Curing Epilepsy with No Incisions

Journal Papers

  1. 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)
  2. 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. PDF (1.26 MB)
  3. 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)
  4. 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)
  5. 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)
  6. 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)

Conference Papers

  1. 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)
  2. 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)
  3. 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)
  4. 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