Peter Gehlbach

According to our database, Peter Gehlbach authored at least 75 papers between 2009 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of three.

2024

Autonomous Needle Navigation in Subretinal Injections via iOCT.

Peiyao Zhang, Ji Woong Kim, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov

IEEE Robotics Autom. Lett., May, 2024

Towards Autonomous Retinal Microsurgery Using RGB-D Images.

Ji Woong Kim, Shuwen Wei, Peiyao Zhang, Peter Gehlbach, Jin U. Kang, Iulian Iordachita, Marin Kobilarov

IEEE Robotics Autom. Lett., 2024

Bimanual Manipulation of Steady Hand Eye Robots with Adaptive Sclera Force Control: Cooperative vs. Teleoperation Strategies.

Mojtaba Esfandiari, Golchehr Amirkhani, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

CoRR, 2024

2023

Simultaneous Online Registration-Independent Stiffness Identification and Tip Localization of Surgical Instruments in Robot-Assisted Eye Surgery.

Ali Ebrahimi, Shahriar Sefati, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

IEEE Trans. Robotics, April, 2023

Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study.

Mojtaba Esfandiari, Ji Woong Kim, Botao Zhao, Golchehr Amirkhani, Muhammad Hadi, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

CoRR, 2023

Steady-Hand Eye Robot 3.0: Optimization and Benchtop Evaluation for Subretinal Injection.

Alireza Alamdar, David E. Usevitch, Jiahao Wu, Russell H. Taylor, Peter Gehlbach, Iulian Iordachita

CoRR, 2023

Micromanipulation in Surgery: Autonomous Needle Insertion Inside the Eye for Targeted Drug Delivery.

Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov

CoRR, 2023

Deep Learning Guided Autonomous Surgery: Guiding Small Needles into Sub-Millimeter Scale Blood Vessels.

Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov

CoRR, 2023

Deep Learning Guided Autonomous Retinal Surgery using a Robotic Arm, Microscopy, and iOCT Imaging.

Ji Woong Kim, Shuwen Wei, Peiyao Zhang, Peter Gehlbach, Jin U. Kang, Iulian Iordachita, Marin Kobilarov

CoRR, 2023

A Data-Driven Model with Hysteresis Compensation for I2RIS Robot.

Mojtaba Esfandiari, Yanlin Zhou, Shervin Dehghani, Muhammad Hadi, Adnan Munawar, Henry Phalen, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

CoRR, 2023

Human-Robot Interaction in Retinal Surgery: A Comparative Study of Serial and Parallel Cooperative Robots.

Botao Zhao, Mojtaba Esfandiari, David E. Usevitch, Peter Gehlbach, Iulian Iordachita

Proceedings of the 32nd IEEE International Conference on Robot and Human Interactive Communication, 2023

Autonomous Needle Navigation in Retinal Microsurgery: Evaluation in ex vivo Porcine Eyes.

Peiyao Zhang, Ji Woong Kim, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Robotic Navigation Autonomy for Subretinal Injection via Intelligent Real-Time Virtual iOCT Volume Slicing.

Shervin Dehghani, Michael Sommersperger, Peiyao Zhang, Alejandro Martin-Gomez, Benjamin Busam, Peter Gehlbach, Nassir Navab, M. Ali Nasseri, Iulian Iordachita

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

Force and Velocity Based Puncture Detection in Robot Assisted Retinal Vein Cannulation: In-Vivo Study.

Alireza Alamdar, Niravkumar A. Patel, Muller Urias, Ali Ebrahimi, Peter Gehlbach, Iulian Iordachita

IEEE Trans. Biomed. Eng., 2022

Υ-Net: A Spatiospectral Network for Retinal OCT Segmentation.

Azade Farshad, Yousef Yeganeh, Peter Gehlbach, Nassir Navab

CoRR, 2022

Y-Net: A Spatiospectral Dual-Encoder Network for Medical Image Segmentation.

Azade Farshad, Yousef Yeganeh, Peter Gehlbach, Nassir Navab

Proceedings of the Medical Image Computing and Computer Assisted Intervention - MICCAI 2022, 2022

Delta Robot Kinematic Calibration for Precise Robot-Assisted Retinal Surgery ^*.

Boyang Xiao, Alireza Alamdar, Kefan Song, Ali Ebrahimi, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

Proceedings of the International Symposium on Medical Robotics, 2022

ColibriDoc: an Eye-in-Hand Autonomous Trocar Docking System.

Shervin Dehghani, Michael Sommersperger, Junjie Yang, Mehrdad Salehi, Benjamin Busam, Kai Huang, Peter Gehlbach, Iulian Iordachita, Nassir Navab, M. Ali Nasseri

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

OCT-guided Robotic Subretinal Needle Injections: A Deep Learning-Based Registration Approach.

