J. Webster III, “Statics and Dynamics of Continuum Robots with General Tendon Routing and External Loading”, IEEE Transactions on Robotics, vol. 27, no. 6, pp. 1033-1044, 2011. PDF (1.01 MB)
  60. L. B. Kratchman, G. S. Blachon, T. J. Withrow, R. Balachandran, R. F. Labadie, and R. J. Webster III, “Design of a Bone-Attached Parallel Robot for Percutaneous Cochlear Implantation”, IEEE Transactions on Biomedical Engineering, vol. 58, no. 10, pp. 2904-2910, 2011. PDF (756.06 KB)
  61. S. Baron, H. Eilers, B. Munske, J. L. Toennies, R. Balachandran, R. F. Labadie, T. Ortmaier, and R. J. Webster III, “Percutaneous Inner-Ear Access Via an Image-Guided Industrial Robot System”, Journal of Engineering in Medicine, vol. 224, no. 5, pp. 633-649, 2010. PDF (836.26 KB)
  62. R. A. Lathrop, D. Hackworth, and R. J. Webster III, “Minimally Invasive Holographic Surface Scanning for Soft Tissue Image Registration”, IEEE Transactions on Biomedical Engineering, vol. 57, no. 6, pp. 1497-1506, 2010. PDF (804.49 KB)
  63. J. L. Toennies, G. Tortora, M. Simi, P. Valdastri, and R. J. Webster III, “Swallowable Medical Devices for Diagnosis and Surgery: The State of the Art”, Proceeding of the Institute of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol. 224, no. C7, pp. 1397-1414, 2010. PDF (611.32 KB)
  64. D. C. Rucker, R. J. Webster III, G. S. Chirikjian, and N. J. Cowan, “Equilibrium Conformations of Concentric-Tube Continuum Robots”, International Journal of Robotics Research, vol. 29, no. 10, pp. 1263-1280, 2010. PDF (1.67 MB)
  65. R. J. Webster III and B. A. Jones, “Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review”, International Journal of Robotics Research, vol. 29, no. 13, pp. 1661-1683, 2010. PDF (1.02 MB)
  66. D. Schurzig, R. J. Webster III, M. S. Dietrich, and R. F. Labadie, “Force of Cochlear Implant Electrode Insertion Performed by a Robotic Insertion Tool: Comparison of Traditional Versus Advance-Off Stylet Techniques”, Otology & Neurotology, vol. 31, no. 8, pp. 1207-1210, 2010. PDF (462.7 KB)
  67. D. C. Rucker, B. A. Jones, and R. J. Webster III, “A Geometrically Exact Model for Externally Loaded Concentric Tube Continuum Robots”, IEEE Transactions on Robotics, vol. 26, no. 5, pp. 769-780, 2010. PDF (765.65 KB) Best Student Paper of 2010, Vanderbilt School Of Engineering
  68. R. J. Webster III, J. M. Romano, and N. J. Cowan, “Mechanics of Precurved-Tube Continuum Robots”, IEEE Transactions on Robotics, vol. 25, no. 1, pp. 67-78, 2009. PDF (815.76 KB)
  69. P. Valdastri, R. J. Webster III, C. Quaglia, M. Quirini, A. Menciassi, and P. Dario, “A New Mechanism for Meso-Scale Legged Locomotion in Compliant Tubular Environments”, IEEE Transactions on Robotics, vol. 25, no. 5, pp. 1047-1057, 2009. PDF (920.66 KB)
  70. D. C. Rucker and R. J. Webster III, “Parsimonious Evaluation of Concentric-Tube Continuum Robot Equilibrium Conformation”, IEEE Transactions on Biomedical Engineering, vol. 56, no. 9, pp. 2308-2311, 2009. PDF (314.37 KB)
  71. C. Quaglia, E. Buselli, R. J. Webster, III, P. Valdastri, A. Menciassi, and P. Dario, “An Endoscopic Capsule Robot: A Meso-Scale Engineering Case Study”, Journal of Micromechanics and Microengineering, vol. 19, no. 10, p. 105007, 2009. PDF (740.97 KB)
  72. E. M. Boctor, M. A. Choti, E. C. Burdette, and R. J. Webster III, “Three-Dimensional Ultrasound-Guided Robotic Needle Placement: An Experimental Evaluation”, International Journal of Medical Robotics and Computer Assisted Surgery, vol. 4, no. 2, pp. 180-191, 2008. PDF (1.26 MB)
  73. R. J. Webster III, “Object Capture With a Camera-Mobile Robot System”, IEEE Robotics & Automation Magazine, vol. 13, no. 1, pp. 85-88, 2006. PDF (315.46 KB)
  74. R. J. Webster III, J. S. Kim, N. J. Cowan, G. S. Chirikjian, and A. M. Okamura, “Nonholonomic Modeling of Needle Steering”, International Journal of Robotics Research, vol. 25, no. 5-6, pp. 509-525, 2006. PDF (339.87 KB)
  75. R. J. Webster III, T. E. Murphy, L. N. Verner, and A. M. Okamura, “A Novel Two-Dimensional Tactile Slip Display: Design, Kinematics, and Perceptual Experiments”, ACM Transactions on Applied Perception, vol. 2, no. 2, pp. 150-165, 2005. PDF (466.26 KB)
  76. E. M. Boctor, R. J. Webster III, H. Mathieu, A. M. Okamura, and G. Fichtinger, “Virtual Remote Center of Motion Control for Needle Placement Robots”, Journal of Computer Aided Surgery, vol. 9, no. 5, pp. 175-183, 2004. PDF (1.74 MB)

Journal Abstracts

  1. P. Swaney, H. Gilbert, R. J. Webster, III, P. Russell, and K. Weaver, “Resection of Pituitary Lesions in a Phantom Model using Concentric Tube Robots with Endoscopic Visualization”, Journal of Neurological Surgery Part B: Skull Base, vol. 76. p. A149, 2015. PDF (49.28 KB)
  2. R. Wirz, L. Torres, P. Swaney, H. Gilbert, R. Alterovitz, R. J. Webster, III, K. Weaver, and P. Russell, “Teleoperation of Concentric Tube Robots for Skull Base Applications: Pituitary Surgery at a Distance?”, Journal of Neurological Surgery Part B: Skull Base, vol. 76. p. A151, 2015. PDF (55.75 KB)
  3. K. D. Weaver, R. J. Webster, III, P. J. Swaney, J. Burgner, P. T. Russell, III, H. B. Gilbert, J. Bekeny, and R. J. Hendrick, “The Use of Teleoperated Concentric Tube Robots for Transsphenoidal Parasellar Surgery.”, vol. 74-A123. Journal of Neurological Surgery Part B: Skull Base, 2013. PDF (44.25 KB)
  4. T. L. Bruns, J. M. Tucker, D. C. Rucker, E. M. Boctor, E. C. Burdette, J. Burgner, and R. J. Webster, III, “Design of an Autoclavable Active Cannula Deployment Device”, vol. 5, no. 2. ASME Journal of Medical Devices, 2011. PDF (35.47 KB)
