Steerable Needles in the Lung

Journal Papers

  1. 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)
  2. 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, p. 030921, 2015. PDF (613.4 KB)

Conference Papers

  1. T. E. Ertop, M. Emerson, M. Rox, J. Granna, F. Maldonado, E. Gillaspie, M. Lester, A. Kuntz, C. Rucker, M. Fu, J. Hoelscher, I. Fried, R. Alterovitz, and R. J. Webster III, “Steerable Needle Trajectory Following In The Lung: Torsional Deadband Compensation And Full Pose Estimation With 5DOF Feedback For Needles Passing Through Flexible Endoscopes”, in ASME Dynamic Systems and Control Conference, In Press.
  2. S. R. Amack, M. F. Rox, J. E. Mitchell, T. E. Ertop, M. Emerson, A. Kuntz, F. Maldonado, J. Akulian, J. B. Gafford, R. Alterovitz, and R. J. Webster, III, “Design and Control of a Compact, Modular Robot for Transbronchial Lung Biopsy”, in SPIE Medical Imaging, 2019, vol. 10951. PDF (453.82 KB)
  3. 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)
  4. 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)
  5. 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
  6. 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)
  7. 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)

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

  1. 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)