Robert J. Webster III

157 papers A* 27A 15C 1Journal 66Unranked 44

Year	Rank	Type	Title / Venue / Authors
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	A*	`conf`	A System for Endoscopic Submucosal Dissection Featuring Concentric Push-Pull Manipulators. ICRA Peter Connor, Carter Hatch, Khoa T. Dang, Tony Qin, Ron Alterovitz, Caleb Rucker, Robert J. Webster III
2025	J	`jnl`	EndoStreamDepth: Temporally Consistent Monocular Depth Estimation for Endoscopic Video Streams. CoRR Hao Li, Daiwei Lu, Jiacheng Wang, Robert J. Webster III, Ipek Oguz
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`	Monocular absolute depth estimation from endoscopy via domain-invariant feature learning and latent consistency. CoRR Hao Li, Daiwei Lu, Jesse F. d'Almeida, Dilara Isik, Ehsan Khodapanah Aghdam, Nick DiSanto, Ayberk Acar, Susheela Sharma, Jie Ying Wu, Robert J. Webster III, Ipek Oguz
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`	Safe Start Regions for Medical Steerable Needle Automation. IEEE Trans. Robotics Janine Hoelscher, Inbar Fried, Spiros Tsalikis, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz
2025	J	`jnl`	Semantic 3D Reconstructions with SLAM for Central Airway Obstruction. CoRR Ayberk Acar, Fangjie Li, Hao Li, Lidia Al-Zogbi, Kanyifeechukwu Jane Oguine, Susheela Sharma, Jesse F. d'Almeida, Robert J. Webster III, Ipek Oguz, Jie Ying Wu
2025	J	`jnl`	Stiff yet Bendy: Tubular Transmissions for Driving Surgical Robots through Flexible Endoscopes. J. Medical Robotics Res. Khoa T. Dang, Carter Hatch, Peter Connor, Stephen Qiu, Tony Qin, Ron Alterovitz, Robert J. Webster III, Caleb Rucker
2025	—	`conf`	Toward Low-Field MRI Guided Robotic Transurethral Focal Prostate Resection: A Feasibility Study Using High-Field Images. ISMR Jesse F. d'Almeida, Jason A. Shrand, Sarah J. Garrow, Christopher E. Vaughn, Nicholas L. Kavoussi, Shaan Setia, Amy Reed, Tayfun Efe Ertop, Ahmed E. Ghazi, S. Duke Herrell, William A. Grissom, Robert J. Webster III
2025	—	`conf`	Working Sideways with Concentric Tube Robots: A System for Natural Orifice Intrauterine Surgeries. ISMR Ethan Wilke, Sara E. Purdue, Jesse F. d'Almeida, Lara Harvey, S. Duke Herrell, Robert J. Webster III
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	—	`conf`	Design of Transmission Tubes for Surgical Concentric Push-Pull Robots. ISMR Khoa T. Dang, Stephen Qiu, Carter Hatch, Peter Connor, Tony Qin, Ron Alterovitz, Robert J. Webster III, Caleb Rucker
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	—	`conf`	Enhancing Accuracy in Transendoscopic Concentric Tube Robots for Monocular Endoscope Guidance. ISMR Jason Shrand, Jesse F. d'Almeida, Ethan Wilke, Amy Reed, Nicholas L. Kavoussi, S. Duke Herrell III, Tayfun Efe Ertop, Robert J. Webster III
2024	J	`jnl`	Exceeding traditional curvature limits of concentric tube robots through redundancy resolution. Int. J. Robotics Res. Patrick L. Anderson, Richard J. Hendrick, Margaret F. Rox, Robert J. Webster III
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`	Head-Mounting Surgical Robots for Passive Compensation of Patient Motion. J. Medical Robotics Res. Nicholas R. Posselli, Patrick S. Wellborn, Paul S. Bernstein, Robert J. Webster III, Jake J. Abbott
2024	J	`jnl`	Safe Start Regions for Medical Steerable Needle Automation. CoRR Janine Hoelscher, Inbar Fried, Spiros Tsalikis, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz
