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1

Continuum Robots for Medical Applications: A Survey

Burgner-Kahrs, Jessica, Rucker, D. Caleb, Choset, Howie

Journal:

IEEE Transactions on Robotics

Year:

2015

Language:

english

File:

PDF, 1.09 MB

english, 2015

2

Real-time dynamics of soft and continuum robots based on Cosserat rod models

Till, John, Aloi, Vincent, Rucker, Caleb

Journal:

Internatinal Journal of Robotics Research

Year:

2019

Language:

english

File:

PDF, 3.72 MB

english, 2019

3

A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots

Rucker, D. Caleb, Jones, Bryan A., Webster III, Robert J.

Journal:

IEEE Transactions on Robotics

Year:

2010

Language:

english

File:

PDF, 766 KB

english, 2010

4

[IEEE 2015 IEEE International Conference on Robotics and Automation (ICRA) - Seattle, WA, USA (2015.5.26-2015.5.30)] 2015 IEEE International Conference on Robotics and Automation (ICRA) - Efficient computation of multiple coupled Cosserat rod models for real-time simulation and control of parallel continuum manipulators

Till, John, Bryson, Caroline E., Chung, Scotty, Orekhov, Andrew, Rucker, D. Caleb

Year:

2015

Language:

english

File:

PDF, 832 KB

english, 2015

5

Analysis and Validation of a Teleoperated Surgical Parallel Continuum Manipulator

Orekhov, Andrew L., Black, Caroline B., Till, John, Chung, Scotty, Rucker, D. Caleb

Journal:

IEEE Robotics and Automation Letters

Year:

2016

Language:

english

File:

PDF, 1.08 MB

english, 2016

6

Elastic Stability of Cosserat Rods and Parallel Continuum Robots

Till, John, Rucker, D. Caleb

Journal:

IEEE Transactions on Robotics

Year:

2017

Language:

english

File:

PDF, 2.29 MB

english, 2017

7

A Rigid Mechanism With Uniform, Variable Curvature 1

Oliver Butler, Kaitlin, Orekhov, Andrew L., Childs, Jake, Rucker, Caleb

Journal:

Journal of Medical Devices

Year:

2016

Language:

english

File:

PDF, 1.03 MB

english, 2016

8

Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing

Black, Caroline B., Till, John, Rucker, D. Caleb

Journal:

IEEE Transactions on Robotics

Year:

2018

Language:

english

File:

PDF, 1.32 MB

english, 2018

9

[IEEE 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Vancouver, BC (2017.9.24-2017.9.28)] 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Elastic rod dynamics: Validation of a real-time implicit approach

Till, John, Rucker, D. Caleb

Year:

2017

Language:

english

File:

PDF, 1.74 MB

english, 2017

10

Integrating Rotations Using Nonunit Quaternions

Journal:

IEEE Robotics and Automation Letters

Year:

2018

Language:

english

File:

PDF, 965 KB

english, 2018

11

[IEEE 2019 International Conference on Robotics and Automation (ICRA) - Montreal, QC, Canada (2019.5.20-2019.5.24)] 2019 International Conference on Robotics and Automation (ICRA) - Estimating Loads Along Elastic Rods

Aloi, Vincent A., Rucker, D. Caleb

Year:

2019

Language:

english

File:

PDF, 283 KB

english, 2019

12

TMTDyn : A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models

Sadati, S.M. Hadi, Naghibi, S. Elnaz, Shiva, Ali, Michael, Brendan, Renson, Ludovic, Howard, Matthew, Rucker, Caleb D., Althoefer, Kaspar, Nanayakkara, Thrishantha, Zschaler, Steffen, Bergeles, Christ

Journal:

Internatinal Journal of Robotics Research

Year:

2020

Language:

english

File:

PDF, 4.36 MB

english, 2020

13

Sliding Mode Control of Steerable Needles

Rucker, D. Caleb, Das, Jadav, Gilbert, Hunter B., Swaney, Philip J., Miga, Michael I., Sarkar, Nilanjan, Webster, Robert J.

