Alan Kuntz

69 papers A* 7A 7C 2Journal 41Unranked 11
YearRankTypeTitle / Venue / Authors
2026 J jnl
Fast Continuum Robot Shape and External Load State Estimation on SE(3).
CoRR
James M. Ferguson, Alan Kuntz, Tucker Hermans
2026 J jnl
PinPoint: Monocular Needle Pose Estimation for Robotic Suturing via Stein Variational Newton and Geometric Residuals.
CoRR
Jesse F. d'Almeida, Tanner Watts, Susheela Sharma Stern, James M. Ferguson, Alan Kuntz, Robert J. Webster III
2025 J jnl
A Supervised Autonomous Resection and Retraction Framework for Transurethral Enucleation of the Prostatic Median Lobe.
CoRR
Mariana E. Smith, Tanner Watts, Susheela Sharma Stern, Brendan Burkhart, Hao Li, Alejandro O. Chara, Nithesh Kumar, James M. Ferguson, Ayberk Acar, Jesse F. d'Almeida, Lauren Branscombe, Lauren M. Shepard, Ahmed Ghazi, Ipek Oguz, Jie Ying Wu, Robert J. Webster III, Axel Krieger, Alan Kuntz
2025 J jnl
Autonomous Vision-Guided Resection of Central Airway Obstruction.
CoRR
Mariana E. Smith, Nural Yilmaz, Tanner Watts, Paul Maria Scheikl, Jiawei Ge, Anton Deguet, Alan Kuntz, Axel Krieger
2025 J jnl
Autonomous Vision-Guided Resection of Central Airway Obstruction.
J. Medical Robotics Res.
Mariana E. Smith, Nural Yilmaz, Tanner Watts, Paul Maria Scheikl, Jiawei Ge, Anton Deguet, Alan Kuntz, Axel Krieger
2025 J jnl
DefFusionNet: Learning Multimodal Goal Shapes for Deformable Object Manipulation via a Diffusion-based Probabilistic Model.
CoRR
Bao Thach, Siyeon Kim, Britton Jordan, Mohanraj Devendran Shanthi, Tanner Watts, Shing-Hei Ho, James M. Ferguson, Tucker Hermans, Alan Kuntz
2025 J jnl
Early Failure Detection in Autonomous Surgical Soft-Tissue Manipulation via Uncertainty Quantification.
CoRR
Jordan Thompson, Ronald Koe, Anthony Le, Gabriella Goodman, Daniel S. Brown, Alan Kuntz
2025 A conf
From Monocular Vision to Autonomous Action: Guiding Tumor Resection via 3D Reconstruction.
IROS
Ayberk Acar, Mariana E. Smith, Lidia Al-Zogbi, Tanner Watts, Fangjie Li, Hao Li, Nural Yilmaz, Paul Maria Scheikl, Jesse F. d'Almeida, Susheela Sharma, Lauren Branscombe, Tayfun Efe Ertop, Robert J. Webster III, Ipek Oguz, Alan Kuntz, Axel Krieger, Jie Ying Wu
2025 J jnl
From Monocular Vision to Autonomous Action: Guiding Tumor Resection via 3D Reconstruction.
CoRR
Ayberk Acar, Mariana E. Smith, Lidia Al-Zogbi, Tanner Watts, Fangjie Li, Hao Li, Nural Yilmaz, Paul Maria Scheikl, Jesse F. d'Almeida, Susheela Sharma, Lauren Branscombe, Tayfun Efe Ertop, Robert J. Webster III, Ipek Oguz, Alan Kuntz, Axel Krieger, Jie Ying Wu
2025 J jnl
Medical needles in the hands of AI: Advancing toward autonomous robotic navigation.
Sci. Robotics
Ron Alterovitz, Janine Hoelscher, Alan Kuntz
2025 J jnl
ProbeMDE: Uncertainty-Guided Active Proprioception for Monocular Depth Estimation in Surgical Robotics.