2024	J	`jnl`	Unified Shape and External Load State Estimation for Continuum Robots. IEEE Trans. Robotics James M. Ferguson, D. Caleb Rucker, Robert J. Webster III
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	—	`conf`	A virtual reality framework for evaluating concentric tube surgical robot designs. Image-Guided Procedures Jason Shrand, Jesse F. d'Almeida, Tayfun Efe Ertop, Nicholas L. Kavoussi, Shaan Setia, S. Duke Herrell III, Robert J. Webster III
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	—	`conf`	Design considerations for robotic, MRI-guided, trans-foramen ovale access to the brain. Image-Guided Procedures Abby M. Grillo, John E. Peters, Daniel S. Esser, Sarah J. Garrow, Tyler Ball, Robert Naftel, Dario J. Englot, Joseph S. Neimat, William A. Grissom, Eric J. Barth, Robert J. Webster III
2023	J	`jnl`	Robotic pullback technique of a precurved cochlear-implant electrode array using real-time impedance sensing feedback. Int. J. Comput. Assist. Radiol. Surg. Katherine E. Riojas, Trevor L. Bruns, Josephine Granna, Robert J. Webster III, Robert F. Labadie
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`	Unified robot and inertial sensor self-calibration. Robotica James M. Ferguson, Tayfun Efe Ertop, S. Duke Herrell III, Robert J. Webster III
2022	A	`conf`	A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation. IROS Janine Hoelscher, Inbar Fried, Mengyu Fu, Mihir Patwardhan, Max Christman, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz
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	—	`conf`	Design of a modular, multi-arm concentric tube robot featuring roller gears. Image-Guided Procedures Adrian N. Florea, Dominick S. Ropella, Ernar Amanov, S. Duke Herrell III, Robert J. Webster III
2022	J	`jnl`	Real-Time Localization of Cochlear-Implant Electrode Arrays Using Bipolar Impedance Sensing. IEEE Trans. Biomed. Eng. Trevor L. Bruns, Katherine E. Riojas, Robert F. Labadie, Robert J. Webster III
2022	—	`conf`	Towards Suturing From Within the Urethra Using Concentric Tube Robots: First Experiences in Biological Tissues. ISMR Tayfun Efe Ertop, Jesse F. d'Almeida, Ernar Amanov, Jason Shrand, Naren Nimmagadda, Shaan Setia, Nicholas L. Kavoussi, S. Duke Herrell, Robert J. Webster III
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`	Beyond Constant Curvature: A New Mechanics Model for Unidirectional Notched-Tube Continuum Wrists. J. Medical Robotics Res. Nicholas E. Pacheco, Joshua B. Gafford, Mostafa A. Atalla, Robert J. Webster III, Loris Fichera
2021	J	`jnl`	Closed-loop control of soft continuum manipulators under tip follower actuation. Int. J. Robotics Res. Federico Campisano, Simone Caló, Andria A. Remirez, James Henry Chandler, Keith L. Obstein, Robert J. Webster III, Pietro Valdastri
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	—	`conf`	Integrating FireFly fluorescence into image guidance for the da Vinci robot. Image-Guided Procedures Juyoung Kim, James M. Ferguson, Jason Shrand, Bryn Pitt, Josephine Granna, Naren Nimmagadda, Nicholas L. Kavoussi, S. Duke Herrell III, Robert J. Webster III
2020	J	`jnl`	A Dynamic Model for Concentric Tube Robots. IEEE Trans. Robotics John Till, Vincent A. Aloi, Katherine E. Riojas, Patrick L. Anderson, Robert J. Webster III, D. Caleb Rucker
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`	A multi-subject accuracy study on granular jamming for non-invasive attachment of fiducial markers to patients. Int. J. Comput. Assist. Radiol. Surg. Patrick S. Wellborn, Paul T. Russell III, Robert J. Webster III