  5. S. Athavale, T. Dutton, and R. J. Webster, III, “Cuffed Inner Cannula and Flexible Outer Cannula Trachesotomy Device: Ensuring a Stable Airway”, vol. 4, no. 2. ASME Journal of Medical Devices, 2010. PDF (32.29 KB)
  6. J. Das, D. C. Rucker, and R. J. Webster, III, “A Testbed for Multilumen Steerable Needle Experiments”, vol. 4, no. 2. ASME Journal of Medical Devices, 2010. PDF (28.2 KB)
  7. D. Schurzig, Z. W. Smith, D. C. Rucker, R. F. Labadie, and R. J. Webster, III, “A Manual Insertion Mechanism for Percutaneous Cochlear Implantation”, vol. 4, no. 2. ASME Journal of Medical Devices, 2010. PDF (27.78 KB)
  8. R. A. Lathrop, T. T. Cheng, and R. J. Webster, III, “Laparoscopic Image Guidance via Conoscopic Holography”, vol. 3, no. 2. ASME Journal of Medical Devices, 2009. PDF (35.05 KB)
  9. J. L. Toennies and R. J. Webster, III, “A Wireless Insufflation System for Capsular Endoscopes”, vol. 3, no. 2. ASME Journal of Medical Devices, 2009. PDF (34.07 KB)
  10. D. C. Rucker, J. M. Croom, and R. J. Webster, III, “Aiming Surgical Lasers With an Active Cannula”, vol. 3, no. 2. ASME Journal of Medical Devices, 2009. PDF (36 KB)

Conference Papers

  1. P. L. Anderson, T. E. Ertop, A. Kuntz, F. Maldonado, R. Alterovitz, and R. J. Webster, III, “Sand Blasting Inside a Patient: A CRISP Robot for Spraying Powder inside the Chest Cavity to Preclude Lung Collapse”, in Hamlyn Symposium on Medical Robotics, 2018.
  2. M. Rox, K. Riojas, M. Emerson, K. Oliver-Butler, D. C. Rucker, and R. J. Webster, III, “Luminal Robots Small Enough to Fit Through Endoscope Ports: Initial Tumor Resection Experiments in the Airways”, in Hamlyn Symposium on Medical Robotics, 2018.
  3. M. Fu, A. Kuntz, R. J. Webster, III, and R. Alterovitz, “Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018.
  4. A. Kuntz, C. Bowen, C. Baykal, A. W. Mahoney, P. L. Anderson, F. Maldonado, R. J. Webster, III, and R. Alterovitz, “Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning”, in IEEE International Conference on Robotics and Automation, 2018.
  5. M. E. Poorman, Y. Chen, R. J. Webster, III, E. J. Barth, and W. A. Grissom, “MR Imaging Simulator and Optimized Multi-echo Z-shimmed Sequence for Temperature Mapping Near Metallic Ablation Probes”, in 26th Meeting of the International Society for Magnetic Resonance in Medicine, 2018.
  6. J. M. Ferguson, L. Y. Cai, A. Reed, M. Siebold, S. De, S. D. Herrell, III, and R. J. Webster, III, “Toward Image-Guided Partial Nephrectomy with the da Vinci Robot: Exploring Surface Acquisition Methods for Intraoperative Re-Registration”, in SPIE Medical Imaging, 2018.
  7. R. Odenbach, Y. Chen, S. Sengupta, R. J. Webster, III, E. J. Barth, and M. Friebe, “3D-printed Z-frame marker for MRI-guided interventions”, in CURAC, 2017. PDF (322.48 KB)
  8. A. W. Mahoney, P. L. Anderson, F. Maldonado, and R. J. Webster, III, “More Ports = Less Invasive? A Multi-­Needle Robot for Lung Ablation”, in Hamlyn Symposium on Medical Robotics, 2017. PDF (449.47 KB)
  9. A. Kuntz, A. W. Mahoney, N. E. Peckman, P. L. Anderson, R. J. Webster, III, and R. Alterovitz, “Motion Planning for Continuum Reconfigurable Incisionless Surgical Parallel Robots”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017. PDF (1.47 MB)
  10. M. F. Rox, R. J. Hendrick, S. D. Herrell, and R. J. Webster, III, “An Experimental Comparison of Two User Interface Designs for a Hand-Held Surgical Robot”, in Design of Medical Devices Conference, 2017. PDF (335.91 KB)
  11. T. L. Bruns and R. J. Webster, III, “An Image Guidance System for Positioning Robotic Cochlear Implant Insertion Tools”, in SPIE Medical Imaging, 2017, vol. 10135. PDF (452.88 KB)
  12. Y. Chen, I. S. Godage, S. Sengupta, C. Liu, K. D. Weaver, E. J. Barth, and R. J. Webster, III, “An MRI-compatible Robot Steerable Needle for Intracerebral Hemorrhage Removal”, in Design of Medical Devices, 2017. PDF (1.54 MB) 3 in 5 Competition - 3rd Place
  13. Y. Chen, M. E. Poorman, D. B. Comber, E. B. Pitt, C. Liu, I. S. Godage, H. Yu, W. A. Grissom, E. J. Barth, and R. J. Webster, III, “Treating Epilepsy via Thermal Ablation: Initial Experiments with an MRI-Guided Concentric Tube Robot”, in Design of Medical Devices Conference, 2017. PDF (1.38 MB)
  14. S. Narasimhan, J. A. Weis, I. S. Godage, R. J. Webster, III, K. D. Weaver, and M. I. Miga, “Development of a Mechanics-Based Model of Brain Deformations during Intracerebral Hemorrhage Evacuation”, in SPIE International Conference on Medical Imaging, 2017. PDF (854.83 KB)
  15. S. Lin, L. Fichera, M. J. Fulton, and R. J. Webster, III, “Don’t Get Burned: Thermal Monitoring of Vessel Sealing using a Miniature Infrared Camera”, in SPIE Medical Imaging, 2017, vol. 10135, p. 101350Y-101350Y-7. PDF (1.09 MB)
  16. A. Kuntz, P. J. Swaney, A. Mahoney, R. H. Feins, Y. Z. Lee, R. J. Webster, III, and R. Alterovitz, “Toward Transoral Peripheral Lung Access: Steering Bronchoscope-deployed Needles through Porcine Lung Tissue”, in Hamlyn Symposium on Medical Robotics, 2016, pp. 9-10. PDF (337.89 KB)
  17. P. S. Wellborn, P. T. Russell, and R. J. Webster, III, “Can Coffee Improve Surgical Robot Accuracy?”, in Hamlyn Symposium on Medical Robotics, 2016, pp. 70-71. PDF (355.21 KB)
  18. E. B. Pitt, P. J. Swaney, H. B. Gilbert, Y. Chen, R. J. Webster, III, and E. J. Barth, “Enabling Helical Needle Trajectories with Minimal Actuation: A Screw-Based Approach to Concentric Tube Needle Deployment”, in Hamlyn Symposium on Medical Robotics, 2016, pp. 56-57. PDF (427.11 KB)
