D. Caleb Rucker

According to our database, D. Caleb Rucker authored at least 58 papers between 2009 and 2024.

Collaborative distances:

• Dijkstra number of five.
• Erdős number of four.

2024

Unified Shape and External Load State Estimation for Continuum Robots.

James M. Ferguson, D. Caleb Rucker, Robert J. Webster III

IEEE Trans. Robotics, 2024

A Kinetostatic Model for Concentric Push-Pull Robots.

Jake A. Childs, Caleb Rucker

IEEE Trans. Robotics, 2024

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

Shape and Tip Force Estimation of Concentric Tube Robots Based on Actuation Readings Alone.

AbdulAziz Y. AlKayas, Daniel Feliú Talegon, Anup Teejo Mathew, D. Caleb Rucker, Federico Renda

Proceedings of the IEEE International Conference on Soft Robotics, 2023

2022

Concentric Push-Pull Robots: Planar Modeling and Design.

Kaitlin Oliver-Butler, Jake A. Childs, Adam Daniel, D. Caleb Rucker

IEEE Trans. Robotics, 2022

Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots.

Laura H. Blumenschein, Margaret Koehler, Nathan S. Usevitch, Elliot Wright Hawkes, D. Caleb Rucker, Allison M. Okamura

IEEE Trans. Robotics, 2022

Smooth Parameterization of Rigid-Body Inertia.

D. Caleb Rucker, Patrick M. Wensing

IEEE Robotics Autom. Lett., 2022

Transverse Anisotropy Stabilizes Concentric Tube Robots.

D. Caleb Rucker, Jake A. Childs, Parsa Molaei, Hunter B. Gilbert

IEEE Robotics Autom. Lett., 2022

Estimating Forces Along Continuum Robots.

Vincent A. Aloi, Khoa T. Dang, Eric J. Barth, D. Caleb Rucker

IEEE Robotics Autom. Lett., 2022

Continuum Robots for Medical Interventions.

Pierre E. Dupont, Nabil Simaan, Howie Choset, D. Caleb Rucker

Proc. IEEE, 2022

Interactive-Rate Supervisory Control for Arbitrarily-Routed Multi-Tendon Robots via Motion Planning.

Michael Bentley, D. Caleb Rucker, Alan Kuntz

CoRR, 2022

Interactive-Rate Supervisory Control for Arbitrarily-Routed Multitendon Robots via Motion Planning.

Michael Bentley, D. Caleb Rucker, Alan Kuntz

IEEE Access, 2022

Task-Space Control of Continuum Robots using Underactuated Discrete Rod Models.

D. Caleb Rucker, Eric J. Barth, Joshua Gaston, James C. Gallentine

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

2021

A Sliding-Rod Variable-Strain Model for Concentric Tube Robots.

Federico Renda, Conor Messer, D. Caleb Rucker, Frédéric Boyer

IEEE Robotics Autom. Lett., 2021

<i>TMTDyn</i>: A Matlab package for modeling and control of hybrid rigid-continuum robots based on discretized lumped systems and reduced-order models.

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

Int. J. Robotics Res., 2021

Leveraging Geometry to Enable High-Strength Continuum Robots.

Jake A. Childs, D. Caleb Rucker

Frontiers Robotics AI, 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

2020

A Dynamic Model for Concentric Tube Robots.

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

IEEE Trans. Robotics, 2020

Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings.

S. M. Hadi Sadati, Ali Shiva, Nicolas Herzig, D. Caleb Rucker, Helmut Hauser, Ian D. Walker, Christos Bergeles, Kaspar Althoefer, D. P. Thrishantha Nanayakkara

IEEE Robotics Autom. Lett., 2020

Concentric Precurved Bellows: New Bending Actuators for Soft Robots.

Jake A. Childs, D. Caleb Rucker

IEEE Robotics Autom. Lett., 2020

2019

Continuum Robot Stiffness Under External Loads and Prescribed Tendon Displacements.

Kaitlin Oliver-Butler, John Till, Daniel Caleb Rucker

IEEE Trans. Robotics, 2019

A Hand-Held Non-Robotic Surgical Tool With a Wrist and an Elbow.

Katherine E. Riojas, Patrick L. Anderson, Ray A. Lathrop, S. Duke Herrell, D. Caleb Rucker, Robert J. Webster III

IEEE Trans. Biomed. Eng., 2019

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

John Till, Vincent A. Aloi, D. Caleb Rucker

Int. J. Robotics Res., 2019

Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators.

Seyedmohammadhadi Sadati, Ali Shiva, Seyedeh Elnaz Naghibi, D. Caleb Rucker, Ludovic Renson, Christos Bergeles, Kaspar Althoefer, D. P. Thrishantha Nanayakkara, Helmut Hauser, Ian D. Walker

Proceedings of the Robotics: Science and Systems XV, 2019

Estimating Loads Along Elastic Rods.