2020	—	`conf`	Choosing Statistically Safe, Variable-Thickness Margins in Robot-Assisted Partial Nephrectomy. ISMR Michael A. Siebold, James M. Ferguson, Bryn Pitt, Nicholas L. Kavoussi, Naren Nimmagadda, S. Duke Herrell, Robert J. Webster III
2020	—	`conf`	Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot. ISMR Alex J. Chiluisa, Floris J. Van Rossum, Joshua B. Gafford, Robert F. Labadie, Robert J. Webster III, Loris Fichera
2020	J	`jnl`	Custom mastoid-fitting templates to improve cochlear implant electrode insertion trajectory. Int. J. Comput. Assist. Radiol. Surg. William G. Morrel, Katherine E. Riojas, Robert J. Webster III, Jack H. Noble, Robert F. Labadie
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	J	`jnl`	Magnetically Steered Robotic Insertion of Cochlear-Implant Electrode Arrays: System Integration and First-In-Cadaver Results. IEEE Robotics Autom. Lett. Trevor L. Bruns, Katherine E. Riojas, Dominick S. Ropella, Matt S. Cavilla, Andrew J. Petruska, Michael H. Freeman, Robert F. Labadie, Jake J. Abbott, Robert J. Webster III
2020	J	`jnl`	Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators. IEEE Robotics Autom. Lett. Federico Campisano, Andria A. Remirez, Simone Caló, James Henry Chandler, Keith L. Obstein, Robert J. Webster III, Pietro Valdastri
2020	J	`jnl`	Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy. IEEE Robotics Autom. Lett. Federico Campisano, Andria A. Remirez, Claire A. Landewee, Simone Caló, Keith L. Obstein, Robert J. Webster III, Pietro Valdastri
2019	J	`jnl`	A Hand-Held Non-Robotic Surgical Tool With a Wrist and an Elbow. IEEE Trans. Biomed. Eng. Katherine E. Riojas, Patrick L. Anderson, Ray A. Lathrop, S. Duke Herrell, D. Caleb Rucker, Robert J. Webster III
2019	—	`conf`	A new manual insertion tool for minimally invasive, image-guided cochlear implant surgery. Image-Guided Procedures Katherine E. Riojas, Narendran Narasimhan, William G. Morrel, Jason E. Mitchell, Trevor L. Bruns, Robert J. Webster III, Robert F. Labadie
2019	—	`conf`	Analysis of middle ear morphology for design of a transnasal endoscope. Image-Guided Procedures Minh Vu, Rueben A. Banalagay, Dongqing Zhang, Alejandro Rivas, Loris Fichera, Robert J. Webster III, Robert F. Labadie, Jack H. Noble
2019	J	`jnl`	Center of Gravity-based Approach for Modeling Dynamics of Multisection Continuum Arms. CoRR Isuru S. Godage, Robert J. Webster III, Ian D. Walker
2019	J	`jnl`	Center-of-Gravity-Based Approach for Modeling Dynamics of Multisection Continuum Arms. IEEE Trans. Robotics Isuru S. Godage, Robert J. Webster III, Ian D. Walker
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
2018	J	`jnl`	Can Elastic Instability Be Beneficial in Concentric Tube Robots? IEEE Robotics Autom. Lett. Katherine E. Riojas, Richard J. Hendrick, Robert J. Webster III
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	—	`ed.`	Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling, Houston, Texas, United States, 10-15 February 2018 Image-Guided Procedures Baowei Fei, Robert J. Webster III
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
2018	—	`conf`	Toward image-guided partial nephrectomy with the da Vinci robot: exploring surface acquisition methods for intraoperative re-registration. Image-Guided Procedures James M. Ferguson, Leon Y. Cai, Alexander Reed, Michael A. Siebold, Smita De, S. Duke Herrell, Robert J. Webster III