Kristina Mach, Shuwen Wei, Ji Woong Kim, Alejandro Martin-Gomez, Peiyao Zhang, Jin U. Kang, M. Ali Nasseri, Peter Gehlbach, Nassir Navab, Iulian Iordachita

Proceedings of the IEEE International Conference on Bioinformatics and Biomedicine, 2022

2021

Spotlight-Based 3D Instrument Guidance for Autonomous Task in Robot-Assisted Retinal Surgery.

Mingchuan Zhou, Jiahao Wu, Ali Ebrahimi, Niravkumar A. Patel, Yunhui Liu, Nassir Navab, Peter Gehlbach, Alois C. Knoll, M. Ali Nasseri, Iulian Iordachita

IEEE Robotics Autom. Lett., October, 2021

Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study.

Ali Ebrahimi, Müller G. Urias, Niravkumar A. Patel, Russell H. Taylor, Peter Gehlbach, Iulian Iordachita

IEEE Trans. Biomed. Eng., 2021

ColibriDoc: An Eye-in-Hand Autonomous Trocar Docking System.

Shervin Dehghani, Michael Sommersperger, Junjie Yang, Benjamin Busam, Kai Huang, Peter Gehlbach, Iulian Iordachita, Nassir Navab, M. Ali Nasseri

CoRR, 2021

Towards a Clinically Optimized Tilt Mechanism for Bilateral Micromanipulation with Steady-Hand Eye Robot.

Robert Roth, Jiahao Wu, Alireza Alamdar, Russell H. Taylor, Peter Gehlbach, Iulian Iordachita

Proceedings of the International Symposium on Medical Robotics, 2021

2020

Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-Based Active Interventional Control Framework.

Changyan He, Niravkumar A. Patel, Mahya Shahbazi, Yang Yang, Peter Gehlbach, Marin Kobilarov, Iulian Iordachita

IEEE Trans. Biomed. Eng., 2020

Spotlight-based 3D Instrument Guidance for Retinal Surgery.

Mingchuan Zhou, Jiahao Wu, Ali Ebrahimi, Niravkumar A. Patel, Changyan He, Peter Gehlbach, Russell H. Taylor, Alois C. Knoll, M. Ali Nasseri, Iulian Iordachita

Proceedings of the International Symposium on Medical Robotics, 2020

Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study.

Jiahao Wu, Changyan He, Mingchuan Zhou, Ali Ebrahimi, Muller Urias, Niravkumar A. Patel, Yunhui Liu, Peter Gehlbach, Iulian Iordachita

Proceedings of the International Symposium on Medical Robotics, 2020

FBG-based Kalman Filtering and Control of Tool Insertion Depth For Safe Robot-assisted Vitrectomy.

Ali Ebrahimi, Muller Urias, Niravkumar A. Patel, Peter Gehlbach, Farshid Alambeigi, Iulian Iordachita

Proceedings of the International Symposium on Medical Robotics, 2020

An Optimized Tilt Mechanism for a New Steady-Hand Eye Robot.

Jiahao Wu, Gang Li, Muller Urias, Niravkumar A. Patel, Yun-Hui Liu, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Auditory Feedback Effectiveness for Enabling Safe Sclera Force in Robot-Assisted Vitreoretinal Surgery: a Multi-User Study.

Ali Ebrahimi, Marina Roizenblatt, Niravkumar A. Patel, Peter Gehlbach, Iulian Iordachita

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration.

Ji Woong Kim, Changyan He, Muller Urias, Peter Gehlbach, Gregory D. Hager, Iulian Iordachita, Marin Kobilarov

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller.

Changyan He, Ali Ebrahimi, Emily Yang, Muller Urias, Yang Yang, Peter Gehlbach, Iulian Iordachita

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

A Comparison of Manual and Robot Assisted Retinal Vein Cannulation in Chicken Chorioallantoic Membrane.

Niravkumar A. Patel, Muller Urias, Changyan He, Peter L. Gehlbach, Iulian Iordachita

Proceedings of the 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society, 2020

Scleral Force Evaluation During Vitreoretinal Surgery: in an In Vivo Rabbit Eye Model.

Niravkumar A. Patel, Muller Urias, Ali Ebrahimi, Peter Gehlbach, Iulian Iordachita

Proceedings of the 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society, 2020

Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control.

Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov

Proceedings of the 4th Conference on Robot Learning, 2020

2019

Hybrid Robotic-assisted Frameworks for Endomicroscopy Scanning in Retinal Surgeries.

Zhaoshuo Li, Mahya Shahbazi, Niravkumar A. Patel, Eimear O' Sullivan, Haojie Zhang, Khushi Vyas, Preetham Chalasani, Anton Deguet, Peter L. Gehlbach, Iulian Iordachita, Guang-Zhong Yang, Russell H. Taylor

CoRR, 2019

Towards securing the sclera against patient involuntary head movement in robotic retinal surgery.