  19. A. W. Mahoney, P. L. Anderson, P. J. Swaney, F. Maldonado, and R. J. Webster, III, “Reconfigurable Parallel Continuum Robots for Incisionless Surgery”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016, pp. 4330-4336. PDF (1.72 MB)
  20. N. P. Dillon, L. Fichera, P. S. Wellborn, R. F. Labadie, and R. J. Webster, III, “Making Robots Mill Bone More Like Human Surgeons: Using Bone Density and Anatomic Information to Mill Safely and Efficiently”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016, pp. 1837-1843. PDF (930.21 KB)
  21. A. A. Remirez and R. J. Webster, III, “Endoscopes and Robots for Tight Surgical Spaces: Use of Precurved Elastic Elements to Enhance Curvature”, in SPIE Medical Imaging, 2016, vol. 9786. PDF (440.26 KB)
  22. A. Mahoney, T. Bruns, P. J. Swaney, and R. J. Webster, III, “On the Inseparable Nature of Sensor Selection, Sensor Placement, and State Estimation in Continuum Robots or `Where to Put Your Sensors and How to Use Them'”, in IEEE International Conference on Robotics and Automation, 2016, pp. 4472-4478. PDF (1.58 MB)
  23. N. P. Dillon, M. A. Siebold, J. E. Mitchell, J. M. Fitzpatrick, and R. J. Webster, III, “Increasing Safety of a Robotic System for Inner Ear Surgery Using Probabilistic Error Modeling Near Vital Anatomy”, in SPIE Medical Imaging, 2016, p. 97861G. PDF (1.05 MB) Young Scientist Award Presented by Siemens, Runner-Up
  24. A. Kuntz, L. G. Torres, R. H. Feins, R. J. Webster, III, and R. Alterovitz, “Motion Planning for a Three-Stage Multilumen Transoral Lung Access System”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, pp. 3255-3261. PDF (554.3 KB)
  25. Y. Guo, J. Granna, K. D. Weaver, R. J. Webster, III, and J. Burgner-Kahrs, “Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evacuation”, in Hamlyn Symposium on Medical Robotics, 2015. PDF (361.69 KB)
  26. T. A. Travaglini, P. J. Swaney, K. D. Weaver, and R. J. Webster, III, “Initial Experiments with the Leap Motion as a User Interface in Robotic Endonasal Surgery”, in IFTOMM International Symposium on Robotics & Mechatronics, 2015, pp. 171-179. PDF (181.14 KB)
  27. I. S. Godage, R. Wirz, I. D. Walker, and R. J. Webster, III, “Efficient spatial dynamics for continuum arms”, in ASME Dynamic Systems and Control Conference, 2015. PDF (417.99 KB)
  28. I. S. Godage, A. A. Remirez, R. Wirz, K. D. Weaver, J. Burgner-Kahrs, and R. J. Webster, III, “Robotic Intracerebral Hemorrhage Evacuation: An In-Scanner Approach with Concentric Tube Robots”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, pp. 1447-1452. PDF (1.14 MB)
  29. A. A. Remirez and R. J. Webster, III, “A New Continuum Robot with Crossed Elastic Strips: Extensible Sections with Only One Actuator per Section”, in ASME Dynamic Systems and Control Conference, 2015. PDF (11.06 MB)
  30. P. J. Swaney, H. B. Gilbert, R. J. Hendrick, O. Commichau, R. Alterovitz, and R. J. Webster, III, “Transoral Steerable Needles in The Lung: How Non-Annular Concentric Tube Robots Can Improve Targeting”, in Hamlyn Symposium on Medical Robotics, 2015. PDF (1.81 MB) Best Oral Presentation
  31. R. J. Hendrick, H. B. Gilbert, and R. J. Webster, III, “Designing snap-free concentric tube robots: A local bifurcation approach”, in IEEE International Conference on Robotics and Automation, 2015, pp. 2256-2263. PDF (477.8 KB)
  32. P. York, P. J. Swaney, H. B. Gilbert, and R. J. Webster, III, “A wrist for needle-sized surgical robots”, in IEEE International Conference on Robotics and Automation, 2015, pp. 1776-1781. PDF (3.8 MB)
  33. P. J. Swaney, A. Mahoney, A. Remirez, E. Lamers, B. Hartley, R. Feins, R. Alterovitz, and R. J. Webster, III, “Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system”, in IEEE International Conference on Robotics and Automation, 2015, pp. 5378-5383. PDF (3.75 MB)
  34. L. G. Torres, A. Kuntz, H. B. Gilbert, P. J. Swaney, R. J. Hendrick, R. J. Webster, III, and R. Alterovitz, “A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation”, in IEEE International Conference on Robotics and Automation, 2015, pp. 2361-2367. PDF (742.22 KB)
  35. R. Wirz, R. A. Lathrop, I. Godage, J. Burgner-Kahrs, P. T. Russell, III, and R. J. Webster, III, “Can Coffee Improve Image Guidance?”, in SPIE Medical Imaging, 2015. PDF (846.42 KB)
  36. M. A. Siebold, N. P. Dillon, R. J. Webster, III, and J. M. Fitzpatrick, “Incorporating Target Registration Error Into Robotic Bone Milling”, in SPIE Medical Imaging, 2015, p. 94150R. PDF (616.54 KB)
  37. R. J. Webster, III, “Can We Do da Vinci-Like Surgery With Steerable Needles?”, in IEEE Engineering in Medicine and Biology Society Conference, 2014. PDF (93.7 KB)
  38. R. J. Hendrick, C. R. Mitchell, S. D. Herrell, and R. J. Webster, III, “Concentric Tube Robots for Transurethral Prostate Surgery: Matching the Workspace to the Endoscopic Field of View”, in Hamlyn Symposium on Medical Robotics, 2014. PDF (387.16 KB)
  39. J. Burgner-Kahrs, H. B. Gilbert, J. Granna, P. J. Swaney, and R. J. Webster, III, “Workspace Characterization for Concentric Tube Continuum Robots”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, pp. 1269-1275. PDF (3.6 MB) Best Application Paper Finalist
  40. R. J. Hendrick, S. D. Herrell, and R. J. Webster, III, “A Multi-Arm Hand-Held Robotic System for Transurethral Laser Prostate Surgery”, in IEEE International Conference on Robotics and Automation, 2014, pp. 2850-2855. PDF (1.52 MB)
  41. N. P. Dillon, R. Balachandran, A. M. dit Falisse, G. B. Wanna, R. F. Labadie, T. J. Withrow, J. M. Fitzpatrick, and R. J. Webster, III, “Preliminary Testing of a Compact, Bone-Attached Robot for Otologic Surgery”, in SPIE Medical Imaging, 2014, p. 903614. PDF (756.16 KB)