2017	—	`conf`	An image guidance system for positioning robotic cochlear implant insertion tools. Image-Guided Procedures Trevor L. Bruns, Robert J. Webster III
2017	J	`jnl`	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. Patrick S. Wellborn, Neal P. Dillon, Paul T. Russell III, Robert J. Webster III
2017	—	`conf`	Development of a mechanics-based model of brain deformations during intracerebral hemorrhage evacuation. Image-Guided Procedures Saramati Narasimhan, Jared A. Weis, Isuru S. Godage, Robert J. Webster III, Kyle D. Weaver, Michael I. Miga
2017	—	`conf`	Don't get burned: thermal monitoring of vessel sealing using a miniature infrared camera. Image-Guided Procedures Shan Lin, Loris Fichera, Mitchell J. Fulton, Robert J. Webster III
2017	J	`jnl`	Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications. IEEE Trans. Robotics Louis B. Kratchman, Trevor L. Bruns, Jake J. Abbott, Robert J. Webster III
2017	—	`ed.`	Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling, Orlando, Florida, United States, 11-16 February 2017 Image-Guided Procedures Robert J. Webster III, Baowei Fei
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
2017	J	`jnl`	Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into the Middle Ear. IEEE Robotics Autom. Lett. Loris Fichera, Neal P. Dillon, Dongqing Zhang, Isuru S. Godage, Michael A. Siebold, Bryan I. Hartley, Jack H. Noble, Paul T. Russell III, Robert F. Labadie, Robert J. Webster III
2017	J	`jnl`	Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles. J. Medical Robotics Res. Philip J. Swaney, Arthur W. Mahoney, Bryan I. Hartley, Andria A. Remirez, Erik Lamers, Richard H. Feins, Ron Alterovitz, Robert J. Webster III
2016	J	`jnl`	A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation. IEEE Robotics Autom. Lett. Josephine Granna, Isuru S. Godage, Raul Wirz, Kyle D. Weaver, Robert J. Webster III, Jessica Burgner-Kahrs
2016	J	`jnl`	A novel method for texture-mapping conoscopic surfaces for minimally invasive image-guided kidney surgery. Int. J. Comput. Assist. Radiol. Surg. Rowena E. Ong, Courtenay L. Glisson, Jessica Burgner-Kahrs, Amber L. Simpson, Andrei Danilchenko, Ray A. Lathrop, S. Duke Herrell, Robert J. Webster III, Michael I. Miga, Robert L. Galloway
2016	J	`jnl`	Comparing a Mechanical Analogue With the Da Vinci User Interface: Suturing at Challenging Angles. IEEE Robotics Autom. Lett. Patrick L. Anderson, Ray A. Lathrop, S. Duke Herrell, Robert J. Webster III
2016	J	`jnl`	Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test. IEEE Trans. Robotics Hunter B. Gilbert, Richard J. Hendrick, Robert J. Webster III
2016	—	`conf`	Endoscopes and robots for tight surgical spaces: use of precurved elastic elements to enhance curvature. Image-Guided Procedures Andria A. Remirez, Robert J. Webster III
2016	—	`conf`	Increasing safety of a robotic system for inner ear surgery using probabilistic error modeling near vital anatomy. Image-Guided Procedures Neal P. Dillon, Michael A. Siebold, Jason E. Mitchell, Grégoire S. Blachon, Ramya Balachandran, J. Michael Fitzpatrick, Robert J. Webster III
2016	A	`conf`	Making robots mill bone more like human surgeons: Using bone density and anatomic information to mill safely and efficiently. IROS Neal P. Dillon, Loris Fichera, Patrick S. Wellborn, Robert F. Labadie, Robert J. Webster III
2016	—	`ed.`	Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling, San Diego, California, United States, 27 February - 3 March 2016 Image-Guided Procedures Robert J. Webster III, Ziv R. Yaniv
