Hidden Markov Model for Quantifying Clinician Expertise in Flexible Instrument Manipulation. - Jagadeesan Jayender; Raúl San José Estépar; Keith Obstein; Vaibhav Patil; Christopher C. Thompson; Kirby G. Vosburgh (MIAR, 2010)

Image partitioning and illumination in image-based pose detection for teleoperated flexible endoscopes. - Charreau S. Bell; Keith Obstein; Pietro Valdastri (Artif. Intell. Medicine, 2013)

Wireless Insufflation of the Gastrointestinal Tract. - Jenna L. Gorlewicz; Santina Battaglia; Byron F. Smith; Gastone Ciuti; Jason Gerding; Arianna Menciassi; Keith Obstein; Pietro Valdastri; Robert J. Webster III (IEEE Trans. Biomed. Eng., 2013)

A Platform for Gastric Cancer Screening in Low- and Middle-Income Countries. - Robert Caprara; Keith L. Obstein; Gabriel Scozzarro; Christian Di Natali; Marco Beccani; Douglas R. Morgan; Pietro Valdastri (IEEE Trans. Biomed. Eng., 2015)

Nonholonomic closed-loop velocity control of a soft-tethered magnetic capsule endoscope. - Addisu Z. Taddese; Piotr R. Slawinski; Keith L. Obstein; Pietro Valdastri (IROS, 2016)

Closed Loop Control of a Tethered Magnetic Capsule Endoscope. - Addisu Z. Taddese; Piotr R. Slawinski; Keith L. Obstein; Pietro Valdastri (Robotics: Science and Systems, 2016)

Restoring Haptic Feedback in NOTES Procedures with a Novel Wireless Tissue Stiffness Probe. - Marco Beccani; Christian Di Natali; Pietro Valdastri; Keith L. Obstein (J. Medical Robotics Res., 2016)

Autonomous Retroflexion of a Magnetic Flexible Endoscope. - Piotr R. Slawinski; Addisu Z. Taddese; Kyle B. Musto; Keith L. Obstein; Pietro Valdastri (IEEE Robotics Autom. Lett., 2017)

Gastric Cancer Screening in Low?-Income Countries: System Design, Fabrication, and Analysis for an Ultralow-Cost Endoscopy Procedure. - Federico Campisano; Francesco Gramuglia; Imro R. Dawson; Christopher T. Lyne; Michelle L. Izmaylov; Sarthak Misra; Elena De Momi; Douglas R. Morgan; Keith L. Obstein; Pietro Valdastri (IEEE Robotics Autom. Mag., 2017)

Toward Autonomous Robotic Colonoscopy: Motion Strategies for Magnetic Capsule Navigation. - James W. Martin; Joseph C. Norton; Keith L. Obstein; Pietro Valdastri (CBS, 2018)

A disposable continuum endoscope using piston-driven parallel bellow actuator. - Nicolo Garbin; Long Wang 007; James Henry Chandler; Keith L. Obstein; Nabil Simaan; Pietro Valdastri (ISMR, 2018)

Enhanced real-time pose estimation for closed-loop robotic manipulation of magnetically actuated capsule endoscopes. - Addisu Z. Taddese; Piotr R. Slawinski; Marco Pirotta; Elena De Momi; Keith L. Obstein; Pietro Valdastri (Int. J. Robotics Res., 2018)

Adaptive Dynamic Control for Magnetically Actuated Medical Robots. - Lavinia Barducci; Giovanni Pittiglio; Joseph C. Norton; Keith L. Obstein; Pietro Valdastri (IEEE Robotics Autom. Lett., 2019)

Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach. - Giovanni Pittiglio; Lavinia Barducci; James W. Martin; Joseph C. Norton; Carlo Alberto Avizzano; Keith L. Obstein; Pietro Valdastri (IEEE Robotics Autom. Lett., 2019)

Explicit Model Predictive Control of a Magnetic Flexible Endoscope. - Bruno Scaglioni; Luca Previtera; James W. Martin; Joseph C. Norton; Keith L. Obstein; Pietro Valdastri (IEEE Robotics Autom. Lett., 2019)

