A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation. - Luis G. Torres; Alan Kuntz; Hunter B. Gilbert; Philip J. Swaney; Richard J. Hendrick; Robert J. Webster III; Ron Alterovitz (ICRA, 2015)

Motion planning for a three-stage multilumen transoral lung access system. - Alan Kuntz; Luis G. Torres; Richard H. Feins; Robert J. Webster III; Ron Alterovitz (IROS, 2015)

Interleaving Optimization with Sampling-Based Motion Planning (IOS-MP): Combining Local Optimization with Global Exploration. - Alan Kuntz; Chris Bowen; Ron Alterovitz (CoRR, 2016)

Motion planning for continuum reconfigurable incisionless surgical parallel robots. - Alan Kuntz; Arthur W. Mahoney; Nicolas E. Peckman; Patrick L. Anderson; Fabien Maldonado; Robert J. Webster III; Ron Alterovitz (IROS, 2017)

Fast Anytime Motion Planning in Point Clouds by Interleaving Sampling and Interior Point Optimization. - Alan Kuntz; Chris Bowen; Ron Alterovitz (ISRR, 2017)

Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning. - Alan Kuntz; Chris Bowen; Cenk Baykal; Arthur W. Mahoney; Patrick L. Anderson; Fabien Maldonado; Robert J. Webster III; Ron Alterovitz (ICRA, 2018)

Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images. - Mengyu Fu; Alan Kuntz; Robert J. Webster III; Ron Alterovitz (IROS, 2018)

Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs. - Sherdil Niyaz; Alan Kuntz; Oren Salzman; Ron Alterovitz; Siddhartha S. Srinivasa (ISER, 2018)

Planning High-Quality Motions for Concentric Tube Robots in Point Clouds via Parallel Sampling and optimization. - Alan Kuntz; Mengyu Fu; Ron Alterovitz (IROS, 2019)

optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories. - Sherdil Niyaz; Alan Kuntz; Oren Salzman; Ron Alterovitz; Siddhartha S. Srinivasa (IROS, 2019)

Design and control of a compact modular robot for transbronchial lung biopsy. - Stephanie Amack; Margaret Rox; Jason E. Mitchell; Tayfun Efe Ertop; Maxwell Emerson; Alan Kuntz; Fabien Maldonado; Jason A. Akulian; Joshua B. Gafford; Ron Alterovitz; Robert J. Webster III (Image-Guided Procedures, 2019)

Toward Asymptotically-Optimal Inspection Planning Via Efficient Near-Optimal Graph Search. - Mengyu Fu; Alan Kuntz; Oren Salzman; Ron Alterovitz (Robotics: Science and Systems, 2019)

Integrating Optimization and Sampling for Robot Motion Planning with Applications in Healthcare. - Alan Kuntz (2019)

Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning. - Haonan Chen; Hao Tan 002; Alan Kuntz; Mohit Bansal; Ron Alterovitz (ICRA, 2020)

A Recurrent Neural Network Approach to Roll Estimation for Needle Steering. - Maxwell Emerson; James M. Ferguson; Tayfun Efe Ertop; Margaret Rox; Josephine Granna; Michael Lester; Fabien Maldonado; Erin A. Gillaspie; Ron Alterovitz; Robert J. Webster III; Alan Kuntz (ISER, 2020)

Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles. - Margaret Rox; Maxwell Emerson; Tayfun Efe Ertop; Inbar Fried; Mengyu Fu; Janine Hoelscher; Alan Kuntz; Josephine Granna; Jason E. Mitchell; Michael Lester; Fabien Maldonado; Erin A. Gillaspie; et al. (IEEE Access, 2020)

Optimizing Hospital Room Layout to Reduce the Risk of Patient Falls. - Sarvenaz Chaeibakhsh; Roya Sabbagh Novin; Tucker Hermans; Andrew Merryweather; Alan Kuntz (ICORES, 2021)

Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume. - Inbar Fried; Janine Hoelscher; Mengyu Fu; Maxwell Emerson; Tayfun Efe Ertop; Margaret Rox; Josephine Granna; Alan Kuntz; Jason A. Akulian; Robert J. Webster III; Ron Alterovitz (ICRA, 2021)

Planning Sensing Sequences for Subsurface 3D Tumor Mapping. - Brian Y. Cho; Tucker Hermans; Alan Kuntz (ISMR, 2021)

Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots. - Yixuan Huang; Michael Bentley; Tucker Hermans; Alan Kuntz (ISMR, 2021)

A Novel Shaft-to-Tissue Force Model for Safer Motion Planning of Steerable Needles. - Michael Bentley; D. Caleb Rucker; Chakravarthy Reddy; Oren Salzman; Alan Kuntz (CoRR, 2021)

DeformerNet: A Deep Learning Approach to 3D Deformable Object Manipulation. - Bao Thach; Alan Kuntz; Tucker Hermans (CoRR, 2021)

Backward Planning for a Multi-Stage Steerable Needle Lung Robot. - Janine Hoelscher; Mengyu Fu; Inbar Fried; Maxwell Emerson; Tayfun Efe Ertop; Margaret Rox; Alan Kuntz; Jason A. Akulian; Robert J. Webster III; Ron Alterovitz (IEEE Robotics Autom. Lett., 2021)

Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds. - Bao Thach; Brian Y. Cho; Alan Kuntz; Tucker Hermans (ICRA, 2022)

Interactive-Rate Supervisory Control for Arbitrarily-Routed Multitendon Robots via Motion Planning. - Michael Bentley; D. Caleb Rucker; Alan Kuntz (IEEE Access, 2022)

Interactive-Rate Supervisory Control for Arbitrarily-Routed Multi-Tendon Robots via Motion Planning. - Michael Bentley; D. Caleb Rucker; Alan Kuntz (CoRR, 2022)

A Radial Folding Mechanism to Enable Surgical Continuum Manipulators to Fit Through Smaller Ports. - Mariana E. Smith; Daniel S. Esser; Margaret Rox; Alan Kuntz; Robert J. Webster III (ISMR, 2023)

Toward a Millimeter-Scale Tendon-Driven Continuum Wrist with Integrated Gripper for Microsurgical Applications. - Alexandra Leavitt; Ryan Lam; Nichols Crawford Taylor; Daniel S. Drew; Alan Kuntz (CoRR, 2023)

DeformerNet: Learning Bimanual Manipulation of 3D Deformable Objects. - Bao Thach; Brian Y. Cho; Tucker Hermans; Alan Kuntz (CoRR, 2023)

Safer Motion Planning of Steerable Needles via a Shaft-to-Tissue Force Model. - Michael Bentley; Caleb Rucker; Chakravarthy Reddy; Oren Salzman; Alan Kuntz (J. Medical Robotics Res., 2023)

Asymptotically optimal inspection planning via efficient near-optimal search on sampled roadmaps. - Mengyu Fu; Alan Kuntz; Oren Salzman; Ron Alterovitz (Int. J. Robotics Res., 2023)

Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks. - Margaret Rox; Daniel S. Esser; Mariana E. Smith; Tayfun Efe Ertop; Maxwell Emerson; Fabien Maldonado; Erin A. Gillaspie; Alan Kuntz; Robert J. Webster III (IEEE Robotics Autom. Lett., 2023)

Autonomous medical needle steering in vivo. - Alan Kuntz; Maxwell Emerson; Tayfun Efe Ertop; Inbar Fried; Mengyu Fu; Janine Hoelscher; Margaret Rox; Jason A. Akulian; Erin A. Gillaspie; Yueh Z. Lee; Fabien Maldonado; Robert J. Webster III; et al. (Sci. Robotics, 2023)

Efficient and Accurate Mapping of Subsurface Anatomy via Online Trajectory Optimization for Robot Assisted Surgery. - Brian Y. Cho; Alan Kuntz (ICRA, 2024)

