Publications

2022

Derivation and Evaluation of a Kinetostatic Modeling Approach for Spatial Tendon Driven Parallel Continuum Robots.

Sven Lilge, Jessica Burgner-Kahrs

Derivation and Evaluation of a Kinetostatic Modeling Approach for Spatial Tendon Driven Parallel Continuum Robots. Inproceedings

Workshop on New Frontiers of Parallel Robotics. IEEE International Conference on Robotics and Automation, 2022

BibTeX, Details | Tags: modeling parallel_continuum_robots tendon_driven

Multiple Curvatures in a Tendon-Driven Continuum Robot Using a Novel Magnetic Locking Mechanism.

Chloe Pogue, Priyanka Rao, Quentin Peyron, Jongwoo Kim, Jessica Burgner-Kahrs, Eric D. Diller

Multiple Curvatures in a Tendon-Driven Continuum Robot Using a Novel Magnetic Locking Mechanism. Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

BibTeX, Details | Tags: design magnetic_locking tendon_driven

A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots

Reinhard M. Grassmann, Ryan Z. Chen, Nan Liang, Jessica Burgner-Kahrs

A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

BibTeX, Details | Tags: concentric_tube dataset machine_learning modeling

A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots

Reinhard M. Grassmann, Ryan Z. Chen, Nan Liang, Jessica Burgner-Kahrs

A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots Inproceedings

Workshop on Learning from Diverse, Offline Data (L-DOD), Robotics -- Science & Systems, 2022

BibTeX, Link, Details | Tags: concentric_tube dataset machine_learning modeling

Modelling and Analysis of Tendon-Driven Parallel Continuum Robots under Constant Curvature and Pseudo-Rigid Body Assumptions.

Kefei Wen, Jessica Burgner-Kahrs

Modelling and Analysis of Tendon-Driven Parallel Continuum Robots under Constant Curvature and Pseudo-Rigid Body Assumptions. Journal Article

Journal of Mechanisms and Robotics, 2022

BibTeX, Details | Tags: modeling parallel_continuum_robots tendon_driven

Cooperative control of dual-arm concentric tube continuum robots

H.J. Zhang, S. Lilge, M.T. Chikhaoui, J. Burgner-Kahrs

Cooperative control of dual-arm concentric tube continuum robots Inproceedings

International Conference on Manipulation, Automation and Robotics at Small Scales, 2022

BibTeX, Details | Tags: control collaborating_continuum_robots hri teleoperation

Shape Representation and Modeling of Tendon-Driven Continuum Robots Using Euler Arc Splines

P. Rao, Q. Peyron and J. Burgner-Kahrs

Shape Representation and Modeling of Tendon-Driven Continuum Robots Using Euler Arc Splines Journal Article

IEEE Robotics and Automation Letters, 7 (3), pp. 8114 - 8121, 2022

BibTeX, Details | Tags: modeling tendon_actuated tendon_driven

FAS -- A Fully Actuated Segment for Tendon-Driven Continuum Robots

Grassmann, Reinhard M; Rao, Priyanka; Peyron, Quentin; Burgner-Kahrs, Jessica

FAS -- A Fully Actuated Segment for Tendon-Driven Continuum Robots Journal Article

Frontiers in Robotics and AI, (in press), 2022

BibTeX, DOI, Details | Tags: control collaborating_continuum_robots hri teleoperation

2021

Design, Modeling and Evaluation of Tendon Driven Parallel Continuum Robots

Lilge, Sven and Burgner-Kahrs, Jessica

Design, Modeling and Evaluation of Tendon Driven Parallel Continuum Robots Inproceedings

Workshop on Parallel Robot or not Parallel Robots? New Frontiers of Parallel Robotics, IEEE International Conference on Robotics and Automation, 2021

BibTeX, Details | Tags: parallel_continuum_robot tendon_actuated tendon_driven continuum_robot

Kinematic and Singularity Analysis of Tendon-Driven Parallel Continuum Robots

Wen, Kefei and Burgner-Kahrs, Jessica

Kinematic and Singularity Analysis of Tendon-Driven Parallel Continuum Robots Inproceedings