CoRR
Britton Jordan, Jordan Thompson, Jesse F. d'Almeida, Hao Li, Nithesh Kumar, Susheela Sharma Stern, Ipek Oguz, Robert J. Webster III, Daniel S. Brown, Alan Kuntz, James M. Ferguson
2025 J jnl
Uncertainty Aware Forward and Inverse Kinematics for Tendon-Driven Continuum Robots via Mixture Density Networks.
J. Medical Robotics Res.
Jordan Thompson, Brian Y. Cho, Daniel S. Brown, Alan Kuntz
2024 J jnl
Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network.
CoRR
Brian Y. Cho, Daniel S. Esser, Jordan Thompson, Bao Thach, Robert J. Webster III, Alan Kuntz
2024 J jnl
Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network.
IEEE Robotics Autom. Lett.
Brian Y. Cho, Daniel S. Esser, Jordan Thompson, Bao Thach, Robert J. Webster III, Alan Kuntz
2024 — conf
Combining Thermoelectrics and Low Melting Point Alloys to Create Reconfigurable Stiff-Compliant Manipulators.
RoboSoft
Emily M. McCabe, Daniel S. Esser, Tayfun Efe Ertop, Alan Kuntz, Robert J. Webster III
2024 A* conf
DefGoalNet: Contextual Goal Learning from Demonstrations for Deformable Object Manipulation.
ICRA
Bao Thach, Tanner Watts, Shing-Hei Ho, Tucker Hermans, Alan Kuntz
2024 — conf
Directional Stiffness-Switching Soft Robots via Phase-Changing Metallic Spines.
RoboSoft
Daniel S. Esser, Emily M. McCabe, Tayfun Efe Ertop, Alan Kuntz, Robert J. Webster III
2024 A* conf
Efficient and Accurate Mapping of Subsurface Anatomy via Online Trajectory Optimization for Robot Assisted Surgery.
ICRA
Brian Y. Cho, Alan Kuntz
2024 A conf
Exploring Modal Switch in Metamaterial-Based Robots.
IROS
Britton Jordan, Daniel S. Esser, Jeonghyeon Kim, Brian Y. Cho, Robert J. Webster III, Alan Kuntz
2024 J jnl
General-purpose foundation models for increased autonomy in robot-assisted surgery.
CoRR
Samuel Schmidgall, Ji Woong Kim, Alan Kuntz, Ahmed Ezzat Ghazi, Axel Krieger
2024 J jnl
General-purpose foundation models for increased autonomy in robot-assisted surgery.
Nat. Mac. Intell.
Samuel Schmidgall, Ji Woong Kim, Alan Kuntz, Ahmed Ezzat Ghazi, Axel Krieger
2024 J jnl
Leveraging Fixed-Parameter Tractability for Robot Inspection Planning.
CoRR
Yosuke Mizutani, Daniel Coimbra Salomao, Alex Crane, Matthias Bentert, Pål Grønås Drange, Felix Reidl, Alan Kuntz, Blair D. Sullivan
2024 — conf
Modeling Kinematic Uncertainty of Tendon-Driven Continuum Robots via Mixture Density Networks.
ISMR
Jordan Thompson, Brian Y. Cho, Daniel S. Brown, Alan Kuntz
2024 J jnl
Modeling Kinematic Uncertainty of Tendon-Driven Continuum Robots via Mixture Density Networks.
CoRR
Jordan Thompson, Brian Y. Cho, Daniel S. Brown, Alan Kuntz
2024 — conf
Reward Learning from Suboptimal Demonstrations with Applications in Surgical Electrocautery.
ISMR
Zohre Karimi, Shing-Hei Ho, Bao Thach, Alan Kuntz, Daniel S. Brown
2024 J jnl
Reward Learning from Suboptimal Demonstrations with Applications in Surgical Electrocautery.
CoRR
Zohre Karimi, Shing-Hei Ho, Bao Thach, Alan Kuntz, Daniel S. Brown
2023 — conf
A Radial Folding Mechanism to Enable Surgical Continuum Manipulators to Fit Through Smaller Ports.
ISMR
Mariana E. Smith, Daniel S. Esser, Margaret Rox, Alan Kuntz, Robert J. Webster III
2023 J jnl
Asymptotically optimal inspection planning via efficient near-optimal search on sampled roadmaps.
