Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas. - D. Caleb Rucker; Robert J. Webster III (ICRA, 2009)

Parsimonious Evaluation of Concentric-Tube Continuum Robot Equilibrium Conformation. - D. Caleb Rucker; Robert J. Webster III (IEEE Trans. Biomed. Eng., 2009)

Visual sensing of continuum robot shape using self-organizing maps. - Jordan M. Croom; D. Caleb Rucker; Joseph M. Romano; Robert J. Webster III (ICRA, 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 (ICRA, 2010)

A model for concentric tube continuum robots under applied wrenches. - D. Caleb Rucker; Bryan A. Jones; Robert J. Webster III (ICRA, 2010)

Mechanics of Continuum Robots with External Loading and General Tendon Routing. - D. Caleb Rucker; Robert J. Webster III (ISER, 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 (Image-Guided Procedures, 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)

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)

Computing Jacobians and compliance matrices for externally loaded continuum robots. - D. Caleb Rucker; Robert J. Webster III (ICRA, 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 (IROS, 2011)

Deflection-based force sensing for continuum robots: A probabilistic approach. - D. Caleb Rucker; Robert J. Webster III (IROS, 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)

A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study. - Hao Su 002; Diana C. Cardona; Weijian Shang; Alexander Camilo; Gregory A. Cole; D. Caleb Rucker; Robert J. Webster III; Gregory S. Fischer (ICRA, 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 (Image-Guided Procedures, 2012)

Concentric Tube Robots: The State of the Art and Future Directions. - Hunter B. Gilbert; D. Caleb Rucker; Robert J. Webster III (ISRR, 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 (Image-Guided Procedures, 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)

Toward parallel continuum manipulators. - Caroline E. Bryson; D. Caleb Rucker (ICRA, 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 (Image-Guided Procedures, 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)

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)

A surgical parallel continuum manipulator with a cable-driven grasper. - Andrew L. Orekhov; Caroline E. Bryson; John Till; Scotty Chung; D. Caleb Rucker (EMBC, 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 (ICRA, 2015)

Continuum Robots for Medical Applications: A Survey. - Jessica Burgner-Kahrs; D. Caleb Rucker; Howie Choset (IEEE Trans. Robotics, 2015)

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)

Modeling parallel continuum robots with general intermediate constraints. - Andrew L. Orekhov; Vincent A. Aloi; D. Caleb Rucker (ICRA, 2017)

Elastic rod dynamics: Validation of a real-time implicit approach. - John Till; D. Caleb Rucker (IROS, 2017)

Concentric agonist-antagonist robots for minimally invasive surgeries. - Kaitlin Oliver-Butler; Zane H. Epps; Daniel Caleb Rucker (Image-Guided Procedures, 2017)

Analysis of a concentric-tube robot design and feasibility for endoscopic deployment. - Ryan Ponten; Caroline B. Black; Andrew J. Russ; D. Caleb Rucker (Image-Guided Procedures, 2017)

Elastic Stability of Cosserat Rods and Parallel Continuum Robots. - John Till; D. Caleb Rucker (IEEE Trans. Robotics, 2017)

Integrating Rotations Using Nonunit Quaternions. - D. Caleb Rucker (IEEE Robotics Autom. Lett., 2018)

Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing. - Caroline B. Black; John Till; D. Caleb Rucker (IEEE Trans. Robotics, 2018)

Estimating Loads Along Elastic Rods. - Vincent A. Aloi; D. Caleb Rucker (ICRA, 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 (Robotics: Science and Systems, 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)

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)

Continuum Robot Stiffness Under External Loads and Prescribed Tendon Displacements. - Kaitlin Oliver-Butler; John Till; Daniel Caleb Rucker (IEEE Trans. Robotics, 2019)

Concentric Precurved Bellows: New Bending Actuators for Soft Robots. - Jake A. Childs; D. Caleb Rucker (IEEE Robotics Autom. Lett., 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)

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)

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)

Leveraging Geometry to Enable High-Strength Continuum Robots. - Jake A. Childs; D. Caleb Rucker (Frontiers Robotics AI, 2021)

TMTDyn: 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 001; D. Caleb Rucker; Kaspar Althoefer; Thrishantha Nanayakkara; Steffen Zschaler; Christos Bergeles; Helmut Hauser; et al. (Int. J. Robotics Res., 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)

Task-Space Control of Continuum Robots using Underactuated Discrete Rod Models. - D. Caleb Rucker; Eric J. Barth; Joshua Gaston; James C. Gallentine (IROS, 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)

Continuum Robots for Medical Interventions. - Pierre E. Dupont; Nabil Simaan; Howie Choset; D. Caleb Rucker (Proc. IEEE, 2022)

Estimating Forces Along Continuum Robots. - Vincent A. Aloi; Khoa T. Dang; Eric J. Barth; D. Caleb Rucker (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)

Smooth Parameterization of Rigid-Body Inertia. - D. Caleb Rucker; Patrick M. Wensing (IEEE Robotics Autom. Lett., 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)

Concentric Push-Pull Robots: Planar Modeling and Design. - Kaitlin Oliver-Butler; Jake A. Childs; Adam Daniel; D. Caleb Rucker (IEEE Trans. Robotics, 2022)

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 (RoboSoft, 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)

Design of Transmission Tubes for Surgical Concentric Push-Pull Robots. - Khoa T. Dang; Stephen Qiu; Carter Hatch; Peter Connor; Tony Qin; Ron Alterovitz; Robert J. Webster III; Caleb Rucker (ISMR, 2024)

A Kinetostatic Model for Concentric Push-Pull Robots. - Jake A. Childs; Caleb Rucker (IEEE Trans. Robotics, 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)

Parallel-Continuum Robots: A Survey. - Sven Lilge; Kathrin Nuelle; Jake A. Childs; Kefei Wen; D. Caleb Rucker; Jessica Burgner-Kahrs (IEEE Trans. Robotics, 2024)

Efficient Steady-State Tissue Simulation for Surgical Robotics: A First-Order Position-Based Method. - Samuel Tobin; Yufei Wu; Fei Liu 033; Caleb Rucker (ISMR, 2025)

Stiff yet Bendy: Tubular Transmissions for Driving Surgical Robots through Flexible Endoscopes. - Khoa T. Dang; Carter Hatch; Peter Connor; Stephen Qiu; Tony Qin; Ron Alterovitz; Robert J. Webster III; Caleb Rucker (J. Medical Robotics Res., 2025)