Ali Ebrahimi, Muller Urias, Niravkumar A. Patel, Changyan He, Russell H. Taylor, Peter Gehlbach, Iulian Iordachita

Proceedings of the 28th IEEE International Conference on Robot and Human Interactive Communication, 2019

Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback.

Ali Ebrahimi, Changyan He, Niravkumar A. Patel, Marin Kobilarov, Peter Gehlbach, Iulian Iordachita

Proceedings of the International Symposium on Medical Robotics, 2019

A Novel Semi-Autonomous Control Framework for Retina Confocal Endomicroscopy Scanning^*.

Zhaoshuo Li, Guang-Zhong Yang, Russell H. Taylor, Mahya Shahbazi, Niravkumar A. Patel, Eimear O' Sullivan, Haojie Zhang, Khushi Vyas, Preetham Chalasani, Peter L. Gehlbach, Iulian Iordachita

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Toward Improving Patient Safety and Surgeon Comfort in a Synergic Robot-Assisted Eye Surgery: A Comparative Study.

Ali Ebrahimi, Farshid Alambeigi, Ingrid E. Zimmer-Galler, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Sclera Force Evaluation During Vitreoretinal Surgeries in Ex Vivo Porcine Eye Model.

Niravkumar A. Patel, Muller Urias, Ali Ebrahimi, Changyan He, Peter Gehlbach, Iulian Iordachita

Proceedings of the 2019 IEEE SENSORS, Montreal, QC, Canada, October 27-30, 2019, 2019

Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery.

Ali Ebrahimi, Niravkumar A. Patel, Changyan He, Peter Gehlbach, Marin Kobilarov, Iulian Iordachita

Proceedings of the International Conference on Robotics and Automation, 2019

2018

User Behavior Evaluation in Robot-Assisted Retinal Surgery.

Changyan He, Ali Ebrahimi, Marina Roizenblatt, Niravkumar A. Patel, Yang Yang, Peter L. Gehlbach, Iulian Iordachita

Proceedings of the 27th IEEE International Symposium on Robot and Human Interactive Communication, 2018

Towards Bimanual Robot-Assisted Retinal Surgery: Tool-to-Sclera Force Evaluation.

Changyan He, Marina Roizenblatt, Niravkumar A. Patel, Ali Ebrahimi, Yang Yang, Peter L. Gehlbach, Lulian lordachita

Proceedings of the 2018 IEEE SENSORS, New Delhi, India, October 28-31, 2018, 2018

Real-Time Sclera Force Feedback for Enabling Safe Robot-Assisted Vitreoretinal Surgery.

Ali Ebrahimi, Changyan He, Marina Roizenblatt, Niravkumar A. Patel, Shahriar Sefati, Peter Gehlbach, Iulian Iordachita

Proceedings of the 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2018

2017

Towards Robot-Assisted Retinal Vein Cannulation: A Motorized Force-Sensing Microneedle Integrated with a Handheld Micromanipulator.

Berk Gonenc, Jeremy Chae, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

Sensors, 2017

Safe tissue manipulation in retinal microsurgery via motorized instruments with force sensing.

Berk Gonenc, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

Proceedings of the 2017 IEEE SENSORS, Glasgow, United Kingdom, October 29, 2017

2016

Robot-assisted retinal vein cannulation with force-based puncture detection: Micron vs. the steady-hand eye robot.

Berk Gonenc, Nhat Tran, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2016

3-DOF force-sensing micro-forceps for robot-assisted membrane peeling: Intrinsic actuation force modeling.

Anzhu Gao, Berk Gonenc, Jiangzhen Guo, Hao Liu, Peter Gehlbach, Iulian Iordachita

Proceedings of the 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, 2016

2015

Force-based puncture detection and active position holding for assisted retinal vein cannulation.

Berk Gonenc, Nhat Tran, Cameron N. Riviere, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2015

Effects of micro-vibratory modulation during robot-assisted membrane peeling.

Berk Gonenc, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

IRIS: Integrated Robotic Intraocular Snake.

Xingchi He, Vincent van Geirt, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

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

Development of the dual SMART micro-surgical system using common-path swept source optical coherence tomography.

Hyun-cheo Park, Chaebeom Yeo, Peter L. Gehlbach, Cheol Song

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

FBG-based sensorized light pipe for robotic intraocular illumination facilitates bimanual retinal microsurgery.

Yuki Horise, Xingchi He, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

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

2014

A Submillimetric 3-DOF Force Sensing Instrument With Integrated Fiber Bragg Grating for Retinal Microsurgery.