Int. J. Robotics Res.
Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz
2023 J jnl
Autonomous medical needle steering in vivo.
Sci. Robotics
Alan Kuntz, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Margaret Rox, Jason A. Akulian, Erin A. Gillaspie, Yueh Z. Lee, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz
2023 J jnl
DefGoalNet: Contextual Goal Learning from Demonstrations For Deformable Object Manipulation.
CoRR
Bao Thach, Tanner Watts, Shing-Hei Ho, Tucker Hermans, Alan Kuntz
2023 J jnl
DeformerNet: Learning Bimanual Manipulation of 3D Deformable Objects.
CoRR
Bao Thach, Brian Y. Cho, Tucker Hermans, Alan Kuntz
2023 J jnl
Efficient and Accurate Mapping of Subsurface Anatomy via Online Trajectory Optimization for Robot Assisted Surgery.
CoRR
Brian Y. Cho, Alan Kuntz
2023 J jnl
Safer Motion Planning of Steerable Needles via a Shaft-to-Tissue Force Model.
J. Medical Robotics Res.
Michael Bentley, Caleb Rucker, Chakravarthy Reddy, Oren Salzman, Alan Kuntz
2023 J jnl
Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks.
IEEE Robotics Autom. Lett.
Margaret Rox, Daniel S. Esser, Mariana E. Smith, Tayfun Efe Ertop, Maxwell Emerson, Fabien Maldonado, Erin A. Gillaspie, Alan Kuntz, Robert J. Webster III
2023 J jnl
Toward a Millimeter-Scale Tendon-Driven Continuum Wrist with Integrated Gripper for Microsurgical Applications.
CoRR
Alexandra Leavitt, Ryan Lam, Nichols Crawford Taylor, Daniel S. Drew, Alan Kuntz
2022 J jnl
Autonomous Medical Needle Steering In Vivo.
CoRR
Alan Kuntz, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Margaret Rox, Jason A. Akulian, Erin A. Gillaspie, Yueh Z. Lee, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz
2022 J jnl
Interactive-Rate Supervisory Control for Arbitrarily-Routed Multi-Tendon Robots via Motion Planning.
CoRR
Michael Bentley, D. Caleb Rucker, Alan Kuntz
2022 J jnl
Interactive-Rate Supervisory Control for Arbitrarily-Routed Multitendon Robots via Motion Planning.
IEEE Access
Michael Bentley, D. Caleb Rucker, Alan Kuntz
2022 A* conf
Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds.
ICRA
Bao Thach, Brian Y. Cho, Alan Kuntz, Tucker Hermans
2021 J jnl
A Novel Shaft-to-Tissue Force Model for Safer Motion Planning of Steerable Needles.
CoRR
Michael Bentley, D. Caleb Rucker, Chakravarthy Reddy, Oren Salzman, Alan Kuntz
2021 J jnl
A Recurrent Neural Network Approach to Roll Estimation for Needle Steering.
CoRR
Maxwell Emerson, James M. Ferguson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Ron Alterovitz, Robert J. Webster III, Alan Kuntz
2021 J jnl
Backward Planning for a Multi-Stage Steerable Needle Lung Robot.
IEEE Robotics Autom. Lett.
Janine Hoelscher, Mengyu Fu, Inbar Fried, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Alan Kuntz, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz
2021 J jnl
DeformerNet: A Deep Learning Approach to 3D Deformable Object Manipulation.
CoRR
Bao Thach, Alan Kuntz, Tucker Hermans
2021 A* conf
Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume.
ICRA
Inbar Fried, Janine Hoelscher, Mengyu Fu, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Alan Kuntz, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz
2021 J jnl
Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds.
CoRR
Bao Thach, Brian Y. Cho, Alan Kuntz, Tucker Hermans
2021 C conf
Optimizing Hospital Room Layout to Reduce the Risk of Patient Falls.
ICORES
Sarvenaz Chaeibakhsh, Roya Sabbagh Novin, Tucker Hermans, Andrew Merryweather, Alan Kuntz
2021 J jnl
Optimizing Hospital Room Layout to Reduce the Risk of Patient Falls.
