Biomimetics and Dextrous Manipulation Lab

MedicalRoboticsPublications

Category: MedicalRobotics

Publications before 2010 are listed on the previous BDML website

Journals and Theses

Bae, J.H., Haptic Feedback System Design for MR-Guided Needle Intervention, Ph.D. thesis, Dept. of Mechanical Engineering, March 2018. (also at Stanford Libraries)

Burkhard, N.T., Sensing Slip of Grasped Biological Tissue in Minimally Invasive Surgery, Ph.D. thesis, Dept. of Mechanical Engineering, November 2018. (also at Stanford Libraries)

Burkhard, Natalie, Mark Cutkosky, and Ryan Steger. "Slip Sensing for Intelligent, Improved Grasping and Retraction in Robot-Assisted Surgery." IEEE Robotics and Automation Letters (2018). doi: 10.1109/LRA.2018.2863360. Available on IEEE.

Han, A.K.*, Bae, J.H.*, Gregoriou, K.C., Ploch, C.J., Goldman, R.E., Glover, G.H., Daniel, B.L. and Cutkosky, M.R., "MR-Compatible Haptic Display of Membrane Puncture in Robot-Assisted Needle Procedures," IEEE Transactions on Haptics (2018). Available as Early Access

Elayaperumal, S., Renaud, P., Cutkosky, M.R., Daniel, B.L.,"A Passive Parallel Master-Slave Mechanism for MRI-Guided Interventions,",Journal of Medical Devices, ASME,2014, DOI 10.1115/1.4028944

Elayaperumal, S., Plata, J.C. Holbrook, A.B., Park, Y-L, Butts Pauly, K., Daniel, B.L., Cutkosky, M.R.,"Autonomous real-time interventional scan plane control with a 3-D shape-sensing needle,",IEEE Transactions on Medical Imaging, vol.33, issue 11, pp.2128 - 2139, Nov. 2014, DOI 10.1109/TMI.2014.2332354

Park, YL; Elayaperumal, S.; Daniel, B.; Ryu, SC; Shin, M; Savall, J.; Black, R.J.; Moslehi, B.; Cutkosky, M.R., “Real-Time Estimation of Three-Dimensional Needle Shape and Deflection for MRI-Guided Interventions,” Mechatronics, IEEE/ASME Transactions on , vol.15, no.6, pp.906-915, Dec. 2010

Ryu, S., Fan Quek, Z., Koh, J-S, Renaud, P., Black, R.J., Moslehi, B., Daniel, B., Cho, K-J and Cutkosky, M.R., "Design of an Optically Controlled MR-compatible Active Needle," accepted for ,IEEE Transactions on Robotics (2015)

Conference Proceedings

Bae, J.H.*, Han, A.K.*, Ploch, C.J., Daniel, B.L., Cutkosky, M.R., "Haptic feedback of membrane puncture with an MR-compatible instrumented needle and electroactive polymer display," In Proceedings of the 2017 IEEE World Haptics Conference (WHC 2017). Best Paper and Best Presentation Finalist

Bae, J.H., Ploch, C., Yang, M.A., Daniel, B.L., and Cutkosky, M.R., "Display of Needle Tip Contact Forces for Steering Guidance," Haptics Symposium 2016 IEEE, 332-337.

Burkhard, Natalie, Ryan Steger, and Mark Cutkosky. "Sensing slip of grasped wet, conformable objects." Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on. IEEE, 2017. (paper).

Burkhard, N., Frishman, S., Gruebele, A., Whitney, J.P., Goldman, R., Daniel, B.L., Cutkosky, M.R., "A rolling-diaphragm hydrostatic transmission for remote MR-guided needle insertion," IEEE ICRA 2017 (pdf). Best Robotics Paper Finalist

Elayaperumal, S., Bae, J.H., Daniel, B.L. and Cutkosky, M.R.,"Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle," IROS,2014,vol.,no.,pp.3975 - 3981,14-18 Sept. 2014 doi:10.1109/IROS.2014.6943121

Elayaperumal, S.; Bae, J.H.; Christensen, D.; Cutkosky, M.R.; Daniel, B.L.; Black, R.J.; Costa, J.M.; Faridian, F.; Moslehi, B., "Mr-compatible biopsy needle with enhanced tip force sensing," World Haptics Conference (WHC), 2013 , vol., no., pp.109,114, 14-17 April 2013 doi: 10.1109/WHC.2013.6548393

Lin, M.A., Bae, J.H., Srinivasan, S., Perkins, S.L., Leuze, C., Hargreaves, B., Cutkosky, M.R., Daniel, B.L., “MRI-guided Needle Biopsy using Augmented Reality,” to be presented at International Society for Magnetic Resonance in Medicine 25th Annual Meeting and Exhibition (ISMRM 2017) (preprint).

Y-L. Park, S. Elayaperumal, S. Ryu, B. Daniel, R. J. Black, B. Moslehi, and M. R. Cutkosky. “MRI-compatible Haptics: Strain sensing for real-time estimation of three dimensional needle deflection in MRI environments", International Society for Magnetic Resonance in Medicine (ISMRM) 17th Scientific Meeting and Exhibition, Honolulu, Hawaii, April 18-24, 2009

Y-L. Park, S. Elayaperumal, B.L. Daniel, E. Kaye, K.B. Pauly, R.J. Black, and M.R. Cutkosky, “MRI-compatible Haptics: Feasibility of using optical fiber Bragg grating strain-sensors to detect deflection of needles in an MRI environment”, International Society for Magnetic Resonance in Medicine (ISMRM) 2008, 16th Scientific Meeting and Exhibition, Toronto, Canada, May 2008

S. Ryu, Z. F. Quek, P. Renaud, R. J. Black, B. Daniel, and M. R. Cutkosky. "An Optical Actuation System and Curvature Sensor for a MR-compatible Active Needle," IEEE International Conference on Robotics and Automation (ICRA), St. Paul, Minnesota, May 14-18, 2012

S. Ryu, P. Renaud, R. J. Black, B. Daniel, and M. R. Cutkosky. “Feasibility Study of an Optically Actuated MR-compatible Active Needle," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, California, September 25-30, 2011

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