Workshop on Parallel Robot or not Parallel Robots? New Frontiers of Parallel Robotics, IEEE International Conference on Robotics and Automation, 2021

BibTeX, Details | Tags: parallel_continuum_robot tendon_actuated tendon_driven continuum_robot

Task-Based Autonomous Control of A Dual Arm Concentric Tube Continuum Robot For Single-Port Surgery

Zhang, Hanna J. and Lilge, Sven and Chikhaoui, Mohamed Taha and Burgner-Kahrs, Jessica

Task-Based Autonomous Control of A Dual Arm Concentric Tube Continuum Robot For Single-Port Surgery Inproceedings

Hamlyn Symposium on Medical Robotics, 2021

BibTeX, Link, Details | Tags: modelling concentric_tube surgery

Concentric Tube Path Planning for Epilepsy with 3D Slicer

Zou, Zhiling and Burgner-Kahrs, Jessica and Looi, Thomas

Concentric Tube Path Planning for Epilepsy with 3D Slicer Inproceedings

Hamlyn Symposium on Medical Robotics, 2021

BibTeX, Link, Details | Tags: modelling concentric_tube

Learning-based Methods for Concentric Tube Continuum Robots Modeling and Shape Estimation

Liang, Nan

Learning-based Methods for Concentric Tube Continuum Robots Modeling and Shape Estimation Master Thesis

University of Toronto, 2021

BibTeX, Link, Details | Tags: concentric_tube continuum_robot machine_learning modeling shape_estimation

Using Euler Curves to Model Continuum Robots

Rao, Priyanka; Peyron, Quentin; Burgner-Kahrs, Jessica

Using Euler Curves to Model Continuum Robots Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), 2021

BibTeX, DOI, Details | Tags: continuum_robot modeling tendon_driven

Learning-based Methods for Concentric Tube Continuum Robots Modeling and Shape Estimation

Liang, Nan; Grassmann, Reinhard M; Burgner-Kahrs, Jessica

Learning-based Methods for Concentric Tube Continuum Robots Modeling and Shape Estimation Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), 2021

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot machine_learning modeling shape_estimation

Design of Lightweight and Extensible Tendon-Driven Continuum Robots using Origami Patterns

Xu, Yunti; Peyron, Quentin; Kim, Jongwoo; Burgner-Kahrs, Jessica

Design of Lightweight and Extensible Tendon-Driven Continuum Robots using Origami Patterns Inproceedings

4th IEEE International Conference on Soft Robotics (RoboSoft), 2021

BibTeX, DOI, Details | Tags: continuum_robot design extensible follow_the_leader origami tendon_driven

Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation, Bending and Twisting

Modes, Vincent; Ortmaier, Tobias; Burgner-Kahrs, Jessica

Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation, Bending and Twisting Journal Article

IEEE Sensors Journal, 21 (5), pp. 6712-6723, 2021

BibTeX, DOI, Details | Tags: continuum_robot modeling shape_sensing

Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains

Böttcher, Georg; Lilge, Sven; Burgner-Kahrs, Jessica

Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains Journal Article

IEEE Robotics and Automation Letters, 6 (2), pp. 1272 - 1279, 2021

BibTeX, DOI, Details | Tags: collaborating_continuum_robots design parallel_continuum_robot tendon_driven continuum_robots

How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

Rao, Priyanka; Peyron, Quentin; Lilge, Sven; Burgner-Kahrs, Jessica

How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance Journal Article

Frontiers in Robotics and AI, 7 (630245), pp. 20, 2021

BibTeX, Link, Details | Tags: modeling tendon_actuated tendon_driven continuum_robot

Tendon-driven Continuum Robots with Extensible Sections - A Model-based Evaluation of Path Following Motions

Amanov, E; Nguyen, T -D; Burgner-Kahrs, J

Tendon-driven Continuum Robots with Extensible Sections - A Model-based Evaluation of Path Following Motions Journal Article

