Journal Publications:
J. Das, P. J. Swaney, N. Sarkar, and R. J. Webster III. Control of Bevel-Based Needle Steering in 3D. IEEE Transactions on Robotics. (In Revison).

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. (In Press).

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. (In Press).

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, 32(1), 11-16, 2010.
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, 26(5), 769-780, 2010.
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
31, 1207-1210, 2010.
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. (In Press) (Pre-typesetting preprint)
R. J. Webster III and B. A. Jones. Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review. International Journal of Robotics Research, 29(13), 1661-1683, 2010. (Pre-typesetting preprint) Final definitive version available from IJRR.

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, 29(10), 1263-1280, 2010.  (Pre-typesetting preprint) Final definitive version available from IJRR.
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. Proc. IMechE, Part C: Journal of Mechanical Engineering Science, 224(C7), 1397-1414, 2010.
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, 57(6), 1497-1506, 2010.
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, 224(5), 633-649, 2010.

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.  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:
  1. T. L. Bruns, J. M. Tucker, D. Caleb Rucker, E. M. Boctor, E. C. Burdette,  J. Burgner, and R. J. Webster III.  Design of an Autoclavable Active Cannula Deployment Device.  ASME Journal of Medical Devices 5(2), 027538, 2011.

  2. D. Schurzig, Z. W. Smith, D. C. Rucker, R. F. Labadie, and R. J. Webster III. A Manual Insertion Mechanism for Percutaneous Cochlear Implantation. ASME Journal of Medical Devices 4, 027533, 2010. (as published). 

  3. J. Das, D. C. Rucker, and R. J. Webster III. A Testbed for Multilumen Steerable Needle Experiments. ASME Journal of Medical Devices 4, 027535, 2010 (as published).

  4. S. Athavale, T. Dutton, and R. J. Webster III. Cuffed Inner Cannula and Flexible Outer Cannula Trachesotomy Device: Ensuring a Stable Airway. ASME Journal of Medical Devices 4, 027502, 2010. (as published). 

  5. 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), 027506, 2009. (Preprint with images) (as published).

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

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

Refereed Conference Publications:
  1. 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. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011. (Accepted).

  2. D. C. Rucker and R. J. Webster III. Probabilistic Force Sensing for Continuum Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011. (Accepted).

  3. J. Burgner, D. S. Herrell, and R. J. Webster III. Toward Fluroscopic Shape Reconstruction for Control of Steerable Medical Devices. ASME Dynamic Systems and Control Conference, 2011. (Accepted).

  4. 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, 373-378, 2011.

  5. T. L. Bruns, J. M. Tucker, D. Caleb Rucker, E. M. Boctor, E. C. Burdette,  J. Burgner, and R. J. Webster III. Design of an Autoclavable Active Cannula Deployment Device. ASME Design of Medical Devices Conference, 2011.

  6. D. C. Rucker and R. J. Webster III. Computing Jacobians and Compliance Matrices for Externally Loaded Continuum Robots. IEEE International Conference on Robotics and Automation 945-950, 2011.

  7. R. Balachandran, J. E. Mitchell, J. Noble, D. Schurzig, G. Blachon, T. R. McRackan, R. J. Webster, B. M. Dawant, J. M. Fitzpatrick, R. F. Labadie. Insertion of electrode array using percutaneous cochlear implantation technique: a cadaveric study. SPIE Medical Imaging, 945-950, 2011.

  8. L. B. Kratchman, M. M. Rahman, and R. J. Webster III. Toward Robotic Needle Steering in Lung Biopsy: A Tendon-Actuated Approach. SPIE Medical Imaging, 2011.

  9. J. L. Toennies, G. Ciuti, B. F. Smith, A. Menciassi, P. Valdastri, and R. J. Webster III. Toward Tetherless Insufflation of the GI Tract. International Conference of the IEEE Engineering in Medicine and Biology Society, 1946-1949, 2010

  10. 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, 1047-1052, 2010.

  11. D. Schurzig, R. F. Labadie, A. Hussong, T. S. Rau, and R. J. Webster III. A Force Sensing Robot for Cochlear Electrode Implantation. IEEE International Conference on Robotics and Automation, 3674-3679, 2010.

  12. L. A. Lyons, R. J. Webster III, and R. Alterovitz. Planning Active Cannula Configurations Through Tubular Anatomy. IEEE International Conference on Robotics and Automation, 2082-2087, 2010.

  13. 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, 5601-5606, 2010.

  14. 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, 4591-4596, 2010.

  15. 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. Proceedings of SPIE Medical Imaging, 2010.

  16. E. M. Boctor, P. Stolka, 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. Proceedings of SPIE Medical Imaging, 2010.

  17. D. Schurzig, Z. W. Smith, D. C. Rucker, R. F. Labadie and R. J. Webster III.  A Manual Insertion Mechanism for Percutaneous Cochlear Implantation.  ASME Design of Medical Devices Conference, 2010.

  18. J. Das, D. C. Rucker, and R. J. Webster III.  A Testbed for Multi-Lumen Steerable Needle Experiments. ASME Design of Medical Devices Conference, 2010.

  19. 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.

  20. 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.

  21. 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.

  22. 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. 

  23. 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. 

  24. 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. 

  25. 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. 

  26. 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. 

  27. 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. 

  28. 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. 

  29. 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. 

  30. 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. 

  31. 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. 

  32. 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.  

  33. 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. 

  34. 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.


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

  1. 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 2010 - Workshop on Enabling Technologies for Image-Guided Robotic Interventional Procedures. (Poster)

  2. 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. (Abstract) (Poster)

  3. D. Schurzig, Z. W. Smith, D. C. Rucker, R. F. Labadie and R. J. Webster III.  A Manual Insertion Mechanism for Percutaneous Cochlear Implantation.  ASME Design of Medical Devices Conference, 2010.

  4. J. Das, D. C. Rucker, and R. J. Webster III.  A Testbed for Multi-Lumen Steerable Needle Experiments. ASME Design of Medical Devices Conference, 2010.

  5. 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, 22, 2010.

  6. 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.

  7. 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.

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

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

  10. 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. 

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

  12. 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.


Book Chapters:
  1. D. C. Rucker and R. J. Webster III. Mechanics of Continuum Robots with General Tendon Routing Paths Under External Loading. 12th International Symposium on Experimental Robotics 2010, Springer Tracts in Advanced Robotics, 2011.

  2. 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.

  3. 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.

  4. 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.


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.


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.



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