Steerable Needles

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. 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)
  4. 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)
  5. 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)
  6. 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)
  7. 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)
  8. 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)
  9. 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)
  10. 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”, ASME Journal of Medical Devices, vol. 5, no. 2. 2011. PDF (35.47 KB)
  2. J. Das, D. C. Rucker, and R. J. Webster, III, “A Testbed for Multilumen Steerable Needle Experiments”, ASME Journal of Medical Devices, vol. 4, no. 2. 2010. PDF (28.2 KB)
  3. D. C. Rucker, J. M. Croom, and R. J. Webster, III, “Aiming Surgical Lasers With an Active Cannula”, ASME Journal of Medical Devices, vol. 3, no. 2. 2009. PDF (36 KB)

Conference Papers

  1. 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)
  2. 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
  3. 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 Medical Imaging, 2017. PDF (854.83 KB)
  4. 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)
  5. 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)
  6. P. J. Swaney, J. Burgner, T. S. Pheiffer, D. C. Rucker, H. B. Gilbert, J. E. Ondrake, A. L. Simpson, E. C. Burdette, M. I. Miga, and R. J. Webster, III, “Tracked 3D Ultrasound Targeting with an Active Cannula”, in SPIE Medical Imaging, 2012. PDF (500.42 KB)
  7. 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)
  8. 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)
  9. 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
  10. 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)
  11. 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. M. Emerson, T. E. Ertop, M. Rox, M. Fu, I. Fried, J. Hoelscher, A. Kuntz, J. Granna, J. Mitchell, M. Lester, F. Maldonado, E. Gillaspie, J. Akulian, R. Alterovitz, and R. J. Webster, III, “A New Sheath for Highly Curved Steerable Needles”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 2020. PDF (133.21 KB)
  2. M. Rox, M. Emerson, T. E. Ertop, M. Fu, I. Fried, J. Hoelscher, A. Kuntz, J. Granna, J. Mitchell, M. Lester, F. Maldonado, E. Gillaspie, J. Akulian, R. Alterovitz, and R. J. Webster, III, “An Aiming Device for Steerable Needles”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 2020. PDF (1.08 MB)
  3. 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)
  4. 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)
  5. 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”, vol. 21, 9th International Symposium on Experimental Robotics (2004). Springer Tracts in Advanced Robotics, 2006, pp. 35-44. PDF (665.2 KB)

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)