2016	A*	`conf`	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". ICRA Arthur W. Mahoney, Trevor L. Bruns, Philip J. Swaney, Robert J. Webster III
2016	J	`jnl`	Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots. IEEE Robotics Autom. Lett. Hunter B. Gilbert, Robert J. Webster III
2016	A	`conf`	Reconfigurable parallel continuum robots for incisionless surgery. IROS Arthur W. Mahoney, Patrick L. Anderson, Philip J. Swaney, Fabien Maldonado, Robert J. Webster III
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`	A wrist for needle-sized surgical robots. ICRA Peter A. York, Philip J. Swaney, Hunter B. Gilbert, Robert J. Webster III
2015	—	`conf`	Can coffee improve image guidance? Image-Guided Procedures Raul Wirz, Ray A. Lathrop, Isuru S. Godage, Jessica Burgner-Kahrs, Paul T. Russell III, Robert J. Webster III
2015	J	`jnl`	Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment. IEEE Trans. Robotics Hunter B. Gilbert, Joseph S. Neimat, Robert J. Webster III
2015	—	`conf`	Design, Sensing, and Planning: Fundamentally Coupled Problems for Continuum Robots. ISRR (1) Arthur W. Mahoney, Trevor L. Bruns, Ron Alterovitz, Robert J. Webster III
2015	A*	`conf`	Designing snap-free concentric tube robots: A local bifurcation approach. ICRA Richard J. Hendrick, Hunter B. Gilbert, Robert J. Webster III
2015	J	`jnl`	Hand-held transendoscopic robotic manipulators: A transurethral laser prostate surgery case study. Int. J. Robotics Res. Richard J. Hendrick, Christopher R. Mitchell, S. Duke Herrell, Robert J. Webster III
2015	—	`conf`	Incorporating target registration error into robotic bone milling. Image-Guided Procedures Michael A. Siebold, Neal P. Dillon, Robert J. Webster III, J. Michael Fitzpatrick
2015	—	`ed.`	Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling, Orlando, Florida, United States, 21-26 February 2015 Image-Guided Procedures Robert J. Webster III, Ziv R. Yaniv
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
2015	A	`conf`	Robotic intracerebral hemorrhage evacuation: An in-scanner approach with concentric tube robots. IROS Isuru S. Godage, Andria A. Remirez, Raul Wirz, Kyle D. Weaver, Jessica Burgner-Kahrs, Robert J. Webster III
2015	A*	`conf`	Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system. ICRA Philip J. Swaney, Arthur W. Mahoney, Andria A. Remirez, Erik Lamers, Bryan I. Hartley, Richard H. Feins, Ron Alterovitz, Robert J. Webster III
2014	A*	`conf`	A multi-arm hand-held robotic system for transurethral laser Prostate surgery. ICRA Richard J. Hendrick, S. Duke Herrell, Robert J. Webster III
2014	—	`conf`	Experiments on the Simultaneous Hand-Held Control of Rigid Endoscopes and Robots Passing Through Them. ISER Richard J. Hendrick, S. Duke Herrell, Christopher R. Mitchell, Robert J. Webster III
2014	J	`jnl`	Needle Steering in 3-D Via Rapid Replanning. IEEE Trans. Robotics Sachin Patil, Jessica Burgner, Robert J. Webster III, Ron Alterovitz
2014	—	`conf`	Preliminary testing of a compact bone-attached robot for otologic surgery. Image-Guided Procedures Neal P. Dillon, Ramya Balachandran, Antoine Motte dit Falisse, George B. Wanna, Robert F. Labadie, Thomas J. Withrow, J. Michael Fitzpatrick, Robert J. Webster III
2014	A	`conf`	Workspace characterization for concentric tube continuum robots. IROS Jessica Burgner-Kahrs, Hunter B. Gilbert, Josephine Granna, Philip J. Swaney, Robert J. Webster III