International Journal of Robotics Research, 40 (1), pp. 7-23, 2021

BibTeX, DOI, Details | Tags: continuum_robot continuum_robot design extensible follow_the_leader tendon_actuated tendon_driven accuracy

2020

Tendon Actuated Continuous Structures in Planar Parallel Robots -- A Kinematic Analysis

Lilge, Sven; Nuelle, Kathrin; Böttcher, Georg; Spindeldreier, Svenja; Burgner-Kahrs, Jessica

Tendon Actuated Continuous Structures in Planar Parallel Robots -- A Kinematic Analysis Journal Article

ASME Journal of Mechanisms and Robotics, 13 (1), pp. 011025 (11 pages), 2020

BibTeX, Link, Details | Tags: design modeling parallel_continuum_robot tendon_actuated tendon_driven continuum_robot

Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection

Donat, Heiko; Lilge, Sven; Burgner-Kahrs, Jessica; Steil, Jochen J

Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection Journal Article

IEEE Transactions on Medical Robotics and Bionics , 2 (4), pp. 619-630, 2020

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot machine_learning sensing

Making sense of the robotized pandemic response - a comparison of global and Canadian robot deployments and success factor

Barfoot, T; Burgner-Kahrs, Jessica; Diller, E; Garg, A; Goldenberg, A; Kelly, J; Liu, X; Naguib, H E; Nejat, G; Schoellig, A P; Shkurti, F; Siegel, H; Sun, Y; Waslander, S L

Making sense of the robotized pandemic response - a comparison of global and Canadian robot deployments and success factor Technical Report

University of Toronto Robotics Institute, 2020

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot machine_learning sensing

Modeling, Calibration, and Evaluation of a Planar Parallel Continuum Robot based on Tendon Actuation

Nuelle, Kathrin; Sterneck, Tim; Lilge, Sven; Xiong, Dhezu; Burgner-Kahrs, Jessica; Ortmaier, Tobias

Modeling, Calibration, and Evaluation of a Planar Parallel Continuum Robot based on Tendon Actuation Technical Report

IEEE Robotics & Automation Letter, 5 (4), pp. 5811 - 5818, 2020

BibTeX, DOI, Details | Tags: continuum_robot control design modeling parallel_continuum robot tendon_actuated tendon_driven calibration

CTCR Prototype Development - An Obstacle in the Research Community?

Grassmann, Reinhard; Lilge, Sven; Le, Phuong; Burgner-Kahrs, Jessica

CTCR Prototype Development - An Obstacle in the Research Community? Inproceedings

RSS 2020 Workshop RobRetro, 2020

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot retrospective

Calibration of Concentric Tube Continuum Robots - Automatic Alignment of Precurved Elastic Tubes

Modes, Vincent; Burgner-Kahrs, Jessica

Calibration of Concentric Tube Continuum Robots - Automatic Alignment of Precurved Elastic Tubes Journal Article

IEEE Robotics and Automation Letters, 5 (1), pp. 103–110, 2020

BibTeX, DOI, Details | Tags: accuracy calibration concentric_tube continuum_robot

2019

Multi-Objective Particle Swarm Optimization for the Structural Design of Concentric Tube Continuum Robots for Medical Applications

Granna, Josephine

Multi-Objective Particle Swarm Optimization for the Structural Design of Concentric Tube Continuum Robots for Medical Applications PhD Thesis

Leibniz University Hannover, 2019

BibTeX, DOI, Details | Tags: computational_design concentric_tube continuum_robot minimally_invasive_surgery trajectory_planning

Designing a robotic port system for laparo-endoscopic single-site surgery

Amanov, Ernar

Designing a robotic port system for laparo-endoscopic single-site surgery PhD Thesis

Leibniz University Hannover, 2019

BibTeX, DOI, Details | Tags: tendon_driven_continuum_robots design medical_robotics minimally_invasive_surgery soft_robot stiffening tendon_actuated continuum_robot

Smooth Orientation Trajectory Generator Respecting Kinematic Limits

Grassmann, Reinhard; Burgner-Kahrs, Jessica

Smooth Orientation Trajectory Generator Respecting Kinematic Limits Inproceedings