DefGoalNet: Contextual Goal Learning from Demonstrations for Deformable Object Manipulation. - Bao Thach; Tanner Watts; Shing-Hei Ho; Tucker Hermans; Alan Kuntz (ICRA, 2024)

Exploring Modal Switch in Metamaterial-Based Robots. - Britton Jordan; Daniel S. Esser; Jeonghyeon Kim; Brian Y. Cho; Robert J. Webster III; Alan Kuntz (IROS, 2024)

Reward Learning from Suboptimal Demonstrations with Applications in Surgical Electrocautery. - Zohre Karimi; Shing-Hei Ho; Bao Thach; Alan Kuntz; Daniel S. Brown (ISMR, 2024)

Modeling Kinematic Uncertainty of Tendon-Driven Continuum Robots via Mixture Density Networks. - Jordan Thompson; Brian Y. Cho; Daniel S. Brown; Alan Kuntz (ISMR, 2024)

Directional Stiffness-Switching Soft Robots via Phase-Changing Metallic Spines. - Daniel S. Esser; Emily M. McCabe; Tayfun Efe Ertop; Alan Kuntz; Robert J. Webster III (RoboSoft, 2024)

Combining Thermoelectrics and Low Melting Point Alloys to Create Reconfigurable Stiff-Compliant Manipulators. - Emily M. McCabe; Daniel S. Esser; Tayfun Efe Ertop; Alan Kuntz; Robert J. Webster III (RoboSoft, 2024)

Leveraging Fixed-Parameter Tractability for Robot Inspection Planning. - Yosuke Mizutani; Daniel Coimbra Salomao; Alex Crane; Matthias Bentert; Pål Grønås Drange; Felix Reidl; Alan Kuntz; Blair D. Sullivan (CoRR, 2024)

General-purpose foundation models for increased autonomy in robot-assisted surgery. - Samuel Schmidgall; Ji Woong Kim; Alan Kuntz; Ahmed Ezzat Ghazi; Axel Krieger (Nat. Mac. Intell., 2024)

Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network. - Brian Y. Cho; Daniel S. Esser; Jordan Thompson; Bao Thach; Robert J. Webster III; Alan Kuntz (IEEE Robotics Autom. Lett., 2024)

Uncertainty Aware Forward and Inverse Kinematics for Tendon-Driven Continuum Robots via Mixture Density Networks. - Jordan Thompson; Brian Y. Cho; Daniel S. Brown; Alan Kuntz (J. Medical Robotics Res., 2025)

Medical needles in the hands of AI: Advancing toward autonomous robotic navigation. - Ron Alterovitz; Janine Hoelscher; Alan Kuntz (Sci. Robotics, 2025)

Early Failure Detection in Autonomous Surgical Soft-Tissue Manipulation via Uncertainty Quantification. - Jordan Thompson; Ronald Koe; Anthony Le; Gabriella Goodman; Daniel S. Brown; Alan Kuntz (CoRR, 2025)

Autonomous Vision-Guided Resection of Central Airway Obstruction. - Mariana E. Smith; Nural Yilmaz; Tanner Watts; Paul Maria Scheikl; Jiawei Ge 001; Anton Deguet; Alan Kuntz; Axel Krieger (CoRR, 2025)

From Monocular Vision to Autonomous Action: Guiding Tumor Resection via 3D Reconstruction. - Ayberk Acar; Mariana E. Smith; Lidia Al-Zogbi; Tanner Watts; Fangjie Li; Hao Li; Nural Yilmaz; Paul Maria Scheikl; Jesse F. d'Almeida; Susheela Sharma; Lauren Branscombe; Tayfun Efe Ertop; et al. (CoRR, 2025)

DefFusionNet: Learning Multimodal Goal Shapes for Deformable Object Manipulation via a Diffusion-based Probabilistic Model. - Bao Thach; Siyeon Kim; Britton Jordan; Mohanraj Devendran Shanthi; Tanner Watts; Shing-Hei Ho; James M. Ferguson; Tucker Hermans; Alan Kuntz (CoRR, 2025)