2013	J	`jnl`	A Flexure-Based Steerable Needle: High Curvature With Reduced Tissue Damage. IEEE Trans. Biomed. Eng. Philip J. Swaney, Jessica Burgner, Hunter B. Gilbert, Robert J. Webster III
2013	—	`conf`	A flexure-based wrist for needle-sized surgical robots. Image-Guided Procedures Dylan P. Losey, Peter A. York, Philip J. Swaney, Jessica Burgner, Robert J. Webster III
2013	A*	`conf`	Can concentric tube robots follow the leader? ICRA Hunter B. Gilbert, Robert J. Webster III
2013	J	`jnl`	Comparison Study of Intraoperative Surface Acquisition Methods for Surgical Navigation. IEEE Trans. Biomed. Eng. Amber L. Simpson, Jessica Burgner, Courtenay L. Glisson, S. Duke Herrell, Burton Ma, Thomas S. Pheiffer, Robert J. Webster III, Michael I. Miga
2013	C	`conf`	Concentric Tube Robots: The State of the Art and Future Directions. ISRR Hunter B. Gilbert, D. Caleb Rucker, Robert J. Webster III
2013	J	`jnl`	Debulking From Within: A Robotic Steerable Cannula for Intracerebral Hemorrhage Evacuation. IEEE Trans. Biomed. Eng. Jessica Burgner, Philip J. Swaney, Ray A. Lathrop, Kyle D. Weaver, Robert J. Webster III
2013	A*	`conf`	Minimally-invasive intracerebral hemorrhage removal using an active cannula. ICRA Philip J. Swaney, Jessica Burgner, Ray A. Lathrop, Hunter B. Gilbert, Kyle D. Weaver, Robert J. Webster III
2013	A*	`conf`	On the computational design of concentric tube robots: Incorporating volume-based objectives. ICRA Jessica Burgner, Hunter B. Gilbert, Robert J. Webster III
2013	—	`conf`	Robot-assisted intracerebral hemorrhage evacuation: an experimental evaluation. Image-Guided Procedures Jessica Burgner, Philip J. Swaney, Ray A. Lathrop, Kyle D. Weaver, Robert J. Webster III
2013	J	`jnl`	Sliding Mode Control of Steerable Needles. IEEE Trans. Robotics D. Caleb Rucker, Jadav Das, Hunter B. Gilbert, Philip J. Swaney, Michael I. Miga, Nilanjan Sarkar, Robert J. Webster III
2013	J	`jnl`	Wireless Insufflation of the Gastrointestinal Tract. IEEE Trans. Biomed. Eng. Jenna L. Gorlewicz, Santina Battaglia, Byron F. Smith, Gastone Ciuti, Jason Gerding, Arianna Menciassi, Keith Obstein, Pietro Valdastri, Robert J. Webster III
2012	A*	`conf`	A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study. ICRA Hao Su, Diana C. Cardona, Weijian Shang, Alexander Camilo, Gregory A. Cole, D. Caleb Rucker, Robert J. Webster III, Gregory S. Fischer
2012	J	`jnl`	A Manually Operated, Advance Off-Stylet Insertion Tool for Minimally Invasive Cochlear Implantation Surgery. IEEE Trans. Biomed. Eng. Louis B. Kratchman, Daniel Schurzig, Theodore R. McRackan, Ramya Balachandran, Jack H. Noble, Robert J. Webster III, Robert F. Labadie
2012	—	`conf`	Intraoperative brain tumor resection cavity characterization with conoscopic holography. Image-Guided Procedures Amber L. Simpson, Jessica Burgner, Ishita Chen, Thomas S. Pheiffer, Kay Sun, Reid Carleton Thompson, Robert J. Webster III, Michael I. Miga
2012	—	`conf`	Kontinuumsroboter auf Basis vorgebogener Nitinolröhrchen: Evaluierung eines Prototypen für die Transnasale Schädelbasischirurgie. CURAC Jessica Burgner, Hunter B. Gilbert, Philip J. Swaney, Paul T. Russell III, Robert J. Webster III
2012	A	`conf`	Task-oriented design of concentric tube robots using mechanics-based models. IROS Luis G. Torres, Robert J. Webster III, Ron Alterovitz