  42. D. B. Comber, J. Slightam, E. J. Barth, V. Gervasi, and R. J. Webster, III, “Design and Precision Control of an MR-Compatible Flexible Fluidic Actuator”, in ASME/BATH Symposium on Fluid Power & Motion Control, 2013. PDF (523.87 KB)
  43. N. P. Dillon, R. J. Webster, III, and T. J. Withrow, “Design of a Bone-Attached Robot for Mastoidectomy”, in Hamlyn Symposium on Medical Robotics, 2013, pp. 3-4. PDF (462.38 KB)
  44. D. B. Comber, R. J. Webster, III, J. Neimat, and E. J. Barth, “Open-Loop Tip Accuracy of an MRI-Compatible Active Cannula Robot”, in Hamlyn Symposium on Medical Robotics, 2013, pp. 112-113. PDF (49.5 KB)
  45. J. Burgner, H. B. Gilbert, and R. J. Webster, III, “On the Computational Design of Concentric Tube Robots: Incorporating Volume-Based Objectives”, in IEEE International Conference on Robotics and Automation, 2013, pp. 1185-1190. PDF (1.16 MB) Best Medical Robotics Paper Finalist
  46. H. B. Gilbert and R. J. Webster, III, “Can Concentric Tube Robots Follow The Leader?”, in IEEE International Conference on Robotics and Automation, 2013, pp. 4866-4872. PDF (801.17 KB)
  47. P. J. Swaney, J. Burgner, R. A. Lathrop, H. B. Gilbert, K. D. Weaver, and R. J. Webster, III, “Minimally-Invasive Intracerebral Hemorrhage Removal Using An Active Cannula”, in IEEE International Conference on Robotics and Automation, 2013, pp. 219-224. PDF (458.75 KB)
  48. D. P. Losey, P. A. York, P. J. Swaney, J. Burgner, and R. J. Webster, III, “A Flexure-Based Wrist for Needle-Sized Surgical Robots”, in SPIE Medical Imaging, 2013. PDF (8.74 MB)
  49. J. Burgner, P. J. Swaney, R. A. Lathrop, K. D. Weaver, and R. J. Webster, III, “Robot-Assisted Intracerebral Hemorrhage Evacuation: An Experimental Evaluation”, in SPIE Medical Imaging, 2013. PDF (257.31 KB)
  50. J. Burgner, H. B. Gilbert, P. J. Swaney, P. T. Russell, III, and R. J. Webster, III, “Continuum Robots Based on Precurved Nitinol Tubes: Evaluation of a Prototype for Transnasal Skull Base Surgery (Orig Title: `Kontinuumsroboter auf Basis vorgebogener Nitinolröhrchen: Evaluierung eines Prototypen für die Transnasale Schädelbasischirurgie')”, in Annual Meeting of the German Society for Computer and Robot-assisted Surgery, 2012. PDF (1.15 MB)
  51. L. G. Torres, R. J. Webster, III, and R. Alterovitz, “Task-Oriented Design of Concentric Tube Robots using Mechanics-based Models”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, pp. 4449-4455. PDF (1.81 MB)
  52. D. B. Comber, D. Cardona, R. J. Webster, III, and E. J. Barth, “Sliding mode control of an MRI-compatible pneumatically actuated robot”, in Fluid Power & Motion Control Symposium, 2012, pp. 283-293. PDF (541.71 KB)
  53. P. J. Swaney, J. M. Croom, J. Burgner, H. B. Gilbert, D. C. Rucker, P. T. Russell, III, K. D. Weaver, and R. J. Webster, III, “Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery”, in ASME Dynamic Systems and Control, 2012. PDF (1.84 MB)
  54. H. B. Gilbert, P. J. Swaney, J. Burgner, K. D. Weaver, P. T. Russell, III, and R. J. Webster, III, “A Feasibility Study on the use of Concentric Tube Continuum Robots for Endonasal Skull Base Tumor Removal”, in Hamlyn Symposium on Medical Robotics, 2012. PDF (1.25 MB)
  55. J. L. Gorlewicz and R. J. Webster, III, “A Formal Assessment of the Haptic Paddle Laboratories in Teaching System Dynamics”, in American Society of Engineering Education, 2012. PDF (1.29 MB) Best Paper, Mechanical Engineering Division
  56. H. Su, D. Cardona, W. Shang, A. Camilo, G. A. Cole, D. C. Rucker, R. J. Webster, III, and G. S. Fischer, “A MRI-Guided Concentric Tube Continuum Robot with Piezoelectric Actuation: A Feasibility Study”, in IEEE International Conference on Robotics and Automation, 2012, pp. 1939-1945. PDF (1.62 MB) Best Medical Robotics Paper Finalist
  57. M. S. Clark, J. Burgner, P. J. Swaney, and R. J. Webster, III, “Manual Active Cannula Deployment: Experimental Accuracy Evaluation in Free Space”, in Design of Medical Devices Conference, 2012. PDF (32.44 KB)
  58. D. B. Comber, D. Cardona, R. J. Webster, III, and E. J. Barth, “Precision Pneumatic Robot for MRI-Guided Neurosurgery”, in Design of Medical Devices Conference, 2012. PDF (1.82 MB) 3 in 5 Competition Winner
  59. P. J. Swaney, J. Burgner, T. S. Pheiffer, D. C. Rucker, H. B. Gilbert, J. E. Ondrake, A. L. Simpson, E. C. Burdette, M. I. Miga, and R. J. Webster, III, “Tracked 3D Ultrasound Targeting with an Active Cannula”, in SPIE Medical Imaging, 2012. PDF (500.42 KB)
  60. A. L. Simpson, J. Burgner, I. Chen, T. S. Pheiffer, K. Sun, R. C. Thompson, R. J. Webster, III, and M. I. Miga, “Intraoperative Brain Resection Cavity Characterization with Conoscopic Holography”, in SPIE Medical Imaging, 2012. PDF (230.83 KB)
  61. P. Foroughi, J. Burgner, M. A. Choti, R. J. Webster, III, G. D. Hager, and E. M. Boctor, “Towards Intra-operative Monitoring of Ablation Using Tracked 3D Ultrasound Elastography and Internal Palpation”, in SPIE Medical Imaging, 2012, vol. 8320. PDF (2.97 MB)
  62. J. Burgner, P. J. Swaney, D. C. Rucker, H. B. Gilbert, S. T. Nill, P. T. Russell, III, K. D. Weaver, and R. J. Webster, III, “A Bimanual Teleoperated System for Endonasal Skull Base Surgery”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 2517-2523. PDF (1017.67 KB)
  63. D. C. Rucker and R. J. Webster, III, “Deflection-Based Force Sensing for Continuum Robots: A Probabilistic Approach”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 3764-3769. PDF (683.04 KB)
