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819 results on '"Webster, Robert J."'

2. A Recurrent Neural Network Approach to Roll Estimation for Needle Steering

Author

Emerson, Maxwell, Ferguson, James M., Ertop, Tayfun Efe, Rox, Margaret, Granna, Josephine, Lester, Michael, Maldonado, Fabien, Gillaspie, Erin A., Alterovitz, Ron, Webster, Robert J., III, Kuntz, Alan, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, and Laschi, Cecilia, editor

Published
2021
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7. A Safe Framework for Quantitative In Vivo Human Evaluation of Image Guidance

Author

Cannon, Piper C., primary, Ferguson, James M., additional, Pitt, E. Bryn, additional, Shrand, Jason A., additional, Setia, Shaan A., additional, Nimmagadda, Naren, additional, Barth, Eric J., additional, Kavoussi, Nicholas L., additional, Galloway, Robert L., additional, Herrell, S. Duke, additional, and Webster, Robert J., additional

Published
2024
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8. A Recurrent Neural Network Approach to Roll Estimation for Needle Steering

Author

Emerson, Maxwell, primary, Ferguson, James M., additional, Ertop, Tayfun Efe, additional, Rox, Margaret, additional, Granna, Josephine, additional, Lester, Michael, additional, Maldonado, Fabien, additional, Gillaspie, Erin A., additional, Alterovitz, Ron, additional, Webster, Robert J., additional, and Kuntz, Alan, additional

Published
2021
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11. Autonomous medical needle steering in vivo

Author

Kuntz, Alan, primary, Emerson, Maxwell, additional, Ertop, Tayfun Efe, additional, Fried, Inbar, additional, Fu, Mengyu, additional, Hoelscher, Janine, additional, Rox, Margaret, additional, Akulian, Jason, additional, Gillaspie, Erin A., additional, Lee, Yueh Z., additional, Maldonado, Fabien, additional, Webster, Robert J., additional, and Alterovitz, Ron, additional

Published
2023
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16. Haptic Paddle Enhancements and a Formal Assessment of Student Learning in System Dynamics

Author

Gorlewicz, Jenna L., Kratchman, Louis B., and Webster, Robert J., III

Abstract

The haptic paddle is a force-feedback joystick used at several universities in teaching System Dynamics, a core mechanical engineering undergraduate course where students learn to model dynamic systems in several domains. A second goal of the haptic paddle is to increase the accessibility of robotics and haptics by providing a low-cost device for middle and high school teachers and students, a goal which has been hindered to date by the lack of low-cost electronic solutions for motor control and computer interfacing. Prior assessments of the learning enabled by the paddles at the college level have been qualitative, consisting of anecdotal case studies illustrating student and educator belief that they enhance learning and increase student enthusiasm. In this paper, we describe haptic paddle design enhancements and provide a formal assessment of student learning when interacting with haptic paddles. Design enhancements seek to enable broad dissemination and improve the student experience by making the paddle less expensive (less than $100 for a complete system including electronics) and easier to use. Our formal assessment quantifies if and when learning occurs in a System Dynamics course featuring haptic paddle laboratories, via multiple choice quizzes presented at various time points to measure learning in the lecture, in the lab, during lab report writing, and at the end of the semester.

Published
2014

19. Autonomous Medical Needle Steering In Vivo

Author

Kuntz, Alan, Emerson, Maxwell, Ertop, Tayfun Efe, Fried, Inbar, Fu, Mengyu, Hoelscher, Janine, Rox, Margaret, Akulian, Jason, Gillaspie, Erin A., Lee, Yueh Z., Maldonado, Fabien, Webster, Robert J., and Alterovitz, Ron

Subjects
FOS: Computer and information sciences, Computer Science - Robotics, Robotics (cs.RO)
Abstract