2012	—	`conf`	Tracked 3D ultrasound targeting with an active cannula. Image-Guided Procedures Philip J. Swaney, Jessica Burgner, Thomas S. Pheiffer, D. Caleb Rucker, Hunter B. Gilbert, Janet E. Ondrake, Amber L. Simpson, Everette Clif Burdette, Michael I. Miga, Robert J. Webster III
2011	A	`conf`	A bimanual teleoperated system for endonasal skull base surgery. IROS Jessica Burgner, Philip J. Swaney, D. Caleb Rucker, Hunter B. Gilbert, Scott T. Nill, Paul T. Russell III, Kyle D. Weaver, Robert J. Webster III
2011	A*	`conf`	Computing Jacobians and compliance matrices for externally loaded continuum robots. ICRA D. Caleb Rucker, Robert J. Webster III
2011	A	`conf`	Deflection-based force sensing for continuum robots: A probabilistic approach. IROS D. Caleb Rucker, Robert J. Webster III
2011	J	`jnl`	Design of a Bone-Attached Parallel Robot for Percutaneous Cochlear Implantation. IEEE Trans. Biomed. Eng. Louis B. Kratchman, Grégoire S. Blachon, Thomas J. Withrow, Ramya Balachandran, Robert F. Labadie, Robert J. Webster III
2011	—	`conf`	Insertion of electrode array using percutaneous cochlear implantation technique: a cadaveric study. Image-Guided Procedures Ramya Balachandran, Jason E. Mitchell, Jack H. Noble, Daniel Schurzig, Grégoire S. Blachon, Theodore R. McRackan, Robert J. Webster III, Benoit M. Dawant, J. Michael Fitzpatrick, Robert F. Labadie
2011	J	`jnl`	Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading. IEEE Trans. Robotics D. Caleb Rucker, Robert J. Webster III
2011	—	`conf`	Toward haptic/aural touchscreen display of graphical mathematics for the education of blind students. World Haptics Jenna L. Toennies, Jessica Burgner, Thomas J. Withrow, Robert J. Webster III
2011	—	`conf`	Toward robotic needle steering in lung biopsy: a tendon-actuated approach. Image-Guided Procedures Louis B. Kratchman, Mohammed M. Rahman, Justin R. Saunders, Philip J. Swaney, Robert J. Webster III
2010	J	`jnl`	A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots. IEEE Trans. Robotics D. Caleb Rucker, Bryan A. Jones, Robert J. Webster III
2010	A*	`conf`	A force sensing Automated Insertion Tool for cochlear electrode implantation. ICRA Daniel Schurzig, Robert F. Labadie, Andreas Hussong, Thomas S. Rau, Robert J. Webster III
2010	A*	`conf`	A model for concentric tube continuum robots under applied wrenches. ICRA D. Caleb Rucker, Bryan A. Jones, Robert J. Webster III
2010	J	`jnl`	Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review. Int. J. Robotics Res. Robert J. Webster III, Bryan A. Jones
2010	J	`jnl`	Equilibrium Conformations of Concentric-tube Continuum Robots. Int. J. Robotics Res. D. Caleb Rucker, Robert J. Webster III, Gregory S. Chirikjian, Noah J. Cowan
2010	A*	`conf`	Guidance of a steerable cannula robot in soft tissue using preoperative imaging and conoscopic surface contour sensing. ICRA Ray A. Lathrop, D. Caleb Rucker, Robert J. Webster III
2010	—	`conf`	Mechanics of Continuum Robots with External Loading and General Tendon Routing. ISER D. Caleb Rucker, Robert J. Webster III
2010	J	`jnl`	Minimally Invasive Holographic Surface Scanning for Soft-Tissue Image Registration. IEEE Trans. Biomed. Eng. Ray A. Lathrop, Douglas M. Hackworth, Robert J. Webster III
2010	A*	`conf`	Planning active cannula configurations through tubular anatomy. ICRA Lisa A. Lyons, Robert J. Webster III, Ron Alterovitz
2010	—	`conf`	Precisely shaped acoustic ablation of tumors utilizing steerable needle and 3D ultrasound image guidance. Image-Guided Procedures Emad M. Boctor, Philipp J. Stolka, Hyun-Jae Kang, Clyde Clarke, D. Caleb Rucker, Jordon M. Croom, Everette Clif Burdette, Robert J. Webster III