CoRR
Sarvenaz Chaeibakhsh, Roya Sabbagh Novin, Tucker Hermans, Andrew Merryweather, Alan Kuntz
2021 — conf
Planning Sensing Sequences for Subsurface 3D Tumor Mapping.
ISMR
Brian Y. Cho, Tucker Hermans, Alan Kuntz
2021 J jnl
Planning Sensing Sequences for Subsurface 3D Tumor Mapping.
CoRR
Brian Y. Cho, Tucker Hermans, Alan Kuntz
2021 — conf
Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots.
ISMR
Yixuan Huang, Michael Bentley, Tucker Hermans, Alan Kuntz
2021 J jnl
Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots.
CoRR
Yixuan Huang, Michael Bentley, Tucker Hermans, Alan Kuntz
2020 — conf
A Recurrent Neural Network Approach to Roll Estimation for Needle Steering.
ISER
Maxwell Emerson, James M. Ferguson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Ron Alterovitz, Robert J. Webster III, Alan Kuntz
2020 J jnl
Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles.
IEEE Access
Margaret Rox, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Alan Kuntz, Josephine Granna, Jason E. Mitchell, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Jason A. Akulian, Ron Alterovitz, Robert J. Webster III
2020 A* conf
Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning.
ICRA
Haonan Chen, Hao Tan, Alan Kuntz, Mohit Bansal, Ron Alterovitz
2019 — conf
Design and control of a compact modular robot for transbronchial lung biopsy.
Image-Guided Procedures
Stephanie Amack, Margaret Rox, Jason E. Mitchell, Tayfun Efe Ertop, Maxwell Emerson, Alan Kuntz, Fabien Maldonado, Jason A. Akulian, Joshua B. Gafford, Ron Alterovitz, Robert J. Webster III
2019 J jnl
Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning.
CoRR
Haonan Chen, Hao Tan, Alan Kuntz, Mohit Bansal, Ron Alterovitz
2019 — —
Integrating Optimization and Sampling for Robot Motion Planning with Applications in Healthcare.
Alan Kuntz
2019 A conf
Planning High-Quality Motions for Concentric Tube Robots in Point Clouds via Parallel Sampling and optimization.
IROS
Alan Kuntz, Mengyu Fu, Ron Alterovitz
2019 — conf
Toward Asymptotically-Optimal Inspection Planning Via Efficient Near-Optimal Graph Search.
Robotics: Science and Systems
Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz
2019 J jnl
Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search.
CoRR
Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz
2019 A conf
optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories.
IROS
Sherdil Niyaz, Alan Kuntz, Oren Salzman, Ron Alterovitz, Siddhartha S. Srinivasa
2018 — conf
Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs.
ISER
Sherdil Niyaz, Alan Kuntz, Oren Salzman, Ron Alterovitz, Siddhartha S. Srinivasa
2018 A* conf
Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning.
ICRA
Alan Kuntz, Chris Bowen, Cenk Baykal, Arthur W. Mahoney, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz
2018 A conf
Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images.
IROS
Mengyu Fu, Alan Kuntz, Robert J. Webster III, Ron Alterovitz
2017 C conf
Fast Anytime Motion Planning in Point Clouds by Interleaving Sampling and Interior Point Optimization.
ISRR
Alan Kuntz, Chris Bowen, Ron Alterovitz
2017 A conf
Motion planning for continuum reconfigurable incisionless surgical parallel robots.
IROS
Alan Kuntz, Arthur W. Mahoney, Nicolas E. Peckman, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz
2016 J jnl
Interleaving Optimization with Sampling-Based Motion Planning (IOS-MP): Combining Local Optimization with Global Exploration.
CoRR
Alan Kuntz, Chris Bowen, Ron Alterovitz
2015 A* conf
A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation.
ICRA
Luis G. Torres, Alan Kuntz, Hunter B. Gilbert, Philip J. Swaney, Richard J. Hendrick, Robert J. Webster III, Ron Alterovitz
2015 A conf
Motion planning for a three-stage multilumen transoral lung access system.
IROS
Alan Kuntz, Luis G. Torres, Richard H. Feins, Robert J. Webster III, Ron Alterovitz