IEEE-RAS International Conference on Humanoid Robots, 2019

BibTeX, DOI, Details | Tags: continuum_robot quaternion robotics trajectory_planning

Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space

Grassmann, Reinhard; Burgner-Kahrs, Jessica

Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space Journal Article

IEEE Robotics and Automation Letters, 4 (4), pp. 4192–4199, 2019

BibTeX, DOI, Details | Tags: continuum_robot quaternion robotics trajectory_planning

On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3)

Grassmann, Reinhard; Burgner-Kahrs, Jessica

On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3) Inproceedings

Robotics - Science and Systems Conference, 10 pages, 2019

BibTeX, Link, Details | Tags: concentric_tube continuum_robot machine_learning robotics

Towards Learning Force Sensing for a Concentric Tube Continuum Robot

Donat, Heiko; Lilge, Sven; Steil, Jochen; Burgner-Kahrs, Jessica

Towards Learning Force Sensing for a Concentric Tube Continuum Robot Inproceedings

Workshop on Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems, IEEE International Conference on Robotics and Automation, 2019

BibTeX, Link, Details | Tags: concentric_tube continuum_robot machine_learning

Controlling Concentric Tube Robots while Enforcing Shape Constraints

Lilge, Sven; Burgner-Kahrs, Jessica

Controlling Concentric Tube Robots while Enforcing Shape Constraints Inproceedings

Workshop on Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems, IEEE International Conference on Robotics and Automation, 2019

BibTeX, Details | Tags: concentric_tube continuum_robot shape_constraint

Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot

Black, David; Lilge, Sven; Fellmann, Carolin; Reinschluessel, Anke V; Kreuer, Lars; Nabavi, Arya; Hahn, Horst K; Kikinis, Ron; Burgner-Kahrs, Jessica

Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot Journal Article

Journal of Medical Robotics Research, 4 (2), pp. 1950004, 2019

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot hri teleoperation

Computer-assisted planning for a concentric tube robotic system in neurosurgery

Granna, Josephine; Nabavi, Arya; Burgner-Kahrs, Jessica

Computer-assisted planning for a concentric tube robotic system in neurosurgery Journal Article

International Journal of Computer Assisted Radiology and Surgery, 14 (2), pp. 335–344, 2019

BibTeX, Link, Details | Tags: computational_design concentric_tube continuum_robot minimally_invasive_surgery planning surgery

Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments

Chikhaoui, Mohamed Taha; Lilge, Sven; Kleinschmidt, Simon; Burgner-Kahrs, Jessica

Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments Journal Article

IEEE Robotics & Automation Letters, 4 (2), pp. 989 - 996, 2019

BibTeX, DOI, Details | Tags: continuum_robot extensible modeling tendon_actuated

2018

Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3)

Grassmann, Reinhard; Modes, Vincent; Burgner-Kahrs, Jessica

Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3) Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5125-5132, 2018

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot machine_learning modeling

Comparison of Haptic and Auditory Feedback Methods for the Teleoperation of Concentric Tube Continuum Robots

Lilge, Sven; Black, David; Nabavi, Arya; Burgner-Kahrs, Jessica

Comparison of Haptic and Auditory Feedback Methods for the Teleoperation of Concentric Tube Continuum Robots Inproceedings

Conference -- 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter-assistierte Chirurgie (CURAC)At -- Leipzig, Germany, 2018

BibTeX, Link, Details | Tags: concentric_tube continuum_robot hri teleoperation

Curvature and Shape Sensing for Continuum Robotics using Draw Tower Gratings in Multi Core Fiber

Van Roosbroeck, J; Modes, V; Lindner, E; van Hoe, B; Voigtlander, C; Vlekken, J; Burgner-Kahrs, J

Curvature and Shape Sensing for Continuum Robotics using Draw Tower Gratings in Multi Core Fiber Inproceedings

