Journal Publications:

 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. (In Review)

D. Schurzig, R. F. Labadie, R. J. Webster III. Design of a Nanometer Precision, Milinewton Force Sensing Insertion Tool for Cochlear Implantation. IEEE/ASME Transactions on Mechatronics. (In Review)

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. (In Review)

R. J. Webster III and B. A. Jones. Design and Modeling of Constant Curvature Continuum Robots: A Review. International Journal of Robotics Research. (In Review)

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. (In Review)

R. J. Webster III and N. J. Cowan. Differential Kinematics of Transmissionally Compliant Concentric-Tube Continuum Robots. IEEE Transactions on Robotics. (In Revision)
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. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. (Accepted)

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, 19, 105007, 2009.

D. C. Rucker and R. J. Webster III. Parsimonious Evaluation of Concentric-Tube Continuum Robot Equilibrium Conformation. IEEE Transactions on Biomedical Engineering, 56(9), 2308-2311, 2009.

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, 25(5), 1047-1057, 2009. 

R. J. Webster III, J. M. Romano, and N. J. Cowan.  Mechanics of Precurved-Tube Continuum Robots.  IEEE Transactions on Robotics, 25(1), 67-78, 2009.

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, 4(2), 180-191, 2008.

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, 25(5–6), 509-525, 2006.

R. J. Webster III.  Object Capture With a Camera-Mobile Robot System: An Introductory Robotics Project.  IEEE Robotics & Automation Magazine, 13(1), 85-88, 2006.

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, 2(2),150-165, 2005.

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, 9(5), 175-183, 2004.


Journal Abstract Publications:

 D. C. Rucker, J. M. Croom, and R. J. Webster III. Aiming Surgical Lasers With an Active Cannula.  ASME Journal of Medical Devices, 3(2), pp. 027506, 2009.
(Preprint with images) (as published).

J. L. Toennies and R. J. Webster III. A Wireless Insufflation System for Capsular Endoscopes. ASME Journal of Medical Devices, 3(2), pp. 027514, 2009.
(Preprint with images) (as published). 

R. A. Lathrop, T. T. Cheng, and R. J. Webster III. Laparoscopic Image Guidance via Conoscopic Holography.  ASME Journal of Medical Devices, 3(2), pp. 027546, 2009.
(Preprint with images) (as published).


Patents:

  1. R. J. Webster III, A. M. Okamura, N. J. Cowan, and R. H. Taylor.  An Active Cannula for Bio-Sensing and Surgical Intervention.  US and International Patents Pending.

  2. 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 Pending.

  3. M. Quirini, R. J. Webster III, A. Menciassi, and P. Dario. Teleoperated Endoscopic Capsule. International Patent application PCT/IT2007/000259.

Poster Presentations:
  1. J. L. Toennies and R. J. Webster III. A Wireless Insufflation System for Capsular Endoscopes. ASME Design of Medical Devices Conference, 2009.  Best Poster Award.

  2. D. C. Rucker, J. M. Croom, and R. J. Webster III. Aiming Surgical Lasers With an Active Cannula. ASME Design of Medical Devices Conference, 2009.

  3. R. A. Lathrop, T. T. Cheng, and R. J. Webster III. Laparoscopic Image Guidance via Conoscopic Holography. ASME Design of Medical Devices Conference, 2009.

  4. R. A. Lathrop, R. L. Smith, and R. J. Webster III.  Needle-Membrane Puncture Mechanics.  Medical Image Computing and Computer-Assisted Intervention, 2008.

  5. 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. 

  6. X. Xie and R. J. Webster III. A 3D Trajectory-Following Controller for Bevel-Steered Needles.  Medical Image Computing and Computer-Assisted Intervention, 2008. 

  7. J. P. Swensen, R. J. Webster III, and N. J. Cowan.  Active Cannula: Applications to Steerable Needles.  Medical Image Computing and Computer-Assisted Intervention, 2008.


Dissertations:

  1. R. J. Webster III.  Design and Mechanics of Continuum Robots for Surgery.  Ph.D. Thesis, Department of Mechanical engineering, Johns Hopkins University, Baltimore, MD, December 2007.


Book Chapters:

  1. 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. 11th International Symposium on Experimental Robotics 2008, Springer Tracts in Advanced Robotics 2009, 54, 485-494, 2008.

  2. D. Stoianovici, R. J. Webster III, and L. R. Kavoussi.  Surgical Robotic Applications in Minimally Invasive Uro-Oncology Surgery.  In: R. Moore and J. Bishoff, eds. Minimally Invasive Uro-Oncologic Surgery. London & New York: Taylor & Francis, ISBN 1-84184-566-3; 353-363, 2005.