Vincent A. Aloi, D. Caleb Rucker

Proceedings of the International Conference on Robotics and Automation, 2019

2018

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

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

IEEE Trans. Robotics, 2018

Integrating Rotations Using Nonunit Quaternions.

D. Caleb Rucker

IEEE Robotics Autom. Lett., 2018

2017

Elastic Stability of Cosserat Rods and Parallel Continuum Robots.

John Till, D. Caleb Rucker

IEEE Trans. Robotics, 2017

Analysis of a concentric-tube robot design and feasibility for endoscopic deployment.

Ryan Ponten, Caroline B. Black, Andrew J. Russ, D. Caleb Rucker

Proceedings of the Medical Imaging 2017: Image-Guided Procedures, 2017

Concentric agonist-antagonist robots for minimally invasive surgeries.

Kaitlin Oliver-Butler, Zane H. Epps, Daniel Caleb Rucker

Proceedings of the Medical Imaging 2017: Image-Guided Procedures, 2017

Elastic rod dynamics: Validation of a real-time implicit approach.

John Till, D. Caleb Rucker

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Modeling parallel continuum robots with general intermediate constraints.

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

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

2016

Analysis and Validation of a Teleoperated Surgical Parallel Continuum Manipulator.

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

IEEE Robotics Autom. Lett., 2016

2015

Continuum Robots for Medical Applications: A Survey.

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

IEEE Trans. Robotics, 2015

Efficient computation of multiple coupled Cosserat rod models for real-time simulation and control of parallel continuum manipulators.

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

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

A surgical parallel continuum manipulator with a cable-driven grasper.

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

Proceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2015

2014

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

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

IEEE Trans. Medical Imaging, 2014

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

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

IEEE Trans. Biomed. Eng., 2014

Registration of liver images to minimally invasive intraoperative surface and subsurface data.

Yifei Wu, D. Caleb Rucker, Rebekah H. Conley, Thomas S. Pheiffer, Amber L. Simpson, Sunil K. Geevarghese, Michael I. Miga

Proceedings of the Medical Imaging 2014: Image-Guided Procedures, 2014

Toward parallel continuum manipulators.

Caroline E. Bryson, D. Caleb Rucker

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013

Sliding Mode Control of Steerable Needles.

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

IEEE Trans. Robotics, 2013

Nonrigid liver registration for image-guided surgery using partial surface data: a novel iterative approach.

D. Caleb Rucker, Yifei Wu, Janet E. Ondrake, Thomas S. Pheiffer, Amber L. Simpson, Michael I. Miga

Proceedings of the Medical Imaging 2013: Image-Guided Procedures, 2013

Concentric Tube Robots: The State of the Art and Future Directions.

Hunter B. Gilbert, D. Caleb Rucker, Robert J. Webster III

Proceedings of the Robotics Research, 2013

2012

Tracked 3D ultrasound targeting with an active cannula.

Philip J. Swaney, Jessica Burgner, Thomas S. Pheiffer, D. Caleb Rucker, Hunter B. Gilbert, Janet E. Ondrake, Amber L. Simpson, Everette Clif Burdette, Michael I. Miga, Robert J. Webster III

Proceedings of the Medical Imaging 2012: Image-Guided Procedures, 2012

A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study.

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

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

2011

Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading.

D. Caleb Rucker, Robert J. Webster III

IEEE Trans. Robotics, 2011

Deflection-based force sensing for continuum robots: A probabilistic approach.

D. Caleb Rucker, Robert J. Webster III

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

A bimanual teleoperated system for endonasal skull base surgery.

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

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Computing Jacobians and compliance matrices for externally loaded continuum robots.

D. Caleb Rucker, Robert J. Webster III

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2010

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

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

IEEE Trans. Robotics, 2010

Equilibrium Conformations of Concentric-tube Continuum Robots.

D. Caleb Rucker, Robert J. Webster III, Gregory S. Chirikjian, Noah J. Cowan

Int. J. Robotics Res., 2010

Precisely shaped acoustic ablation of tumors utilizing steerable needle and 3D ultrasound image guidance.

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

Proceedings of the Medical Imaging 2010: Visualization, 2010

Mechanics of Continuum Robots with External Loading and General Tendon Routing.

D. Caleb Rucker, Robert J. Webster III

Proceedings of the Experimental Robotics, 2010

A model for concentric tube continuum robots under applied wrenches.

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

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Guidance of a steerable cannula robot in soft tissue using preoperative imaging and conoscopic surface contour sensing.

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

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Visual sensing of continuum robot shape using self-organizing maps.

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

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009

Parsimonious Evaluation of Concentric-Tube Continuum Robot Equilibrium Conformation.

D. Caleb Rucker, Robert J. Webster III

IEEE Trans. Biomed. Eng., 2009

Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas.

D. Caleb Rucker, Robert J. Webster III

Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009