Keith Obstein

Orcid: 0000-0001-8654-7290

According to our database1, Keith Obstein authored at least 29 papers between 2010 and 2023.

Collaborative distances:
  • Dijkstra number2 of five.
  • Erdős number3 of four.



In proceedings 
PhD thesis 


Online presence:



Wireless Millimeter-Size Soft Climbing Robots With Omnidirectional Steerability on Tissue Surfaces.
IEEE Robotics Autom. Lett., September, 2023

Robust endoscopic image mosaicking via fusion of multimodal estimation.
Medical Image Anal., 2023

Active Stabilization of Interventional Tasks Utilizing a Magnetically Manipulated Endoscope.
Frontiers Robotics AI, 2022

Closed-loop control of soft continuum manipulators under tip follower actuation.
Int. J. Robotics Res., 2021

Guidelines for Robotic Flexible Endoscopy at the Time of COVID-19.
Frontiers Robotics AI, 2021

An Origami-Based Soft Robotic Actuator for Upper Gastrointestinal Endoscopic Applications.
Frontiers Robotics AI, 2021

Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy.
IEEE Robotics Autom. Lett., 2020

Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators.
IEEE Robotics Autom. Lett., 2020

Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation.
Nat. Mach. Intell., 2020

Parallel Helix Actuators for Soft Robotic Applications.
Frontiers Robotics AI, 2020

Sensitivity Ellipsoids for Force Control of Magnetic Robots With Localization Uncertainty.
IEEE Trans. Robotics, 2019

Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy.
IEEE Trans. Biomed. Eng., 2019

Intelligent magnetic manipulation for gastrointestinal ultrasound.
Sci. Robotics, 2019

Sensorless Estimation of the Planar Distal Shape of a Tip-Actuated Endoscope.
IEEE Robotics Autom. Lett., 2019

Explicit Model Predictive Control of a Magnetic Flexible Endoscope.
IEEE Robotics Autom. Lett., 2019

Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach.
IEEE Robotics Autom. Lett., 2019

Adaptive Dynamic Control for Magnetically Actuated Medical Robots.
IEEE Robotics Autom. Lett., 2019

Enhanced real-time pose estimation for closed-loop robotic manipulation of magnetically actuated capsule endoscopes.
Int. J. Robotics Res., 2018

A disposable continuum endoscope using piston-driven parallel bellow actuator.
Proceedings of the International Symposium on Medical Robotics, 2018

Toward Autonomous Robotic Colonoscopy: Motion Strategies for Magnetic Capsule Navigation.
Proceedings of the IEEE International Conference on Cyborg and Bionic Systems, 2018

Gastric Cancer Screening in Low?-Income Countries: System Design, Fabrication, and Analysis for an Ultralow-Cost Endoscopy Procedure.
IEEE Robotics Autom. Mag., 2017

Autonomous Retroflexion of a Magnetic Flexible Endoscope.
IEEE Robotics Autom. Lett., 2017

Restoring Haptic Feedback in NOTES Procedures with a Novel Wireless Tissue Stiffness Probe.
J. Medical Robotics Res., 2016

Closed Loop Control of a Tethered Magnetic Capsule Endoscope.
Proceedings of the Robotics: Science and Systems XII, University of Michigan, Ann Arbor, Michigan, USA, June 18, 2016

Nonholonomic closed-loop velocity control of a soft-tethered magnetic capsule endoscope.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

A Platform for Gastric Cancer Screening in Low- and Middle-Income Countries.
IEEE Trans. Biomed. Eng., 2015

Wireless Insufflation of the Gastrointestinal Tract.
IEEE Trans. Biomed. Eng., 2013

Image partitioning and illumination in image-based pose detection for teleoperated flexible endoscopes.
Artif. Intell. Medicine, 2013

Hidden Markov Model for Quantifying Clinician Expertise in Flexible Instrument Manipulation.
Proceedings of the Medical Imaging and Augmented Reality - 5th International Workshop, 2010