2010	A*	`conf`	Visual sensing of continuum robot shape using self-organizing maps. ICRA Jordan M. Croom, D. Caleb Rucker, Joseph M. Romano, Robert J. Webster III
2009	J	`jnl`	A New Mechanism for Mesoscale Legged Locomotion in Compliant Tubular Environments. IEEE Trans. Robotics Pietro Valdastri, Robert J. Webster III, Claudio Quaglia, Marco Quirini, Arianna Menciassi, Paolo Dario
2009	—	`conf`	Conoscopic holography for image registration: a feasibility study. Image-Guided Procedures Ray A. Lathrop, Tiffany T. Cheng, Robert J. Webster III
2009	J	`jnl`	Mechanics of Precurved-Tube Continuum Robots. IEEE Trans. Robotics Robert J. Webster III, Joseph M. Romano, Noah J. Cowan
2009	A*	`conf`	Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas. ICRA D. Caleb Rucker, Robert J. Webster III
2009	A	`conf`	Motion planning for active cannulas. IROS Lisa A. Lyons, Robert J. Webster III, Ron Alterovitz
2009	J	`jnl`	Parsimonious Evaluation of Concentric-Tube Continuum Robot Equilibrium Conformation. IEEE Trans. Biomed. Eng. D. Caleb Rucker, Robert J. Webster III
2008	—	`conf`	Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing. ISER Robert J. Webster III, John P. Swensen, Joseph M. Romano, Noah J. Cowan
2008	A*	`conf`	Kinematics and calibration of active cannulas. ICRA Robert J. Webster III, Joseph M. Romano, Noah J. Cowan
2007	A*	`conf`	Design of a Pill-Sized 12-legged Endoscopic Capsule Robot. ICRA Marco Quirini, Robert J. Webster III, Arianna Menciassi, Paolo Dario
2007	A*	`conf`	Electrolytic Silicone Bourdon Tube Microactuator for Reconfigurable Surgical Robots. ICRA Nicola Ng Pak, Robert J. Webster III, Arianna Menciassi, Paolo Dario
2007	A*	`conf`	Teleoperation of Steerable Needles. ICRA Joseph M. Romano, Robert J. Webster III, Allison M. Okamura
2006	J	`jnl`	Nonholonomic Modeling of Needle Steering. Int. J. Robotics Res. Robert J. Webster III, Jin Seob Kim, Noah J. Cowan, Gregory S. Chirikjian, Allison M. Okamura
2006	J	`jnl`	Object capture with a camera-mobile robot system. IEEE Robotics Autom. Mag. Robert J. Webster III
2006	A	`conf`	Toward Active Cannulas: Miniature Snake-Like Surgical Robots. IROS Robert J. Webster III, Allison M. Okamura, Noah J. Cowan
2005	J	`jnl`	A novel two-dimensional tactile slip display: design, kinematics and perceptual experiments. ACM Trans. Appl. Percept. Robert J. Webster III, Todd E. Murphy, Lawton N. Verner, Allison M. Okamura
2005	A*	`conf`	Design Considerations for Robotic Needle Steering. ICRA Robert J. Webster III, Jasenka Memisevic, Allison M. Okamura
2004	—	`conf`	Nonholonomic Modeling of Needle Steering. ISER Robert J. Webster III, Noah J. Cowan, Gregory S. Chirikjian, Allison M. Okamura
2004	—	`conf`	Robotically assisted ablative treatment guided by freehand 3D ultrasound. CARS Emad Boctor, Robert J. Webster III, Michael A. Choti, Russell H. Taylor, Gabor Fichtinger
2003	A*	`conf`	The haptic scissors: cutting in virtual environments. ICRA Allison M. Okamura, Robert J. Webster III, Jason T. Nolin, K. W. Johnson, H. Jafry
2003	—	`conf`	Virtual Remote Center of Motion Control for Needle Placement Robots. MICCAI (1) Emad Boctor, Robert J. Webster III, Hervé Mathieu, Allison M. Okamura, Gabor Fichtinger
2002	A*	`conf`	The Electronic Ball Boy: A Reactive Visually Guided Mobile Robot for the Tennis Court. ICRA Robert J. Webster III, Alan S. Brannon