Robert J. Webster III

Orcid: 0000-0003-1389-224X

According to our database1, Robert J. Webster III authored at least 131 papers between 2002 and 2024.

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

Timeline

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Bibliography

2024
Exceeding traditional curvature limits of concentric tube robots through redundancy resolution.
Int. J. Robotics Res., January, 2024

Unified Shape and External Load State Estimation for Continuum Robots.
IEEE Trans. Robotics, 2024

2023
Autonomous medical needle steering in vivo.
Sci. Robotics, September, 2023

Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks.
IEEE Robotics Autom. Lett., June, 2023

Unified robot and inertial sensor self-calibration.
Robotica, May, 2023

Robotic pullback technique of a precurved cochlear-implant electrode array using real-time impedance sensing feedback.
Int. J. Comput. Assist. Radiol. Surg., March, 2023

A virtual reality framework for evaluating concentric tube surgical robot designs.
Proceedings of the Medical Imaging 2023: Image-Guided Procedures, 2023

Design considerations for robotic, MRI-guided, trans-foramen ovale access to the brain.
Proceedings of the Medical Imaging 2023: Image-Guided Procedures, 2023

A Radial Folding Mechanism to Enable Surgical Continuum Manipulators to Fit Through Smaller Ports.
Proceedings of the International Symposium on Medical Robotics, 2023

2022
Real-Time Localization of Cochlear-Implant Electrode Arrays Using Bipolar Impedance Sensing.
IEEE Trans. Biomed. Eng., 2022

Design of a modular, multi-arm concentric tube robot featuring roller gears.
Proceedings of the Medical Imaging 2022: Image-Guided Procedures, 2022

Towards Suturing From Within the Urethra Using Concentric Tube Robots: First Experiences in Biological Tissues.
Proceedings of the International Symposium on Medical Robotics, 2022

A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

2021
The Vanderbilt Open-Source Ventilator: From Napkin Sketch to Ready to Save Lives in Three Weeks.
IEEE Robotics Autom. Mag., 2021

Backward Planning for a Multi-Stage Steerable Needle Lung Robot.
IEEE Robotics Autom. Lett., 2021

Beyond Constant Curvature: A New Mechanics Model for Unidirectional Notched-Tube Continuum Wrists.
J. Medical Robotics Res., 2021

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

A modular, multi-arm concentric tube robot system with application to transnasal surgery for orbital tumors.
Int. J. Robotics Res., 2021

Integrating FireFly fluorescence into image guidance for the da Vinci robot.
Proceedings of the Medical Imaging 2021: Image-Guided Procedures, 2021

Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2020
A Dynamic Model for Concentric Tube Robots.
IEEE Trans. Robotics, 2020

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

Magnetically Steered Robotic Insertion of Cochlear-Implant Electrode Arrays: System Integration and First-In-Cadaver Results.
IEEE Robotics Autom. Lett., 2020

A multi-subject accuracy study on granular jamming for non-invasive attachment of fiducial markers to patients.
Int. J. Comput. Assist. Radiol. Surg., 2020

Custom mastoid-fitting templates to improve cochlear implant electrode insertion trajectory.
Int. J. Comput. Assist. Radiol. Surg., 2020

Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles.
IEEE Access, 2020

Choosing Statistically Safe, Variable-Thickness Margins in Robot-Assisted Partial Nephrectomy.
Proceedings of the International Symposium on Medical Robotics, 2020

Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot.
Proceedings of the International Symposium on Medical Robotics, 2020

A Recurrent Neural Network Approach to Roll Estimation for Needle Steering.
Proceedings of the Experimental Robotics - The 17th International Symposium, 2020

2019
Center-of-Gravity-Based Approach for Modeling Dynamics of Multisection Continuum Arms.
IEEE Trans. Robotics, 2019

A Hand-Held Non-Robotic Surgical Tool With a Wrist and an Elbow.
IEEE Trans. Biomed. Eng., 2019

Analysis of middle ear morphology for design of a transnasal endoscope.
Proceedings of the Medical Imaging 2019: Image-Guided Procedures, 2019

A new manual insertion tool for minimally invasive, image-guided cochlear implant surgery.
Proceedings of the Medical Imaging 2019: Image-Guided Procedures, 2019

Design and control of a compact modular robot for transbronchial lung biopsy.
Proceedings of the Medical Imaging 2019: Image-Guided Procedures, 2019

2018
Can Elastic Instability Be Beneficial in Concentric Tube Robots?
IEEE Robotics Autom. Lett., 2018

Toward image-guided partial nephrectomy with the da Vinci robot: exploring surface acquisition methods for intraoperative re-registration.
Proceedings of the Medical Imaging 2018: Image-Guided Procedures, 2018

Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017
Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications.
IEEE Trans. Robotics, 2017

Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into the Middle Ear.
IEEE Robotics Autom. Lett., 2017

Continuum Reconfigurable Parallel Robots for Surgery: Shape Sensing and State Estimation With Uncertainty.
IEEE Robotics Autom. Lett., 2017

Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles.
J. Medical Robotics Res., 2017

Coffee: the key to safer image-guided surgery - a granular jamming cap for non-invasive, rigid fixation of fiducial markers to the patient.
Int. J. Comput. Assist. Radiol. Surg., 2017

Development of a mechanics-based model of brain deformations during intracerebral hemorrhage evacuation.
Proceedings of the Medical Imaging 2017: Image-Guided Procedures, 2017

Don't get burned: thermal monitoring of vessel sealing using a miniature infrared camera.
Proceedings of the Medical Imaging 2017: Image-Guided Procedures, 2017

An image guidance system for positioning robotic cochlear implant insertion tools.
Proceedings of the Medical Imaging 2017: Image-Guided Procedures, 2017

Motion planning for continuum reconfigurable incisionless surgical parallel robots.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

2016
Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test.
IEEE Trans. Robotics, 2016

A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation.
IEEE Robotics Autom. Lett., 2016

Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots.
IEEE Robotics Autom. Lett., 2016

Comparing a Mechanical Analogue With the Da Vinci User Interface: Suturing at Challenging Angles.
IEEE Robotics Autom. Lett., 2016

A novel method for texture-mapping conoscopic surfaces for minimally invasive image-guided kidney surgery.
Int. J. Comput. Assist. Radiol. Surg., 2016

Endoscopes and robots for tight surgical spaces: use of precurved elastic elements to enhance curvature.
Proceedings of the Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling, San Diego, California, United States, 27 February, 2016

Increasing safety of a robotic system for inner ear surgery using probabilistic error modeling near vital anatomy.
Proceedings of the Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling, San Diego, California, United States, 27 February, 2016

Reconfigurable parallel continuum robots for incisionless surgery.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Making robots mill bone more like human surgeons: Using bone density and anatomic information to mill safely and efficiently.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

On the inseparable nature of sensor selection, sensor placement, and state estimation for continuum robots or "where to put your sensors and how to use them".
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015
Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment.
IEEE Trans. Robotics, 2015

Hand-held transendoscopic robotic manipulators: A transurethral laser prostate surgery case study.
Int. J. Robotics Res., 2015

Can coffee improve image guidance?
Proceedings of the Medical Imaging 2015: Image-Guided Procedures, 2015

Incorporating target registration error into robotic bone milling.
Proceedings of the Medical Imaging 2015: Image-Guided Procedures, 2015

Design, Sensing, and Planning: Fundamentally Coupled Problems for Continuum Robots.
Proceedings of the Robotics Research, 2015

Motion planning for a three-stage multilumen transoral lung access system.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Robotic intracerebral hemorrhage evacuation: An in-scanner approach with concentric tube robots.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

A wrist for needle-sized surgical robots.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Designing snap-free concentric tube robots: A local bifurcation approach.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014
Needle Steering in 3-D Via Rapid Replanning.
IEEE Trans. Robotics, 2014

Preliminary testing of a compact bone-attached robot for otologic surgery.
Proceedings of the Medical Imaging 2014: Image-Guided Procedures, 2014

Experiments on the Simultaneous Hand-Held Control of Rigid Endoscopes and Robots Passing Through Them.
Proceedings of the Experimental Robotics, 2014

Workspace characterization for concentric tube continuum robots.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

A multi-arm hand-held robotic system for transurethral laser Prostate surgery.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013
Sliding Mode Control of Steerable Needles.
IEEE Trans. Robotics, 2013

A Flexure-Based Steerable Needle: High Curvature With Reduced Tissue Damage.
IEEE Trans. Biomed. Eng., 2013

Comparison Study of Intraoperative Surface Acquisition Methods for Surgical Navigation.
IEEE Trans. Biomed. Eng., 2013

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

Debulking From Within: A Robotic Steerable Cannula for Intracerebral Hemorrhage Evacuation.
IEEE Trans. Biomed. Eng., 2013

A flexure-based wrist for needle-sized surgical robots.
Proceedings of the Medical Imaging 2013: Image-Guided Procedures, 2013

Robot-assisted intracerebral hemorrhage evacuation: an experimental evaluation.
Proceedings of the Medical Imaging 2013: Image-Guided Procedures, 2013

Concentric Tube Robots: The State of the Art and Future Directions.
Proceedings of the Robotics Research, 2013