  64. J. Burgner, S. D. Herrell, and R. J. Webster, III, “Toward Fluoroscopic Shape Reconstruction for Control of Steerable Medical Devices”, in ASME Dynamic Systems and Control Conference, 2011, pp. 791-794. PDF (334.83 KB)
  65. C. L. Glisson, R. E. Ong, A. L. Simpson, J. Burgner, R. A. Lathrop, R. J. Webster, III, and R. L. Galloway, “Registration Methods for Gross Motion Correction During Image‐Guided Kidney Surgery”, in International Journal of Computer Assisted Radiology and Surgery, 2011, vol. 6(S1), pp. 160-161. PDF (221.52 KB)
  66. J. L. Toennies, J. Burgner, T. J. Withrow, and R. J. Webster, III, “Toward Haptic/Aural Touchscreen Display of Graphical Mathematics for the Education of Blind Students”, in World Haptics Conference, 2011, pp. 373-378. PDF (349.16 KB)
  67. T. L. Bruns, J. M. Tucker, D. C. Rucker, P. J. Swaney, E. M. Boctor, E. C. Burdette, J. Burgner, and R. J. Webster, III, “Design of an Autoclavable Active Cannula Deployment Device”, in Design of Medical Devices Conference, 2011. PDF (3.31 MB) PDF (27.03 KB)
  68. D. C. Rucker and R. J. Webster, III, “Computing Jacobians and Compliance Matrices for Externally Loaded Continuum Robots”, in IEEE International Conference on Robotics and Automation, 2011, pp. 945-950. PDF (295.31 KB)
  69. R. Balachandran, J. E. Mitchell, J. H. Noble, D. Schurzig, G. S. Blachon, T. R. McRackan, R. J. Webster, III, B. M. Dawant, J. M. Fitzpatrick, and R. F. Labadie, “Insertion of electrode array using percutaneous cochlear implantation technique: a cadaveric study”, in SPIE Medical Imaging, 2011. PDF (1.4 MB)
  70. L. B. Kratchman, M. M. Rahman, J. R. Saunders, P. J. Swaney, and R. J. Webster, III, “Toward Robotic Needle Steering in Lung Biopsy: A Tendon-Actuated Approach”, in SPIE Medical Imaging, 2011. PDF (1.5 MB)
  71. J. L. Toennies, G. Ciuti, B. F. Smith, A. Menciassi, P. Valdastri, and R. J. Webster, III, “Toward Tetherless Insufflation of the GI Tract”, in Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2010, pp. 1946-1949. PDF (765.03 KB)
  72. D. C. Rucker, B. A. Jones, and R. J. Webster, III, “A Model for Concentric Tube Continuum Robots Under Applied Wrenches”, in IEEE International Conference on Robotics and Automation, 2010, pp. 1047-1052. PDF (396.64 KB)
  73. D. Schurzig, R. F. Labadie, A. Hussong, T. S. Rau, and R. J. Webster, III, “A Force Sensing Automated Insertion Tool for Cochlear Electrode Implantation”, in IEEE International Conference on Robotics and Automation, 2010, pp. 3674-3679. PDF (1.09 MB)
  74. L. A. Lyons, R. J. Webster, III, and R. Alterovitz, “Planning Active Cannula Configurations Through Tubular Anatomy”, in IEEE International Conference on Robotics and Automation, 2010, pp. 2082-2087. PDF (1.58 MB)
  75. R. A. Lathrop, D. C. Rucker, and R. J. Webster, III, “Guidance of a Steerable Cannula Robot in Soft Tissue Using Preoperative Imaging and Conoscopic Surface Contour Sensing”, in IEEE International Conference on Robotics and Automation, 2010, pp. 5601-5606. PDF (1.09 MB)
  76. E. C. Burdette, D. C. Rucker, P. Prakash, C. J. Diederich, J. M. Croom, C. Clarke, P. J. Stolka, T. Juang, E. M. Boctor, and R. J. Webster, III, “The ACUSITT Ultrasonic Ablator: The First Steerable Needle with an Integrated Interventional Tool”, in Proceedings of SPIE Medical Imaging, 2010. PDF (504.1 KB)
  77. J. M. Croom, D. C. Rucker, J. M. Romano, and R. J. Webster, III, “Visual Sensing of Continuum Robot Shape Using Self-Organizing Maps”, in IEEE International Conference on Robotics and Automation, 2010, pp. 4591-4596. PDF (411.88 KB)
  78. E. M. Boctor, P. Stolka, H. Kang, C. Clarke, D. C. Rucker, J. M. Croom, E. C. Burdette, and R. J. Webster, III, “Precisely Shaped Acoustic Ablation of Tumors Utilizing Steerable Needle and 3D Ultrasound Image Guidance”, in Proceedings of SPIE Medical Imaging, 2010. PDF (547.7 KB)
  79. D. Schurzig, Z. W. Smith, D. C. Rucker, R. F. Labadie, and R. J. Webster, III, “A Manual Insertion Mechanism for Percutaneous Cochlear Implantation”, in Design of Medical Devices Conference, 2010. PDF (938.61 KB) Best Poster/Presentation Finalist (3 in 5 Competition)
  80. J. Das, D. C. Rucker, and R. J. Webster, III, “A Testbed for Multi-Lumen Steerable Needle Experiments”, in Design of Medical Devices Conference, 2010. PDF (700.89 KB)
  81. L. A. Lyons, R. J. Webster, III, and R. Alterovitz, “Motion Planning for Active Cannulas”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, pp. 801-806. PDF (1.62 MB)
  82. D. C. Rucker and R. J. Webster, III, “Mechanics of Bending, Torsion, and Variable Precurvature in Multi-Tube Active Cannulas”, in IEEE International Conference on Robotics and Automation, 2009, pp. 2533-2537. PDF (844.59 KB)
  83. R. A. Lathrop, T. T. Cheng, and R. J. Webster, III, “Conoscopic Holography for Image Registration: A Feasibility Study”, in SPIE Medical Imaging, 2009, vol. 7261. PDF (701.78 KB)
  84. M. Matinfar, R. J. Webster, III, L. Ford, I. Iordichata, C. C. Edwards, II, and R. H. Taylor, “Nerve Tensiometer for Spondyloptosis Surgery”, in IEEE Northeast Bioengineering Conference, 2009, pp. 1-2. PDF (307.71 KB)
  85. D. C. Rucker and R. J. Webster, III, “Mechanics-Based Modeling of Bending and Torsion in Active Cannulas”, in IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008, pp. 704-709. PDF (1.32 MB)
  86. R. J. Webster, III, J. M. Romano, and N. J. Cowan, “Kinematics and Calibration of Active Cannulas”, in IEEE International Conference on Robotics and Automation, 2008, pp. 3888-3895. PDF (1.19 MB)
