Publications

@article{Granna2016b,
title = {A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation},
author = {Josephine Granna and Isuru S Godage and Raul Wirz and Kyle D Weaver and Robert J {Webster III} and Jessica Burgner-Kahrs},
doi = {10.1109/LRA.2016.2528297},
year = {2016},
date = {2016-02-11},
journal = {IEEE Robotics and Automation Letters},
volume = {1},
number = {2},
pages = {876--883},
abstract = {This letter presents a new heuristic 3-D volume coverage path planning (VCPP) algorithm for robotic intracerebral hemorrhage evacuation. In contrast to existing 3-D planning techniques, the proposed algorithm generates 3-D paths without first decomposing the volume into series of 2-D planning problems. It considers the morphology of the volume to be covered and minimizes the configuration or task space distance traveled. The algorithm merges elements from existing grid-based and wavefront approaches and accommodates kinematic and environmental constraints, as well as obstacle avoidance. We provide both simulation and experimental demonstrations of the algorithm in the context of intracerebral hemorrhage evacuation where a curved, needle-like robot must suction out blood from within the brain by covering the interior of a semicoagulated blood-filled volume with its tip. We perform a simulation study with 7 patient datasets and compare the distance traveled with our new algorithm using a conventional 2-D layer-by-layer planning approach. We also perform 3 in vitro evacuation experiments on phantoms made to match patient hemorrhage geometries. Our results illustrate that the VCPP algorithm economizes motion and is more efficient than a layer-by-layer CPP approach.},
keywords = {concentric tube continuum robot, image-guided surgery, minimally-invasive surgery, motion planning},
pubstate = {published},
tppubtype = {article}
}

@article{Swaney2013,
title = {A flexure-based steerable needle: High curvature with reduced tissue damage},
author = {Philip J Swaney and Jessica Burgner and Hunter B Gilbert and Robert J {Webster III}},
doi = {10.1109/TBME.2012.2230001},
year = {2013},
date = {2013-01-01},
journal = {IEEE Transactions on Biomedical Engineering},
volume = {60},
number = {4},
pages = {906--909},
abstract = {In the quest to design higher curvature bevel-steered needles, kinked bevel-tips have been one of the most successful approaches yet proposed. However, the price to be paid for enhancing steerability in this way has been increased tissue damage, since the prebent tip cuts a local helical path into tissue when axially rotated. This is problematic when closed-loop control is desired, because the controller will typically require the needle to rotate rapidly, and it is particularly problematic when duty cycling (i.e., continual needle spinning) is used to adjust curvature. In this paper, we propose a new flexure-based needle tip design that provides the enhanced steerability of kinked bevel-tip needles, while simultaneously minimizing tissue damage.},
keywords = {image-guided surgery, medical robotics, needle design, steerable needle},
pubstate = {published},
tppubtype = {article}
}

@article{Burgner2013b,
title = {A study on the theoretical and practical accuracy of conoscopic holography-based surface measurements: Toward image registration in minimally invasive surgery},
author = {Jessica Burgner and Amber L Simpson and Michael J Fitzpatrick and Ray A Lathrop and Duke S Herrell and Michael I Miga and Robert J {Webster III}},
doi = {10.1002/rcs.1446},
year = {2013},
date = {2013-01-01},
journal = {International Journal of Medical Robotics and Computer Assisted Surgery},
volume = {9},
number = {2},
pages = {190--203},
abstract = {Background Registered medical images can assist with surgical navigation and enable image-guided therapy delivery. In soft tissues, surface-based registration is often used and can be facilitated by laser surface scanning. Tracked conoscopic holography (which provides distance measurements) has been recently proposed as a minimally invasive way to obtain surface scans. Moving this technique from concept to clinical use requires a rigorous accuracy evaluation, which is the purpose of our paper. Methods We adapt recent non-homogeneous and anisotropic point-based registration results to provide a theoretical framework for predicting the accuracy of tracked distance measurement systems. Experiments are conducted a complex objects of defined geometry, an anthropomorphic kidney phantom and a human cadaver kidney. Results Experiments agree with model predictions, producing point RMS errors consistently<1 mm, surface-based registration with mean closest point error<1 mm in the phantom and a RMS target registration error of 0.8 mm in the human cadaver kidney. Conclusions Tracked conoscopic holography is clinically viable; it enables minimally invasive surface scan accuracy comparable to current clinical methods that require open surgery. Copyright (c) 2012 John Wiley & Sons, Ltd.},
keywords = {Accuracy, Conoscopic holography, image-guided surgery, Registration, Surface measurement},
pubstate = {published},
tppubtype = {article}
}