selected publications
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academic article
- Continuum Robot Segments With High Output Stiffness via Diagonal Backbones. IEEE Robotics and Automation Letters. 2026
- Correction to “Smooth Parameterization of Rigid-Body Inertia”. IEEE Robotics and Automation Letters. 2026
- First-Order Position-Based Simulation of Deformable Concentric-Tube Robots Interacting with Tissue. Journal of Medical Robotics Research. 2026
- Force Estimation With Concentric-Tube Robots for Surgical Palpation. IEEE Robotics and Automation Letters. 2026
- Steerable Sheaths That Turn Endoscopes into Robotic Platforms for Colon Interventions. Journal of Medical Devices. 2026
- Cosserat Rods With Cross-Sectional Deformation for Soft Robot Modeling. IEEE Robotics and Automation Letters. 2025
- Encoding Desired Deformation Profiles in Endoscope-Like Soft Robots. IEEE Transactions on Medical Robotics and Bionics. 2025
- Stiff yet Bendy: Tubular Transmissions for Driving Surgical Robots through Flexible Endoscopes. Journal of Medical Robotics Research. 2025
- A Kinetostatic Model for Concentric Push–Pull Robots. IEEE Transactions on Robotics. 2024
- Parallel-Continuum Robots: A Survey. IEEE Transactions on Robotics. 2024
- Unified Shape and External Load State Estimation for Continuum Robots. IEEE Transactions on Robotics. 2024
- Concentric Push–Pull Robots: Planar Modeling and Design. IEEE Transactions on Robotics. 2022
- Continuum Robots for Medical Interventions. Proceedings of the IEEE. 2022
- Estimating Forces Along Continuum Robots. IEEE Robotics and Automation Letters. 2022
- Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots. IEEE Transactions on Robotics. 2022
- Interactive-Rate Supervisory Control for Arbitrarily-Routed Multitendon Robots via Motion Planning. IEEE Access. 2022
- Smooth Parameterization of Rigid-Body Inertia. IEEE Robotics and Automation Letters. 2022
- Transverse Anisotropy Stabilizes Concentric Tube Robots. IEEE Robotics and Automation Letters. 2022
- A Sliding-Rod Variable-Strain Model for Concentric Tube Robots. IEEE Robotics and Automation Letters. 2021
- A Dynamic Model for Concentric Tube Robots. IEEE Transactions on Robotics. 2020
- Concentric Precurved Bellows: New Bending Actuators for Soft Robots. IEEE Robotics and Automation Letters. 2020
- Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings. IEEE Robotics and Automation Letters. 2020
- Continuum Robot Stiffness Under External Loads and Prescribed Tendon Displacements. IEEE Transactions on Robotics. 2019
- Real-time dynamics of soft and continuum robots based on Cosserat rod models. The International Journal of Robotics Research. 2019
- Integrating Rotations Using Nonunit Quaternions. IEEE Robotics and Automation Letters. 2018
- Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing. IEEE Transactions on Robotics. 2018
- Analysis and Validation of a Teleoperated Surgical Parallel Continuum Manipulator. IEEE Robotics and Automation Letters. 1:828-835. 2016
- A Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-Loop Targeting. Annals of Biomedical Engineering. 44:2863-2873. 2016
- Continuum Robots for Medical Applications: A Survey. IEEE Transactions on Robotics. 31:1261-1280. 2015
- A Telerobotic System for Transnasal Surgery. IEEE/ASME Transactions on Mechatronics. 19:996-1006. 2014
- Evaluation of Conoscopic Holography for Estimating Tumor Resection Cavities in Model-Based Image-Guided Neurosurgery. IEEE Transactions on Biomedical Engineering. 61:1833-1843. 2014
- A Mechanics-Based Nonrigid Registration Method for Liver Surgery Using Sparse Intraoperative Data. IEEE Transactions on Medical Imaging. 33:147-158. 2014
- Sliding Mode Control of Steerable Needles. IEEE Transactions on Robotics. 29:1289-1299. 2013
- An Autoclavable Steerable Cannula Manual Deployment Device: Design and Accuracy Analysis. Journal of Medical Devices. 6. 2012
- Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading. IEEE Transactions on Robotics. 27:1033-1044. 2011
- Design of an Autoclavable Active Cannula Deployment Device. Journal of Medical Devices. 5. 2011
- A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots. IEEE Transactions on Robotics. 26:769-780. 2010
- A Manual Insertion Mechanism for Percutaneous Cochlear Implantation. Journal of Medical Devices. 4. 2010
- A Testbed for Multilumen Steerable Needle Experiments. Journal of Medical Devices. 4. 2010
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conference paper
- A surgical parallel continuum manipulator with a cable-driven grasper. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 5264-5267. 2015
- Efficient computation of multiple coupled Cosserat rod models for real-time simulation and control of parallel continuum manipulators. 2015 IEEE International Conference on Robotics and Automation (ICRA). 5067-5074. 2015
- Toward parallel continuum manipulators. 2014 IEEE International Conference on Robotics and Automation (ICRA). 778-785. 2014
- Nonrigid liver registration for image-guided surgery using partial surface data: a novel iterative approach. Medical Imaging 2013: Image-Guided Procedures, Robotic Interventions, and Modeling. 2013
- Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery. Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures;. 387-393. 2012
- A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study. 2012 IEEE International Conference on Robotics and Automation. 1939-1945. 2012
- Tracked 3D ultrasound targeting with an active cannula. Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling. 2012
- A bimanual teleoperated system for endonasal skull base surgery. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2011
- Deflection-based force sensing for continuum robots: A probabilistic approach. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2011
- Computing Jacobians and compliance matrices for externally loaded continuum robots. 2011 IEEE International Conference on Robotics and Automation. 945-950. 2011
- A model for concentric tube continuum robots under applied wrenches. 2010 IEEE International Conference on Robotics and Automation. 1047-1052. 2010
- Guidance of a steerable cannula robot in soft tissue using preoperative imaging and conoscopic surface contour sensing. 2010 IEEE International Conference on Robotics and Automation. 5601-5606. 2010
- Visual sensing of continuum robot shape using self-organizing maps. 2010 IEEE International Conference on Robotics and Automation. 4591-4596. 2010
- Precisely shaped acoustic ablation of tumors utilizing steerable needle and 3D ultrasound image guidance. Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling. 2010
- The ACUSITT ultrasonic ablator: the first steerable needle with an integrated interventional tool. Medical Imaging 2010: Ultrasonic Imaging, Tomography, and Therapy. 2010
- Mechanics-based modeling of bending and torsion in active cannulas. 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics. 704-709. 2008
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document
- Concentric Tube Robots: The State of the Art and Future Directions. Springer Tracts in Advanced Robotics. 253-269. 2016
- Mechanics of Continuum Robots with External Loading and General Tendon Routing. Springer Tracts in Advanced Robotics. 645-654. 2014