  3. R. J. Webster III, N. J. Cowan, G. S. Chirikjian, and A. M. Okamura.  Nonholonomic Modeling of Needle Steering.  9th International Symposium on Experimental Robotics 2004, Springer Tracts in Advanced Robotics, 21, 35-44, 2006.


Refereed Conference Publications:

  1. D. C. Rucker, B. A. Jones, and R. J. Webster III. A Model for Concentric Tube Continuum Robots
    Under Applied Wrenches. IEEE International Conference on Robotics and Automation. (In Review)

  2. D. Schurzig, R. F. Labadie, and R. J. Webster III. A Force Sensing Robot for Cochlear Electrode Implantation. IEEE International Conference on Robotics and Automation. (In Review)

  3. L. A. Lyons, R. J. Webster III, and R. Alterovitz. Planning Active Cannula Configurations Through Tubular Anatomy. IEEE International Conference on Robotics and Automation. (In Review)

  4. 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. IEEE International Conference on Robotics and Automation. (In Review)

  5. J. M. Croom, D. C. Rucker, J. M. Romano, and Robert J. Webster III. Visual Sensing of Continuum Robot Shape Using Self-Organizing Maps. IEEE International Conference on Robotics and Automation. (In Review)

  6. L. A. Lyons, R. J. Webster III, and R. Alterovitz. Motion Planning for Active Cannulas. IEEE/RSJ International Conference on Intelligent Robots and Systems, 801–806, 2009.

  7. D. C. Rucker and R. J. Webster III.  Mechanics of Bending, Torsion, and Variable Precurvature in Multi-Tube Active Cannulas. IEEE International Conference on Robotics and Automation, 2533-2537, 2009.

  8. R. A. Lathrop, T. T. Cheng and R. J. Webster III. Conoscopic Holography for Image Registration: A Feasibility Study. SPIE, 7261, 72611M-72611M-11, 2009.

  9. M. Matinfar, R. J. Webster III, L. Ford, I. Iordichata, C. C. Edwards II, and R. H. Taylor. Nerve Tensiometer for Spondyloptosis Surgery. IEEE Northeast Bioengineering Conference, 1-2, 2009. 

  10. D. C. Rucker and R. J. Webster III.  Mechanics-Based Modeling of Bending and Torsion in Active Cannulas. IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 704-709, 2008. 

  11. R. J. Webster III, J. M. Romano, and N. J. Cowan.  Kinematics and Calibration of Active Cannulas.  IEEE International Conference on Robotics and Automation, 3888-3895, 2008. 

  12. M. Quirini, R. J. Webster III, A. Menciassi, and P. Dario.  Design of a Pill-Sized 12-legged Endoscopic Capsule Robot.  IEEE International Conference on Robotics and Automation, 1856-1862, 2007. 

  13. N. Ng Pak, R. J. Webster III, A. Menciassi, and P. Dario.  Electrolytic Silicone Bourdon Tube Microactuator for Reconfigurable Surgical Robots.  IEEE International Conference on Robotics and Automation, 3371-3376, 2007. 

  14. J. M. Romano, R. J. Webster III, and A. M. Okamura.  Teleoperation of Steerable Needles.  IEEE International Conference on Robotics and Automation, 934-939, 2007. 

  15. R. J. Webster III, A. M. Okamura, and N. J. Cowan.  Toward Active Cannulas: Miniature Snake-Like Surgical Robots.  IEEE/RSJ International Conference on Intelligent Robots and Systems, 2857-2863, 2006. Best Paper Award Finalist. 

  16. R. J. Webster III, J. Memisevic, and A. M. Okamura.  Design Considerations for Robotic Needle Steering.  IEEE International Conference on Robotics and Automation, 3599-3605, 2005. 

  17. 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.  Computer Assisted Radiology and Surgery, 503-508, 2004. 

  18. T. E. Murphy, R. J. Webster III, and A. M. Okamura, Design and Performance of a Two-Dimensional Tactile Slip Display. Eurohaptics, 130-137, 2004. 

  19. 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.  Medical Image Computing and Computer-Assisted Intervention, 2878, 157-164, 2003.  

  20. A. M. Okamura, R. J. Webster III, J. T. Nolan, K. W. Johnson and H. Jafry.  The Haptic Scissors: Cutting in Virtual Environments.  IEEE International Conference on Robotics and Automation, 828-833, 2003. 

  21. R. J. Webster III and A. Brannon.  The Electronic Ball Boy: A Reactive Visually Guided Mobile Robot For the Tennis Court.  IEEE International Conference on Robotics and Automation, 2054-2059, 2002.