26th International Conference on Optical Fiber Sensors (OFS), 2018

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot fbg sensing

Eye-in-Hand Visual Servoing of Concentric Tube Robots

Kudryavtsev, Andrey V; Chikhaoui, Mohamed Taha; Liadov, Aleksandr; Rougeot, Patrick; Spindler, Fabien; Rabenorosoa, Kanty; Burgner-Kahrs, Jessica; Tamadazte, Brahim; Andreff, Nicolas

Eye-in-Hand Visual Servoing of Concentric Tube Robots Journal Article

IEEE Robotics & Automation Letters, 3 (3), pp. 2315-2321, 2018

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot control visual_servoing

Teleoperated Tubular Continuum Robots for Transoral Surgery - Feasibility in a Porcine Larynx Model

Friedrich, D T; Modes, V; Hoffmann, T K; Greve, J; Schuler, P J; Burgner-Kahrs, J

Teleoperated Tubular Continuum Robots for Transoral Surgery - Feasibility in a Porcine Larynx Model Journal Article

International Journal of Medical Robotics and Computer Assisted Surgery, 14 (5), pp. e1928 (7pages), 2018

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot hri minimally_invasive_surgery surgery teleoperation

Control of Continuum Robots for Medical Applications - State of the Art

Chikhaoui, Mohamed Taha; Burgner-Kahrs, Jessica

Control of Continuum Robots for Medical Applications - State of the Art Inproceedings

International Conference and Exhibition on New Actuators and Drive Systems, pp. 154-164, VDE VERLAG GMBH, 2018

BibTeX, Link, Details | Tags: continuum_robot control minimally_invasive_surgery surgery

Stiffening Sheaths for Continuum Robots

Langer, Marlene; Amanov, Ernar; Burgner-Kahrs, Jessica

Stiffening Sheaths for Continuum Robots Journal Article

Soft Robotics, 5 (3), pp. 291-303, 2018

BibTeX, DOI, Details | Tags: continuum_robot design granular_jamming layer_jamming soft_robot stiffening

Towards Concentric Tube Robots for Microsurgery - First Results in Eye-to-hand Visual Servoing

Modes, Vincent; Ihler, Sontje; Nabavi, Arya; Ortmaier, Tobias; Kahrs, Lüder A; Burgner-Kahrs, Jessica

Towards Concentric Tube Robots for Microsurgery - First Results in Eye-to-hand Visual Servoing Inproceedings

The Hamlyn Symposium on Medical Robotics, pp. 77–78, 2018

BibTeX, Details | Tags: accuracy concentric_tube continuum_robot minimally_invasive_surgery visual_servoing

Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy

Amanov, Ernar; Nguyen, Thien-Dang; Markmann, Steffen; Imkamp, Florian; Burgner-Kahrs, Jessica

Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy Journal Article

Annals of Biomedical Engineering, 46 (10), pp. 1498-1510, 2018

BibTeX, Link, Details | Tags: continuum_robots design layer_jamming minimally_invasive-surgery soft_robot tendon_actuated tendon_driven continuum_robot

Towards Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots

Chikhaoui, Mohamed Taha; Granna, Josephine; Starke, Julia; Burgner-Kahrs, Jessica

Towards Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots Journal Article

IEEE Robotics & Automation Letters, 3 (3), pp. 1793-1800, 2018

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot control teleoperation

2017

On the Merits of Helical Tendon Routing in Continuum Robots

Starke, Julia; Amanov, Ernar; Chikhaoui, Mohamed Taha; Burgner-Kahrs, Jessica

On the Merits of Helical Tendon Routing in Continuum Robots Inproceedings

IEEE International Conference on Robotics and Automation, pp. 6470–6476, 2017

BibTeX, DOI, Details | Tags: design tendon_actuated tendon_driven continuum_robot

Toward Improving Path Following Motion - Hybrid Continuum Robot Design

Amanov, E; Granna, J; Burgner-Kahrs, J

Toward Improving Path Following Motion - Hybrid Continuum Robot Design Inproceedings

IEEE International Conference on Robotics and Automation, pp. 4666-4672, 2017

BibTeX, DOI, Details | Tags: continuum_robot design extensible follow_the_leader tendon_actuated

