Steerable Needles in the Lung

Journal Papers

  1. J. Hoelscher, M. Fu, I. Fried, M. Emerson, T. Ertop, M. Rox, A. Kuntz, J. Akulian, R. J. Webster, III, and R. Alterovitz, “Backward Planning for a Multi-Stage Steerable Needle Lung Robot”, IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3987-3994, 2021. PDF (398.27 KB)
  2. M. Rox, M. Emerson, T. E. Ertop, I. Fried, M. Fu, J. Hoelscher, A. Kuntz, J. Granna, J. Mitchell, M. Lester, F. Maldonado, E. A. Gillaspie, J. A. Akulian, R. Alterovitz, and R. J. Webster, III, “Decoupling Steerability from Diameter: Helical Dovetail Laser Patterning for Steerable Needles”, IEEE Access, vol. 8, pp. 181411-181419, 2020. PDF (413.53 KB)
  3. 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)
  4. 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. J. Hoelscher, I. Fried, M. Fu, M. Patwardhan, M. Christman, J. Akulian, R. J. Webster, III, and R. Alterovitz, “A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022, pp. 9526-9533.
  2. I. Fried, J. Hoelscher, M. Fu, M. Emerson, T. Efe Ertop, M. Rox, J. Granna, A. Kuntz, J. A. Akulian, R. J. Webster, III, and R. Alterovitz, “Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume”, in IEEE International Conference on Robotics and Automation, 2021. PDF (338.32 KB)
  3. M. Emerson, J. Ferguson, T. Efe Ertop, M. Rox, J. Granna, M. Lester, F. Maldonado, E. A.Gillaspie, R. J. Webster, III, and A. Kuntz, “A Recurrent Neural Network Approach to Orientation Estimation for Needle Steering”, in 2021 International Symposium on Experimental Robotics, 2021. PDF (321.16 KB)
  4. 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, 2020. PDF (1.95 MB) Best Student Paper Finalist
  5. S. R. Amack, M. 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)
  6. 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)
  7. 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)
  8. 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
  9. 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)
  10. 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)