  87. M. Quirini, R. J. Webster, III, A. Menciassi, and P. Dario, “Design of a Pill-Sized 12-legged Endoscopic Capsule Robot”, in IEEE International Conference on Robotics and Automation, 2007, pp. 1856-1862. PDF (433 KB)
  88. N. N. Pak, R. J. Webster, III, A. Menciassi, and P. Dario, “Electrolytic Silicone Bourdon Tube Microactuator for Reconfigurable Surgical Robots”, in IEEE International Conference on Robotics and Automation, 2007, pp. 3371-3376. PDF (1.45 MB)
  89. J. M. Romano, R. J. Webster, III, and A. M. Okamura, “Teleoperation of Steerable Needles”, in International Conference on Robotics and Automation, 2007, pp. 934-939. PDF (565.59 KB)
  90. R. J. Webster, III, A. M. Okamura, and N. J. Cowan, “Toward Active Cannulas: Miniature Snake-Like Surgical Robots”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, pp. 2857-2863. PDF (3.32 MB) Best Paper Award Finalist
  91. R. J. Webster, III, J. Memisevic, and A. M. Okamura, “Design Considerations for Robotic Needle Steering”, in IEEE International Conference on Robotics and Automation, 2005, pp. 3599-3605. PDF (819.25 KB)
  92. E. M. Boctor, R. J. Webster, III, M. A. Choti, R. H. Taylor, and G. Fichtinger, “Robotically Assisted Ablative Treatment Guided By Freehand 3D Ultrasound”, in Computer Assisted Radiology and Surgery, 2004, pp. 503-508. PDF (961.19 KB)
  93. T. E. Murphy, R. J. Webster, III, and A. M. Okamura, “Design and Performance of a Two-Dimensional Tactile Slip Display”, in Eurohaptics, 2004, pp. 130-137. PDF (7.78 MB)
  94. E. M. Boctor, R. J. Webster, III, H. Mathieu, A. M. Okamura, and G. Fichtinger, “Virtual Remote Center of Motion Control for Needle Placement Robots”, in Medical Image Computing and Computer-Assisted Intervention, 2003, vol. 2878, pp. 157-164. PDF (4.25 MB)
  95. A. M. Okamura, R. J. Webster, III, J. T. Nolan, K. W. Johnson, and H. Jafry, “The Haptic Scissors: Cutting in Virtual Environments”, in IEEE International Conference on Robotics and Automation, 2003, pp. 828-833. PDF (377.5 KB)
  96. R. J. Webster, III and A. S. Brannon, “The Electronic Ball Boy: A Reactive Visually Guided Mobile Robot For the Tennis Court”, in IEEE International Conference on Robotics and Automation, 2002, pp. 2054-2059. PDF (83.54 KB)

Non-Refereed/Invited/Poster/Abstract/Short Papers

  1. D. A. Watkins, A. Bernardo-Colon, R. J. Webster, III, and T. S. Rex, “A Blast Device for Inducing Ocular Trauma in Mouse Models”, 6th Military Vision Symposium on Ocular & Vision Injury. Boston, MA, 2017.
  2. M. Samuelson, P. Russell, R. Gonzalez, A. Remirez, and R. J. Webster III, “Use of the Concentric Tube Robot in the Maxillary Sinus”, International Forum of Allergy & Rhinology. 2017.
  3. P. L. Anderson, R. J. Hendrick, and R. J. Webster III, “Real-Time Redundancy Resolution for Concentric Tube Robots to Avoid Elastic Instability”. 2017. Best Poster, ICRA 2017 C4 Surgical Robotics Workshop
  4. M. Mizuta, T. Kurita, N. P. Dillon, E. E. Kimball, C. G. Garrett, M. P. Sivasankar, R. J. Webster, III, and B. Rousseau, “In-Vivo Measurement of Vocal Fold Epithelial Surface Resistance”, American Bronchoesophagological Association, Combined Otolaryngology Spring Meetings, 127 vol. pp. E364-E370, 2017.
  5. P. Hall and I. S. Godage, “Development of the COBRA Module used to Explore Locomotion in Modular Robots”. IEEE, International Conference on Automation Science and Engineering (CASE), 2016.
  6. N. P. Dillon, J. E. Mitchell, L. Fichera, R. J. Webster, and R. F. Labadie, “Image-guided, minimally invasive cochlear implantation using customized microstereotactic frames”, Southeastern Medical Device Association. 2016.
  7. D. B. Comber, E. B. Pitt, J. E. Slightam, V. R. Gervasi, R. J. Webster, III, and E. J. Barth, “Design and Control of a Pneumatic, Additively Manufactured Robot”, Fluid Power Innovation & Research Conference. 2015.
  8. A. Sivaganesan, A. Arain, D. Comber, E. Barth, R. J. Webster, III, K. Haas, and J. S. Neimat, “Directional Laser Ablation of the Hippocampus – A First Step in Lesioning Irregular Contours”, Congress of Neurological Surgeons Annual Meeting. 2015.
  9. C. R. Mitchell, R. J. Hendrick, R. J. Webster, III, and S. D. Herrell, “A Novel Concentric Tube Robotic Platform for Transurethral Prostate Surgery”, Proceedings of 30th EUS Annual Meeting. p. 20, 2015. PDF (284.02 KB)
  10. P. T. Russell III, R. Wirz, I. Godage, M. Clavenna, R. A. Lathrop, and R. J. Webster III, “Fiducial Shift Error Consequences in Image Guidance Endonasal Surgery”, American Rhinologic Society. 2015.
  11. H. B. Gilbert, R. A. Lathrop, R. J. Hendrick, and R. J. Webster, III, “Towards a Clinically-Ready Transnasal Concentric Tube System”, IDEAS Conference. 2015. PDF (16.2 MB)
  12. A. Mahoney, P. J. Swaney, and R. J. Webster III, “Using Continuum Robots to Enable Transoral Access to the Peripheral Lung for Minimally Invasive Biopsy”, IDEAS Conference. 2015. PDF (22.85 MB)
  13. R. A. Lathrop, R. J. Webster III, H. B. Gilbert, and R. Wirz, “Stable Cranial Mount”, Southeastern Medical Device Association. 2015. PDF (903.87 KB)
  14. R. Wirz, L. Torres, P. J. Swaney, H. B. Gilbert, R. Alterovitz, R. J. Webster, III, K. D. Weaver, and P. T. Russell, “Teleoperation of Concentric Tube Robots for Skull Base Applications: Pituitary Surgery at a Distance?”, North American Skull Base Society. 2015.
  15. P. J. Swaney, H. B. Gilbert, R. J. Webster, III, P. T. Russell, and K. D. Weaver, “Resection of Pituitary Lesions in a Phantom Model Using Concentric Tube Robots with Endoscopic Visualization”, North American Skull Base Society. 2015.