Minimally-invasive intracerebral hemorrhage removal using an active cannula.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Can concentric tube robots follow the leader?
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

On the computational design of concentric tube robots: Incorporating volume-based objectives.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012
A Manually Operated, Advance Off-Stylet Insertion Tool for Minimally Invasive Cochlear Implantation Surgery.
IEEE Trans. Biomed. Eng., 2012

Tracked 3D ultrasound targeting with an active cannula.
Proceedings of the Medical Imaging 2012: Image-Guided Procedures, 2012

Intraoperative brain tumor resection cavity characterization with conoscopic holography.
Proceedings of the Medical Imaging 2012: Image-Guided Procedures, 2012

Task-oriented design of concentric tube robots using mechanics-based models.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Kontinuumsroboter auf Basis vorgebogener Nitinolröhrchen: Evaluierung eines Prototypen für die Transnasale Schädelbasischirurgie.
Proceedings of the 11. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, 2012

2011
Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading.
IEEE Trans. Robotics, 2011

Design of a Bone-Attached Parallel Robot for Percutaneous Cochlear Implantation.
IEEE Trans. Biomed. Eng., 2011

Toward robotic needle steering in lung biopsy: a tendon-actuated approach.
Proceedings of the Medical Imaging 2011: Visualization, 2011

Insertion of electrode array using percutaneous cochlear implantation technique: a cadaveric study.
Proceedings of the Medical Imaging 2011: Visualization, 2011

Deflection-based force sensing for continuum robots: A probabilistic approach.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

A bimanual teleoperated system for endonasal skull base surgery.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Computing Jacobians and compliance matrices for externally loaded continuum robots.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Toward haptic/aural touchscreen display of graphical mathematics for the education of blind students.
Proceedings of the IEEE World Haptics Conference, 2011

2010
A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots.
IEEE Trans. Robotics, 2010

Minimally Invasive Holographic Surface Scanning for Soft-Tissue Image Registration.
IEEE Trans. Biomed. Eng., 2010

Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review.
Int. J. Robotics Res., 2010

Equilibrium Conformations of Concentric-tube Continuum Robots.
Int. J. Robotics Res., 2010

Precisely shaped acoustic ablation of tumors utilizing steerable needle and 3D ultrasound image guidance.
Proceedings of the Medical Imaging 2010: Visualization, 2010

Mechanics of Continuum Robots with External Loading and General Tendon Routing.
Proceedings of the Experimental Robotics, 2010

A force sensing Automated Insertion Tool for cochlear electrode implantation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

A model for concentric tube continuum robots under applied wrenches.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Planning active cannula configurations through tubular anatomy.
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.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Visual sensing of continuum robot shape using self-organizing maps.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009
Mechanics of Precurved-Tube Continuum Robots.
IEEE Trans. Robotics, 2009

A New Mechanism for Mesoscale Legged Locomotion in Compliant Tubular Environments.
IEEE Trans. Robotics, 2009

Parsimonious Evaluation of Concentric-Tube Continuum Robot Equilibrium Conformation.
IEEE Trans. Biomed. Eng., 2009

Conoscopic holography for image registration: a feasibility study.
Proceedings of the Medical Imaging 2009: Visualization, 2009

Motion planning for active cannulas.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

2008
Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing.
Proceedings of the Experimental Robotics, The Eleventh International Symposium, 2008

Kinematics and calibration of active cannulas.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

2007
Teleoperation of Steerable Needles.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Design of a Pill-Sized 12-legged Endoscopic Capsule Robot.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Electrolytic Silicone Bourdon Tube Microactuator for Reconfigurable Surgical Robots.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

2006
Object capture with a camera-mobile robot system.
IEEE Robotics Autom. Mag., 2006

Nonholonomic Modeling of Needle Steering.
Int. J. Robotics Res., 2006

Toward Active Cannulas: Miniature Snake-Like Surgical Robots.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

2005
A novel two-dimensional tactile slip display: design, kinematics and perceptual experiments.
ACM Trans. Appl. Percept., 2005

Design Considerations for Robotic Needle Steering.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

2004
Nonholonomic Modeling of Needle Steering.
Proceedings of the Experimental Robotics IX, 2004

Robotically assisted ablative treatment guided by freehand 3D ultrasound.
Proceedings of the CARS 2004. Computer Assisted Radiology and Surgery. Proceedings of the 18th International Congress and Exhibition, 2004

2003
Virtual Remote Center of Motion Control for Needle Placement Robots.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2003

The haptic scissors: cutting in virtual environments.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

2002
The Electronic Ball Boy: A Reactive Visually Guided Mobile Robot for the Tennis Court.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002


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