Journal:

IEEE Transactions on Robotics

Year:

2013

Language:

english

File:

PDF, 803 KB

english, 2013

14

Evaluation of Conoscopic Holography for Estimating Tumor Resection Cavities in Model-Based Image-Guided Neurosurgery

Simpson, Amber L., Kay Sun,, Pheiffer, Thomas S., Rucker, D. Caleb, Sills, Allen K., Thompson, Reid C., Miga, Michael I.

Journal:

IEEE Transactions on Biomedical Engineering

Year:

2014

Language:

english

File:

PDF, 732 KB

english, 2014

15

A Telerobotic System for Transnasal Surgery

Burgner, Jessica, Rucker, D. Caleb, Gilbert, Hunter B., Swaney, Philip J., Russell, Paul T., Weaver, Kyle D., Webster, Robert J.

Journal:

IEEE/ASME Transactions on Mechatronics

Year:

2014

Language:

english

File:

PDF, 780 KB

english, 2014

16

A Mechanics-Based Nonrigid Registration Method for Liver Surgery Using Sparse Intraoperative Data

Rucker, D. Caleb, Yifei Wu,, Clements, Logan W., Ondrake, Janet E., Pheiffer, Thomas S., Simpson, Amber L., Jarnagin, William R., Miga, Michael I.

Journal:

IEEE Transactions on Medical Imaging

Year:

2014

Language:

english

File:

PDF, 1.42 MB

english, 2014

17

[IEEE 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) - Anchorage, AK (2010.05.3-2010.05.7)] 2010 IEEE International Conference on Robotics and Automation - A model for concentric tube continuum robots under applied wrenches

Rucker, D Caleb, Jones, Bryan A, Webster, Robert J

Year:

2010

Language:

english

File:

PDF, 446 KB

english, 2010

18

[IEEE 2014 IEEE International Conference on Robotics and Automation (ICRA) - Hong Kong, China (2014.5.31-2014.6.7)] 2014 IEEE International Conference on Robotics and Automation (ICRA) - Toward parallel continuum manipulators

Bryson, Caroline E., Rucker, D. Caleb

Year:

2014

Language:

english

File:

PDF, 2.65 MB

english, 2014

19

[IEEE 2011 IEEE International Conference on Robotics and Automation (ICRA) - Shanghai, China (2011.05.9-2011.05.13)] 2011 IEEE International Conference on Robotics and Automation - Computing Jacobians and compliance matrices for externally loaded continuum robots

Rucker, D. Caleb, Webster, Robert J.

Year:

2011

Language:

english

File:

PDF, 319 KB

english, 2011

20

[IEEE 2012 IEEE International Conference on Robotics and Automation (ICRA) - St Paul, MN, USA (2012.05.14-2012.05.18)] 2012 IEEE International Conference on Robotics and Automation - A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study

Su, Hao, Cardona, Diana C., Shang, Weijian, Camilo, Alexander, Cole, Gregory A., Rucker, D. Caleb, Webster, Robert J., Fischer, Gregory S.

Year:

2012

Language:

english

File:

PDF, 1.61 MB

english, 2012

21

[IEEE 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) - Anchorage, AK (2010.05.3-2010.05.7)] 2010 IEEE International Conference on Robotics and Automation - Guidance of a steerable cannula robot in soft tissue using preoperative imaging and conoscopic surface contour sensing

Lathrop, Ray A, Rucker, D Caleb, Webster, Robert J

Year:

2010

Language:

english

File:

PDF, 1.12 MB

english, 2010

22

[IEEE EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008) - Scottsdale, AZ, USA (2008.10.19-2008.10.22)] 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics - Mechanics-based modeling of bending and torsion in active cannulas

Rucker, D. Caleb, Webster, Robert J.