Towards Handheld Continuum Robots

Modes, V; Nguyen, Thien-Dang; Burgner-Kahrs, J

Towards Handheld Continuum Robots Inproceedings

DGR Days (German Society of Robotics), pp. 20, 2017

BibTeX, Details | Tags: continuum_robot design

Elektrodenanordnung eines Cochlea-Implantats, automatisierten Betätigungseinrichtung sowie Verwendung eines tubulären Manipulators

Rau, T S; Granna, J; Burgner-Kahrs, J; Majdani, O

Elektrodenanordnung eines Cochlea-Implantats, automatisierten Betätigungseinrichtung sowie Verwendung eines tubulären Manipulators Patent

DE 10 2015 115 525, 2017

BibTeX, Details | Tags: continuum_robot design

Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical Instruments

Swaney, Philip J; York, Peter A; Gilbert, Hunter B; Burgner-Kahrs, Jessica; III, Robert Webster J

Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical Instruments Journal Article

Journal of Medical Devices, 11 (1), pp. 014501 (9 pages), 2017

BibTeX, Details | Tags: computational_design concentric_tube continuum_robot minimally_invasive_surgery

Tubuläre Kontinuumsmanipulatoren -- Erste Schritte für den Einsatz in der retrograden, intrarenalen Chirurgie

Imkamp, F; Bormann, M; Granna, J; Burgner-Kahrs, J

Tubuläre Kontinuumsmanipulatoren -- Erste Schritte für den Einsatz in der retrograden, intrarenalen Chirurgie Inproceedings

11. Nordkongress Urologie, 2017

BibTeX, Details | Tags:

Tagungsband 16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie

Burgner-Kahrs, J; Kahrs, L A; Modes, V; Chikhaoui, M T; Nabavi, A

Tagungsband 16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie Book

PZH Verlag, ISBN -- 978-3-95900-158-8., 2017

BibTeX, Details | Tags:

First Results on a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy

Amanov, E; Nguyen, Thien-Dang; Imkamp, Florian; Burgner-Kahrs, J

First Results on a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy Inproceedings

The Hamlyn Symposium on Medical Robotics, pp. 91–92, 2017

BibTeX, Details | Tags: continuum_robot design minimally_invasive_surgery tendon_actuated tendon_driven continuum_robots

Tubuläre Kontinuumsmanipulatoren -- Erste Schritte für den Einsatz in der retrograden, intrarenalen Chirurgie

Imkamp, F; Bormann, M; Granna, J; Burgner-Kahrs, J

Tubuläre Kontinuumsmanipulatoren -- Erste Schritte für den Einsatz in der retrograden, intrarenalen Chirurgie Inproceedings

69. Kongress der Deutschen Gesellschaft für Urologie e.V., 2017

BibTeX, Details | Tags:

A Manual Actuation System for Laser Induced Thermal Therapy of Malignant Brain Tumors

Granna, J; Graf, A; Nabavi, A; Burgner-Kahrs, J

A Manual Actuation System for Laser Induced Thermal Therapy of Malignant Brain Tumors Inproceedings

16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter-assistierte Chirurgie e.V, pp. 125–130, 2017

BibTeX, Details | Tags: computational_design concentric_tube continuum_robot minimally_invasive_surgery

Erste präklinische Erprobung eines neuartigen Kontinuumsroboters für transorale Larynxchirurgie

Friedrich, D T; Modes, V; Hoffmann, T K; Greve, J; Schuler, P J; Burgner-Kahrs, J

Erste präklinische Erprobung eines neuartigen Kontinuumsroboters für transorale Larynxchirurgie Inproceedings

16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter-assistierte Chirurgie e.V, pp. 120–122, 2017

BibTeX, Details | Tags: computational_design concentric_tube continuum_robot minimally_invasive_surgery trajectory_planning surgery design

Entwicklung von Kontrollalgorithmen für die Teleoperation von tubulären Kontinuumsrobotern

Kreuer, L J; Lilge, S; Burgner-Kahrs, J

Entwicklung von Kontrollalgorithmen für die Teleoperation von tubulären Kontinuumsrobotern Inproceedings