The use of needles to access sites within organs is fundamental to many interventional medical procedures both for diagnosis and treatment. Safe and accurate navigation of a needle through living tissue to an intra-tissue target is currently often challenging or infeasible due to the presence of anatomical obstacles in the tissue, high levels of uncertainty, and natural tissue motion (e.g., due to breathing). Medical robots capable of automating needle-based procedures in vivo have the potential to overcome these challenges and enable an enhanced level of patient care and safety. In this paper, we show the first medical robot that autonomously navigates a needle inside living tissue around anatomical obstacles to an intra-tissue target. Our system leverages an aiming device and a laser-patterned highly flexible steerable needle, a type of needle capable of maneuvering along curvilinear trajectories to avoid obstacles. The autonomous robot accounts for anatomical obstacles and uncertainty in living tissue/needle interaction with replanning and control and accounts for respiratory motion by defining safe insertion time windows during the breathing cycle. We apply the system to lung biopsy, which is critical in the diagnosis of lung cancer, the leading cause of cancer-related death in the United States. We demonstrate successful performance of our system in multiple in vivo porcine studies and also demonstrate that our approach leveraging autonomous needle steering outperforms a standard manual clinical technique for lung nodule access., 22 pages, 6 figures

Published
2022

41. Mechanics of precurved-tube continuum robots

Author

Webster, Robert J., III, Romano, Joseph M., and Cowan, Noah J.

Subjects
Robot, Robots -- Research
Abstract

This paper presents a new class of thin, dexterous continuum robots, which we call active cannulas due to their potential medical applications. An active cannula is composed of telescoping, concentric, precurved superelastic tubes that can be axially translated and rotated at the base relative to one another. Active cannulas derive bending not from tendon wires or other external mechanisms but from elastic tube interaction in the backbone itself, permitting high dexterity and small size, and dexterity improves with miniaturization. They are designed to traverse narrow and winding environments without relying on "guiding" environmental reaction forces. These features seem ideal for a variety of applications where a very thin robot with tentacle-like dexterity is needed. In this paper, we apply beam mechanics to obtain a kinematic model of active cannula shape and describe design tools that result from the modeling process. After deriving general equations, we apply them to a simple three-link active cannula. Experimental results illustrate the importance of including torsional effects and the ability of our model to predict energy bifurcation and active cannula shape. Index Terms--Continuum robot, flexible manipulator, medical robot, snake-like robot.

Published
2009

46. Accuracy of Touch-Based Registration During Robotic Image-Guided Partial Nephrectomy Before and After Tumor Resection in Validated Phantoms

Author

Kavoussi, Nicholas L., primary, Pitt, Bryn, additional, Ferguson, James M., additional, Granna, Josephine, additional, Remirez, Andria, additional, Nimmagadda, Naren, additional, Melnyk, Rachel, additional, Ghazi, Ahmed, additional, Barth, Eric J., additional, Webster, Robert J., additional, and Herrell, Stanley Duke, additional

Published
2021
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49. A modular, multi-arm concentric tube robot system with application to transnasal surgery for orbital tumors

Author

Bruns, Trevor L., primary, Remirez, Andria A., additional, Emerson, Maxwell A., additional, Lathrop, Ray A., additional, Mahoney, Arthur W., additional, Gilbert, Hunter B., additional, Liu, Cindy L., additional, Russell, Paul T., additional, Labadie, Robert F., additional, Weaver, Kyle D., additional, and Webster, Robert J., additional

Published
2021
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50. Contributor contact details

Author

Gomes, Paula, primary, Vitiello, V., additional, Kwok, K.-W., additional, Yang, G.-Z., additional, Glossop, Neil, additional, Cossetto, Tyler, additional, Zareinia, Kourosh, additional, Sutherland, Garnette R., additional, Zenati, Marco A., additional, Mahvash, Mohsen, additional, Hodgson, Antony, additional, Plaskos, Christopher, additional, Koenig, Jan A., additional, Ponder, Corey E., additional, Bell, Brett, additional, Caversaccio, Marco D., additional, Weber, Stefan, additional, Meenink, H.C.M., additional, Hendrix, R., additional, Naus, G.J.L., additional, Beelen, M.J., additional, Nijmeijer, H., additional, Steinbuch, M., additional, van Oosterhout, E.J.G.M., additional, de Smet, M.D., additional, Reynoso, Jason, additional, Meyer, Avishai, additional, Unnirevi, Jayaraj, additional, Oleynikov, Dmitry, additional, Gorlewicz, Jenna L., additional, Webster, Robert J., additional, Valdastri, Pietro, additional, Belharet, Karim, additional, Folio, David, additional, Ferreira, Antoine, additional, Sharkey, Noel, additional, and Sharkey, Amanda, additional

Published
2012
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