Year:

2008

Language:

english

File:

PDF, 1.33 MB

english, 2008

23

[IEEE 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) - Anchorage, AK (2010.05.3-2010.05.7)] 2010 IEEE International Conference on Robotics and Automation - Visual sensing of continuum robot shape using self-organizing maps

Croom, Jordan M, Rucker, D Caleb, Romano, Joseph M, Webster, Robert J

Year:

2010

Language:

english

File:

PDF, 490 KB

english, 2010

24

SPIE Proceedings [SPIE SPIE Medical Imaging - Lake Buena Vista (Orlando Area), Florida, USA (Saturday 9 February 2013)] Medical Imaging 2013: Image-Guided Procedures, Robotic Interventions, and Modeling - Nonrigid liver registration for image-guided surgery using partial surface data: a novel iterative approach

Rucker, D. Caleb, Holmes, David R., Yaniv, Ziv R., Wu, Yifei, Ondrake, Janet E., Pheiffer, Thomas S., Simpson, Amber L., Miga, Michael I.

Year:

2013

Language:

english

File:

PDF, 1.57 MB

english, 2013

25

[ASME ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference - Fort Lauderdale, Florida, USA (Wednesday 17 October 2012)] Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; - Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery

Swaney, Philip J., Croom, Jordan M., Burgner, Jessica, Gilbert, Hunter B., Rucker, D. Caleb, Webster, Robert J., Weaver, Kyle D., Russell, Paul T.

Year:

2012

Language:

english

File:

PDF, 1.84 MB

english, 2012

26

An Autoclavable Steerable Cannula Manual Deployment Device: Design and Accuracy Analysis

Burgner, Jessica, Swaney, Philip J., Bruns, Trevor L., Clark, Marlena S., Rucker, D. Caleb, Burdette, E. Clif, Webster, Robert J.

Journal:

Journal of Medical Devices

Year:

2012

Language:

english

File:

PDF, 895 KB

english, 2012

27

[IEEE 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) - Milan (2015.8.25-2015.8.29)] 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) - A surgical parallel continuum manipulator with a cable-driven grasper

Orekhov, Andrew L., Bryson, Caroline E., Till, John, Chung, Scotty, Rucker, D. Caleb

Year:

2015

Language:

english

File:

PDF, 3.40 MB

english, 2015

28

SPIE Proceedings [SPIE SPIE Medical Imaging - San Diego, California, USA (Saturday 4 February 2012)] Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling - Tracked 3D ultrasound targeting with an active cannula

Swaney, Philip J., Holmes III, David R., Wong, Kenneth H., Burgner, Jessica, Pheiffer, Thomas S., Rucker, D. Caleb, Gilbert, Hunter B., Ondrake, Janet E., Simpson, Amber L., Burdette, E. Clif, Miga, M

Year:

2012

Language:

english

File:

PDF, 4.52 MB

english, 2012

29

SPIE Proceedings [SPIE SPIE Medical Imaging - San Diego, California, USA (Saturday 13 February 2010)] Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling - Precisely shaped acoustic ablation of tumors utilizing steerable needle and 3D ultrasound image guidance

Boctor, Emad M., Stolka, Philipp, Kang, Hyun-Jae, Clarke, Clyde, Rucker, Caleb, Croom, Jordon, Burdette, E. Clif, Webster III, Robert J.

Year:

2010

Language:

english

File:

PDF, 2.41 MB

english, 2010

30

A Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-Loop Targeting

Su, Hao, Li, Gang, Rucker, D. Caleb, Webster III, Robert J., Fischer, Gregory S.

Journal:

Annals of Biomedical Engineering

Year:

2016

Language:

english

File:

PDF, 2.71 MB

english, 2016

31

[IEEE 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) - San Francisco, CA, USA (2011.09.25-2011.09.30)] 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems - A bimanual teleoperated system for endonasal skull base surgery

Burgner, Jessica, Swaney, Philip J., Rucker, D. Caleb, Gilbert, Hunter B., Nill, Scott T., Russell, Paul T., Weaver, Kyle D., Webster, Robert J.

Year:

2011

Language:

english

File:

PDF, 1018 KB

english, 2011

32

[IEEE 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) - San Francisco, CA, USA (2011.09.25-2011.09.30)] 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems - Deflection-based force sensing for continuum robots: A probabilistic approach

Rucker, D. Caleb, Webster, Robert J.