  16. N. P. Dillon, R. Balachandran, R. J. Webster III, T. J. Withrow, G. B. Wanna, and R. F. Labadie, “Surgical workflow considerations for mastoidectomy using a bone-attached robot”, American Triological Society, Combined Otolaryngology Spring Meetings. 2015.
  17. R. Balachandran, N. P. Dillon, T. J. Withrow, R. J. Webster, and R. F. Labadie, “Mastoidectomy using a bone-attached robot”, 12th Annual Conference of Cochlear Implant Group of India. 2014.
  18. R. J. Hendrick, R. A. Lathrop, J. S. Schneider, and R. J. Webster, III, “Design of an Endonasal Graft Placement Tool for Repair of Skull Base Defects”. Design of Medical Devices Conference, 2013. PDF (519.78 KB) Best Poster/Presentation (3 in 5 competition winner)
  19. M. S. Clark, J. Burgner, P. J. Swaney, and R. J. Webster, III, “Manual Active Cannula Deployment: Experimental Accuracy Evaluation”. Design of Medical Devices Conference, 2012. PDF (1.65 MB)
  20. D. A. Carnegie, E. M. Boctor, X. Guo, H. - J. Kang, N. Deshmukh, P. Foroughi, E. C. Burdette, R. J. Webster, III, J. Burgner, and M. A. Choti, “Accurate High-Intensity Focused Ultrasound Ablation in a Porcine Liver Model Through Integration of Real-Time Image Guidance, Robotic Navigation, and Elastographic Monitoring”. SAGES, 2012. PDF (54.02 KB)
  21. H. B. Gilbert, P. J. Swaney, J. Burgner, K. D. Weaver, P. T. Russell III, and R. J. Webster, III, “A Feasibility Study on the use of Concentric Tube Continuum Robots for Endonasal Skull Base Tumor Removal”. Hamlyn Symposium on Medical Robotics, 2012. PDF (5.78 MB)
  22. H. B. Gilbert, J. Burgner, S. Patil, P. J. Swaney, D. A. Watkins, R. Alterovitz, and R. J. Webster, III, “Toward Planning As Control and Tissue Sparing Needles”. In the Pathways to Clinical Needle Steering: Recent Advances and Future Applications Workshop at the IEEE International Conference on Robotics and Automation, 2012. PDF (341.61 KB)
  23. J. L. Gorlewicz and R. J. Webster, III, “The Promise of Haptics in Teaching Math to the Blind”. NSF Advocacy Day, Washington D.C., 2012. PDF (1.37 MB)
  24. D. B. Comber, D. Cardona, R. J. Webster, III, and E. J. Barth, “Precision Pneumatic Robot for MRI-Guided Neurosurgery”. Design of Medical Devices Conference, 2012. PDF (3.1 MB)
  25. D. C. Cardona and R. J. Webster, III, “MRI Compatible Robot with an Active Cannula”. International Exposition for Power Transmission, 2011. PDF (3.77 MB)
  26. J. L. Toennies, J. Burgner, T. J. Withrow, and R. J. Webster, III, “Toward Haptic/Aural Touchscreen Display of Graphical Mathematics for the Education of Blind Students”. World Haptics Conference, 2011. PDF (1023.41 KB)
  27. J. L. Gorlewicz, L. B. Kratchman, B. Gadhia, P. Marayong, and R. J. Webster, III, “Modeling and Control of an Educational Haptic Device Using Matlab/Simulink”, American Society of Engineering Education Conference (Oral Panel Presentation). 2011.
  28. J. L. Gorlewicz, L. B. Kratchman, and R. J. Webster, III, “A Hands-On Approach to Teaching System Dynamics”. Center for the Integration of Research, Teaching, and Learning National Forum, 2011. PDF (1.37 MB)
  29. A. Danilchenko, J. L. Toennies, R. Balachandran, S. Baron, B. Munske, R. J. Webster, III, and R. F. Labadie, “Robotic Mastoidectomy”, American Otological Society Spring Meeting. 2010. PDF (41.49 KB)
  30. J. Das, D. C. Rucker, and R. J. Webster, III, “A Testbed for Multi-Lumen Steerable Needle Experiments”. Design of Medical Devices Conference, 2010. PDF (964.54 KB)
  31. D. Schurzig, Z. W. Smith, D. C. Rucker, R. F. Labadie, and R. J. Webster, III, “ A Manual Insertion Mechanism for Percutaneous Cochlear Implantation”. Design of Medical Devices Conference, 2010. PDF (3.53 MB)
  32. J. L. Toennies, G. Ciuti, B. Smith, P. Valdastri, A. Menciassi, and R. J. Webster, III, “Initial Feasibility Studies on Wireless Insufflation of the GI Tract”. IEEE International Conference on Robotics and Automation 2010 - Workshop on Meso-Scale Robotics for Medical Interventions, 2010. PDF (1.52 MB)
  33. L. B. Kratchman, G. S. Blachon, T. J. Withrow, R. Balachandran, R. F. Labadie, and R. J. Webster, III, “Toward Automation of Image-Guided Microstereotactic Frames: A Bone-Attached Parallel Robot for Percutaneous Cochlear Implantation”. Robotics, Science and Systems- Workshop on Enabling Technologies for Image-Guided Robotic Interventional Procedures, 2010. PDF (1.23 MB)
  34. R. A. Lathrop, T. T. Cheng, and R. J. Webster, III, “Laparoscopic Image Guidance via Conoscopic Holography”. Design of Medical Devices Conference, 2009. PDF (665.62 KB)
  35. D. C. Rucker, J. M. Croom, and R. J. Webster, III, “Aiming Surgical Lasers With an Active Cannula”. Design of Medical Devices Conference, 2009. PDF (303.5 KB)
  36. J. L. Toennies and R. J. Webster, III, “A Wireless Insufflation System for Capsular Endoscopes”. Design of Medical Devices Conference, 2009. PDF (364.19 KB) Best Poster (3 in 5 competition winner)
  37. J. P. Swensen and R. J. Webster, III, “Active Cannula: Applications to Steerable Needles”. Medical Image Computing and Computer-Assisted Intervention, 2008. PDF (4.4 MB)
  38. X. Xie and R. J. Webster, III, “A 3D Trajectory-Following Controller for Bevel-Steered Needles”. Medical Image Computing and Computer-Assisted Intervention, 2008. PDF (151.09 KB)
  39. D. C. Rucker, N. J. Cowan, G. S. Chirikjian, and R. J. Webster, III, “Toward a General Active Cannula Model”. Medical Image Computing and Computer-Assisted Intervention, 2008. PDF (172.15 KB)
  40. R. A. Lathrop, R. L. Smith, and R. J. Webster, III, “Needle-Membrane Puncture Mechanics”. Medical Image Computing and Computer-Assisted Intervention, 2008. PDF (145.95 KB)

Book Chapters

  1. A. W. Mahoney, T. L. Bruns, R. Alterovitz, and R. J. Webster, III, “Design, Sensing, and Planning: Fundamentally Coupled Problems for Continuum Robots”, 17th International Symposium on Robotics Research 2015, Springer Tracts on Advanced Robotics, 2018, pp. 267-282.