Sensorless Estimation of the Planar Distal Shape of a Tip-Actuated Endoscope. - Piotr R. Slawinski; Nabil Simaan; Keith L. Obstein; Pietro Valdastri (IEEE Robotics Autom. Lett., 2019)

Intelligent magnetic manipulation for gastrointestinal ultrasound. - Joseph C. Norton; Piotr R. Slawinski; Holly S. Lay; James W. Martin; Benjamin F. Cox; Gerard Cummins; Marc P. Y. Desmulliez; Richard Eddie Clutton; Keith L. Obstein; Sandy Cochran; Pietro Valdastri (Sci. Robotics, 2019)

Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy. - Nicolo Garbin; Long Wang 007; James Henry Chandler; Keith L. Obstein; Nabil Simaan; Pietro Valdastri (IEEE Trans. Biomed. Eng., 2019)

Sensitivity Ellipsoids for Force Control of Magnetic Robots With Localization Uncertainty. - Piotr R. Slawinski; Nabil Simaan; Addisu Z. Taddese; Keith L. Obstein; Pietro Valdastri (IEEE Trans. Robotics, 2019)

Parallel Helix Actuators for Soft Robotic Applications. - James Henry Chandler; Manish Chauhan; Nicolo Garbin; Keith L. Obstein; Pietro Valdastri (Frontiers Robotics AI, 2020)

Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation. - James W. Martin; Bruno Scaglioni; Joseph C. Norton; Venkataraman Subramanian; Alberto Arezzo; Keith L. Obstein; Pietro Valdastri (Nat. Mach. Intell., 2020)

Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators. - Federico Campisano; Andria A. Remirez; Simone Caló; James Henry Chandler; Keith L. Obstein; Robert J. Webster III; Pietro Valdastri (IEEE Robotics Autom. Lett., 2020)

Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy. - Federico Campisano; Andria A. Remirez; Claire A. Landewee; Simone Caló; Keith L. Obstein; Robert J. Webster III; Pietro Valdastri (IEEE Robotics Autom. Lett., 2020)

An Origami-Based Soft Robotic Actuator for Upper Gastrointestinal Endoscopic Applications. - Manish Chauhan; James Henry Chandler; Animesh Jha; Venkataraman Subramaniam; Keith L. Obstein; Pietro Valdastri (Frontiers Robotics AI, 2021)

Guidelines for Robotic Flexible Endoscopy at the Time of COVID-19. - Onaizah Onaizah; Zaneta Koszowska; Conchubhair Winters; Venkatamaran Subramanian; David G. Jayne; Alberto Arezzo; Keith L. Obstein; Pietro Valdastri (Frontiers Robotics AI, 2021)

Closed-loop control of soft continuum manipulators under tip follower actuation. - Federico Campisano; Simone Caló; Andria A. Remirez; James Henry Chandler; Keith L. Obstein; Robert J. Webster III; Pietro Valdastri (Int. J. Robotics Res., 2021)

Active Stabilization of Interventional Tasks Utilizing a Magnetically Manipulated Endoscope. - Lavinia Barducci; Bruno Scaglioni; James W. Martin; Keith L. Obstein; Pietro Valdastri (Frontiers Robotics AI, 2022)

Robust endoscopic image mosaicking via fusion of multimodal estimation. - Liang Li 010; Evangelos B. Mazomenos; James Henry Chandler; Keith L. Obstein; Pietro Valdastri; Danail Stoyanov; Francisco Vasconcelos 001 (Medical Image Anal., 2023)

Wireless Millimeter-Size Soft Climbing Robots With Omnidirectional Steerability on Tissue Surfaces. - Yilan Xu; Boyang Xiao; Lohit Balakumar; Keith L. Obstein; Xiaoguang Dong 001 (IEEE Robotics Autom. Lett., 2023)

A Robotic Mediation Device for Skill Assessment and Training During Colonoscopy. - Olivia K. Richards; Elan Z. Ahronovich; Neel Shihora; Ahmet Yildiz; Jumana Atoum; Jie Ying Wu; Keith L. Obstein; Nabil Simaan (IROS, 2024)

Exploring Accelerated Skill Acquisition via Tandem Training for Colonoscopy. - Olivia K. Richards; Keith L. Obstein; Nabil Simaan (CoRR, 2025)