Steering Needles

Journal Papers

  1. 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)
  2. 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)
  3. 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)
  4. 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)
  5. 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)
  6. 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)
  7. 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)
  8. 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. 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)
  2. 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)
  3. 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. 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.
  2. 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.
  3. 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)
  4. 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)
  5. 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)
  6. 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)
  7. 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)
  8. 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
  9. 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)
  10. 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)

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

  1. 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)
  2. 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)
  3. 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)

Book Chapters

  1. 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)

Patents

  1. D. C. Rucker, J. Das, N. Sarkar, and R. J. Webster, III, “Sliding Mode Control of Steerable Needles”, U.S. Provisional Patent, 2014.
  2. P. J. Swaney and R. J. Webster, III, “Steerable Surgical Needle”, U.S. Provisional Patent, 2014.

Ph.D. Dissertations

  1. D. C. Rucker, “The Mechanics of Continuum Robots: Model-Based Sensing and Control”. Vanderbilt University, Nashville, TN, 2011. PDF (7.77 MB)
  2. R. J. Webster, III, “Design and Mechanics of Continuum Robots for Surgery”. Johns Hopkins University, Baltimore, Maryland, 2007. PDF (4.8 MB)