Xingchi He, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

IEEE Trans. Biomed. Eng., 2014

A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery.

Xingchi He, Marcin Balicki, Peter Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita

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

Towards robot-assisted vitreoretinal surgery: Force-sensing micro-forceps integrated with a handheld micromanipulator.

Berk Gonenc, Ellen Feldman, Peter Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita

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

Toward robotically assisted membrane peeling with 3-DOF distal force sensing in retinal microsurgery.

Xingchi He, Peter Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita

Proceedings of the 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2014

Human eye phantom for developing computer and robot-assisted epiretinal membrane peeling.

Amrita Gupta, Berk Gonenc, Marcin Balicki, Kevin C. Olds, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

Proceedings of the 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2014

Injection-depth-locking axial motion guided handheld micro-injector using CP-SSOCT.

Gyeong Woo Cheon, Yong Huang, Hye Rin Kwag, Ki-Young Kim, Russell H. Taylor, Peter L. Gehlbach, Jin U. Kang

Proceedings of the 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2014

Development of a miniaturized 3-DOF force sensing instrument for robotically assisted retinal microsurgery and preliminary results.

Xingchi He, Peter Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita

Proceedings of the 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014

Motorized force-sensing micro-forceps with tremor cancelling and controlled micro-vibrations for easier membrane peeling.

Berk Gonenc, Peter Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita

Proceedings of the 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014

2013

Comparison of Baseline Tremor under Various Microsurgical Conditions.

Trent S. Wells, Sungwook Yang, Robert A. MacLachlan, James Handa, Peter Gehlbach, Cameron N. Riviere

Proceedings of the IEEE International Conference on Systems, 2013

A novel dual force sensing instrument with cooperative robotic assistant for vitreoretinal surgery.

Xingchi He, Marcin Balicki, Peter Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

A comparative study for robot assisted vitreoretinal surgery: Micron vs. the Steady-Hand Robot.

Berk Gonenc, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Design of 3-DOF force sensing micro-forceps for robot assisted vitreoretinal surgery.

Berk Gonenc, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

Proceedings of the 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2013

2012

Interactive OCT Annotation and Visualization for Vitreoretinal Surgery.

Marcin Balicki, Rogério Richa, Balázs Vágvölgyi, Peter Kazanzides, Peter Gehlbach, James Handa, Jin U. Kang, Russell H. Taylor

Proceedings of the Augmented Environments for Computer-Assisted Interventions, 2012

Preliminary evaluation of a micro-force sensing handheld robot for vitreoretinal surgery.

Berk Gonenc, Marcin Balicki, James Handa, Peter Gehlbach, Cameron N. Riviere, Russell H. Taylor, Iulian Iordachita

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Swept source optical coherence tomography based smart handheld vitreoretinal microsurgical tool for tremor suppression.

Cheol Song, Peter L. Gehlbach, Jin U. Kang

Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012

Force sensing micro-forceps for robot assisted retinal surgery.

Ismail Kuru, Berk Gonenc, Marcin Balicki, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012

2011

Unified Detection and Tracking in Retinal Microsurgery.

Raphael Sznitman, Anasuya Basu, Rogério Richa, Jim Handa, Peter Gehlbach, Russell H. Taylor, Bruno Jedynak, Gregory D. Hager

Proceedings of the Medical Image Computing and Computer-Assisted Intervention - MICCAI 2011, 2011

2010

Adaptive Multispectral Illumination for Retinal Microsurgery.

Raphael Sznitman, Diego Rother, James Handa, Peter Gehlbach, Gregory D. Hager, Russell H. Taylor

Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2010

Micro-force Sensing in Robot Assisted Membrane Peeling for Vitreoretinal Surgery.

Marcin Balicki, Ali Uneri, Iulian Iordachita, James Handa, Peter Gehlbach, Russell H. Taylor

Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2010

Active Multispectral Illumination and Image Fusion for Retinal Microsurgery.

Raphael Sznitman, Seth Billings, Diego Rother, Daniel Mirota, Yi Yang, James Handa, Peter Gehlbach, Jin U. Kang, Gregory D. Hager, Russell H. Taylor

Proceedings of the Information Processing in Computer-Assisted Interventions, 2010

2009

A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery.

Iulian Iordachita, Zhenglong Sun, Marcin Balicki, Jin U. Kang, Soo Jay Phee, James Handa, Peter Gehlbach, Russell H. Taylor

Int. J. Comput. Assist. Radiol. Surg., 2009

Single Fiber Optical Coherence Tomography Microsurgical Instruments for Computer and Robot-Assisted Retinal Surgery.

Marcin Balicki, Jae-Ho Han, Iulian Iordachita, Peter Gehlbach, James Handa, Russell H. Taylor, Jin U. Kang

Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2009