Needlescopic Surgical Instruments

Journal Papers

  1. N. E. Pacheco, J. B. Gafford, M. A. Atalla, R. J. Webster, III, and L. Fichera, “Beyond Constant Curvature: A New Mechanics Model for Unidirectional Notched-Tube Continuum Wrists”, Journal of Medical Robotics Research, vol. 06, no. 01n02, p. 2140004, 2021.
  2. J. Gafford, M. Freeman, L. Fichera, J. H. Noble, R. Labadie, and R. J. Webster, III, “Eyes in Ears: A Miniature Steerable Digital Endoscope for Trans-Nasal Diagnosis of Middle Ear Disease”, Annals of Biomedical Engineering, vol. 49, no. 1, pp. 219-232, 2020. PDF (970.25 KB)
  3. J. B. Gafford, S. Webster, N. Dillon, E. Blum, R. Hendrick, F. Maldonado, E. A. Gillaspie, O. B. Rickman, S. D. Herrell, and R. J. Webster, III, “A Concentric Tube Robot System for Rigid Bronchoscopy: A Feasibility Study on Central Airway Obstruction Removal”, Annals of Biomedical Engineering, vol. 48, no. 1, pp. 181-191, 2019. PDF (1.15 MB)
  4. K. E. Riojas, R. J. Hendrick, and R. J. Webster, III, “Can Elastic Instability be Beneficial in Concentric Tube Robots?”, Robotics and Automation Letters, vol. 3, no. 3, pp. 1624-1630, 2018. PDF (580.24 KB)
  5. P. J. Swaney, P. A. York, H. B. Gilbert, J. Burgner-Kahrs, and R. J. Webster, III, “Design, Fabrication, and Testing of a Needle-sized Wrist for Surgical Instruments”, ASME Journal of Medical Devices, vol. 11, no. 1, pp. 014501-9, 2016. PDF (483.63 KB)

Conference Papers

  1. A. Chiluisa, F. Van Rossum, J. B. Gafford, R. Labadie, R. J. Webster, III, and L. Fichera, “Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot”, in 2020 International Symposium on Medical Robotics (ISMR), Atlanta, GA, USA, 2020, pp. 188-194. PDF (1.43 MB)
  2. P. York, P. J. Swaney, H. B. Gilbert, and R. J. Webster, III, “A wrist for needle-sized surgical robots”, in IEEE International Conference on Robotics and Automation, 2015, pp. 1776-1781. PDF (3.8 MB)