  2. A. W. Mahoney, H. B. Gilbert, and R. J. Webster, III, “A Review of Concentric Tube Robots: Modeling, Control, Design, Planning, and Sensing”, in Encyclopedia of Medical Robotics, vol. Minimally Invasive Surgical Robotics, 2016. PDF (12.23 MB)
  3. H. B. Gilbert, D. C. Rucker, and R. J. Webster III, “Concentric Tube Robots: The State of the Art and Future Directions”, vol. 114, 16th International Symposium on Robotics Research 2013, Springer Tracts in Advanced Robotics, 2016, pp. 253-269. PDF (316.93 KB)
  4. R. J. Hendrick, S. D. Herrell, C. R. Mitchell, and R. J. Webster III, “Experiments on the Simultaneous Hand-Held Control of Rigid Endoscopes and Robots Passing Through Them”, 14th International Symposium on Experimental Robotics 2014, Springer Tracts in Advanced Robotics, 2016, pp. 73-87. PDF (766.14 KB)
  5. D. C. Rucker and R. J. Webster III, “Mechanics of Continuum Robots with General Tendon Routing Paths Under External Loading”, in 12th International Symposium on Experimental Robotics (2010). Springer Tracts in Advanced Robotics, vol. 79, 2014, pp. 645-654. PDF (240.35 KB)
  6. J. L. Gorlewicz, R. J. Webster III, and P. Valdastri, “Mesoscale Mobile Robots for Gastrointestinal Minimally Invasive Surgery (MIS)”, in Robotics for Minimally Invasive Surgery, vol. 51, Woodhead Publishing Ltd., 2012, pp. 224-251. PDF (6.51 MB)
  7. R. J. Webster III, J. P. Swensen, J. M. Romano, and N. J. Cowan, “Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing”, in 11th International Symposium on Experimental Robotics (2008). Springer Tracts in Advanced Robotics, vol. 54, 2009, pp. 485-494. PDF (2.59 MB)
  8. R. J. Webster III, N. J. Cowan, G. S. Chirikjian, and A. M. Okamura, “Nonholonomic Modeling of Needle Steering”, in 9th International Symposium on Experimental Robotics (2004). Springer Tracts in Advanced Robotics, vol. 21, 2006, pp. 35-44. PDF (665.2 KB)
  9. D. Stoianovici, R. J. Webster III, and L. R. Kavoussi, “Surgical Robotic Applications in Minimally Invasive Uro-Oncology Surgery”, in Minimally Invasive Uro-Oncologic Surgery, London & New York: Taylor & Francis, 2005, pp. 353-363. PDF (153.15 KB)

Patents

  1. D. C. Rucker and R. J. Webster, III, “Continuum Robots and Control Thereof”, US Patent 9,289,899, 2013.
  2. D. B. Comber, E. J. Barth, and R. J. Webster, III, “Motive Device for use in Magnetically-Sensitive Environments”, US Patent 9,492,234, 2013.
  3. R. A. Lathrop, R. J. Webster, III, J. Netterville, A. Prasad, and S. D. Herrell, “Dexterous Surgical Manipulator and Method of Use”, US Patent 9,901,412, 2012.
  4. R. F. Labadie, J. M. Fitzpatick, J. E. Mitchell, G. S. Blachon, J. Toennies, R. J. Webster, III, and T. J. Withrow, “Apparatus and Methods For Percutaneous Cochlear Implantation”, U.S. Patent Pending. Published application number 20110319913, 2011.
  5. M. Quirini, R. J. Webster, III, A. Menciassi, and P. Dario, “Teleoperated endoscopic capsule”, European Patent Awarded EP2136698(B1). International application number PCT/IT2007/000259. US Patent Pending. Published applicat, 2010.
  6. R. J. Webster, III, A. M. Okamura, N. J. Cowan, and R. H. Taylor, “An active cannula for bio-sensing and surgical intervention”, U.S. Patent 8,152,756. International patent pending., 2009.
  7. R. J. Webster, III, A. M. Okamura, N. J. Cowan, G. S. Chirikjian, K. Y. Goldberg, and R. Alterovitz, “Distal bevel-tip needle control device and algorithm”, US Patent 7,822,458, 2006.

Ph.D. Dissertations

  1. N. P. Dillon, “Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery”. Vanderbilt University, Nashville, TN, 2017.
  2. H. B. Gilbert, “Concentric Tube Robots: Design, Deployment, and Stability”. Vanderbilt University, Nashville, TN, 2016.
  3. P. J. Swaney, “Design and Modeling of Distal Dexterity Mechanisms For Needle-Sized Robots: Systems for Lung and Endonasal Interventions”. Vanderbilt University, Nashville, TN, 2016.
  4. L. B. Kratchman, “Image-Guided Targeting and Control of Implantable Electrodes”. Vanderbilt University, Nashville, TN, 2015.
  5. R. A. Lathrop, “Dexterity and Guidance Without Automation: Surgical Robot-Like Capabilities at a Fraction of the Cost”. Vanderbilt University, Nashville, TN, 2014. PDF (13.43 MB)
  6. J. L. Gorlewicz, “The Efficacy of Surface Haptics and Force Feedback in Education”. Vanderbilt University, Nashville, TN, 2013. PDF (7.46 MB)
  7. D. C. Rucker, “The Mechanics of Continuum Robots: Model-Based Sensing and Control”. Vanderbilt University, Nashville, TN, 2011. PDF (7.77 MB)
  8. R. J. Webster, III, “Design and Mechanics of Continuum Robots for Surgery”. Johns Hopkins University, Baltimore, Maryland, 2007. PDF (4.8 MB)

M.S. Theses

  1. S. Lin, “Monitoring of Thermal Processes for Medical Applications Using Infrared Thermography”. Vanderbilt University, Nashville, TN, 2017. PDF (710.29 KB)
  2. C. E. Marince, “Design of a 7 Degree-of-freedom Haptic Robot”. Vanderbilt University, Nashville, TN, 2015. PDF (3.33 MB)
  3. D. C. Cardona, “A MRI Compatible Concentric Tube Continuum Robot With Pneumatic Actuation”. Vanderbilt University, Nashville, TN, 2012. PDF (9.63 MB)
  4. B. F. Smith, “Wireless Insufflation for Wireless Capsule Endoscopy”. Vanderbilt University, Nashville, TN, 2012. PDF (8.21 MB)