Year:

2011

Language:

english

File:

PDF, 1.95 MB

english, 2011

33

SPIE Proceedings [SPIE SPIE Medical Imaging - San Diego, California, USA (Saturday 13 February 2010)] Medical Imaging 2010: Ultrasonic Imaging, Tomography, and Therapy - The ACUSITT ultrasonic ablator: the first steerable needle with an integrated interventional tool

Burdette, E. Clif, D'hooge, Jan, McAleavey, Stephen A., Rucker, D. Caleb, Prakash, Punit, Diederich, Chris J., Croom, Jordon M., Clarke, Clyde, Stolka, Philipp, Juang, Titania, Boctor, Emad M., Webste

Year:

2010

Language:

english

File:

PDF, 5.24 MB

english, 2010

34

SPIE Proceedings [SPIE SPIE Medical Imaging - Orlando, Florida, United States (Saturday 11 February 2017)] Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling - Analysis of a concentric-tube robot design and feasibility for endoscopic deployment

Webster, Robert J., Fei, Baowei, Ponten, Ryan, Black, Caroline B., Russ, Andrew J., Rucker, D. Caleb

Year:

2017

Language:

english

File:

PDF, 1.06 MB

english, 2017

35

SPIE Proceedings [SPIE SPIE Medical Imaging - Orlando, Florida, United States (Saturday 11 February 2017)] Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling - Concentric agonist-antagonist robots for minimally invasive surgeries

Webster, Robert J., Fei, Baowei, Oliver-Butler, Kaitlin, Epps, Zane H., Rucker, Daniel Caleb

Year:

2017

Language:

english

File:

PDF, 817 KB

english, 2017

36

[IEEE 2017 IEEE International Conference on Robotics and Automation (ICRA) - Singapore, Singapore (2017.5.29-2017.6.3)] 2017 IEEE International Conference on Robotics and Automation (ICRA) - Modeling parallel continuum robots with general intermediate constraints

Orekhov, Andrew L., Aloi, Vincent A., Rucker, D. Caleb

Year:

2017

Language:

english

File:

PDF, 1.44 MB

english, 2017

37

[ASME ASME 2018 Dynamic Systems and Control Conference - Atlanta, Georgia, USA (Sunday 30 September 2018)] Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare - Stiffness Control of Parallel Continuum Robots

Aloi, Vincent, Black, Caroline, Rucker, Caleb

Year:

2018

Language:

english

File:

PDF, 3.29 MB

english, 2018

38

A Manual Insertion Mechanism for Percutaneous Cochlear Implantation

Schurzig, Daniel, Smith, Zachariah W., Rucker, D. Caleb, Labadie, Robert F., Webster, Robert J.

Journal:

Journal of Medical Devices

Year:

2010

Language:

english

File:

PDF, 53 KB

english, 2010

39

Design of an Autoclavable Active Cannula Deployment Device

Bruns, Trevor, Tucker, John, Rucker, D. Caleb, Swaney, Philip, Boctor, Emad, Burdette, E. Clif, Burgner, Jessica, Webster, Robert

Journal:

Journal of Medical Devices

Year:

2011

Language:

english

File:

PDF, 62 KB

english, 2011

40

A Testbed for Multilumen Steerable Needle Experiments

Das, Jadav, Rucker, D. Caleb, Webster, Robert J.

Journal:

Journal of Medical Devices

Year:

2010

Language:

english

File:

PDF, 54 KB

english, 2010

41

Real-time dynamics of soft and continuum robots based on Cosserat rod models

Till, John, Aloi, Vincent, Rucker, Caleb

Journal:

Internatinal Journal of Robotics Research

Year:

2019

File:

PDF, 3.72 MB

2019

42

Concentric Precurved Bellows: New Bending Actuators for Soft Robots

Childs, Jake A., Rucker, Caleb

Journal:

IEEE Robotics and Automation Letters

Year:

2020

File:

PDF, 5.69 MB

2020

43

A Dynamic Model for Concentric Tube Robots

Till, John, Aloi, Vincent, E. Riojas, Katherine, Anderson, Patrick L., Webster III, Robert James, Rucker, Caleb

Journal:

IEEE Transactions on Robotics

Year:

2020

File:

PDF, 3.55 MB

2020