16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter-assistierte Chirurgie e.V., pp. 79–84, 2017

BibTeX, Details | Tags: computational_design concentric_tube continuum_robot minimally_invasive_surgery trajectory_planning

Toward Computer-Assisted Planning for Interstitial Laser Ablation of Malignant Brain Tumors Using a Tubular Continuum Robot

Granna, Josephine; Nabavi, Arya; Burgner-Kahrs, Jessica

Toward Computer-Assisted Planning for Interstitial Laser Ablation of Malignant Brain Tumors Using a Tubular Continuum Robot Inproceedings

Medical Image Computing and Computer-Assisted Intervention - MICCAI 2017; 20th International Conference, Proceedings, Part II, pp. 557–565, 2017

BibTeX, Link, Details | Tags: computational_design concentric_tube continuum_robot minimally_invasive_surgery trajectory_planning

How Can the Characteristics of Continuum Robots Be Optimized for a Specific Medical Application?

Burgner-Kahrs, J

How Can the Characteristics of Continuum Robots Be Optimized for a Specific Medical Application? Journal Article

Latest Thinking, ISSN; 25105183., 2017

BibTeX, Link, Details | Tags: computational_design concentric_tube continuum_robot minimally_invasive_surgery

Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evacuation

Granna, Josephine; Guo, Yi; Weaver, Kyle D; Burgner-Kahrs, Jessica

Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evacuation Journal Article

Journal of Medical Robotics Research, 2 (1), pp. 1750004 (9 pages), 2017

BibTeX, DOI, Details | Tags: continuum_robot design

2016

Towards Universal Continuum Manipulators

Amanov, Ernar; Burgner-Kahrs, Jessica

Towards Universal Continuum Manipulators Inproceedings

28th Conference of the international Society for Medical Innovation and Technology, 2016

BibTeX, Details | Tags: continuum_robot design

Initial Investigations toward a Flexible Variable Stiffness Single Port System for Partial Nephrectomy

Amanov, Ernar; Imkamp, Florian; Burgner-Kahrs, Jessica

Initial Investigations toward a Flexible Variable Stiffness Single Port System for Partial Nephrectomy Inproceedings

Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 93–98, 2016

BibTeX, Details | Tags:

Considerations for follow-the-leader motion of extensible tendon-driven continuum robots

Neumann, Maria; Burgner-Kahrs, Jessica

Considerations for follow-the-leader motion of extensible tendon-driven continuum robots Inproceedings

IEEE International Conference on Robotics and Automation, pp. 917–923, ISBN -- 978-1-4673-8026-3., 2016

BibTeX, DOI, Details | Tags: continuum_robot extensible follow_the_leader motion_planning tendon_actuated tendon_driven

METABot - Magnetic Extensible Tendon Actuated Continuum Robot

Amanov, E; Nguyen, Thien-Dang; Burgner-Kahrs, J

METABot - Magnetic Extensible Tendon Actuated Continuum Robot Inproceedings

DGR Days (German Society of Robotics), 2016

BibTeX, Details | Tags: continuum_robot extensible follow_the_leader motion_planning tendon_actuated tendon_driven

Rapid Motion Planning for Intracerebral Hemorrhage Evacuation using a Tubular Aspiration Robot

Granna, Josephine; Vornehm, Yannick; Fellmann, Carolin; Burgner-Kahrs, Jessica

Rapid Motion Planning for Intracerebral Hemorrhage Evacuation using a Tubular Aspiration Robot Inproceedings

DGR Days (German Society of Robotics), 2016

BibTeX, Details | Tags: continuum_robot concentric_tube minimally_invasive_surgery motion_planning

Working Mechanism

Burgner-Kahrs, J; Nguyen, Thien-Dang

Working Mechanism Patent

WO 2016/045658 A1, 2016

BibTeX, Details | Tags: continuum_robot extensible follow_the_leader motion_planning tendon_actuated tendon_driven

Toward automated cochlear implant insertion using tubular manipulators

Granna, Josephine; Rau, Thomas S; Nguyen, Thien-Dang; Lenarz, Thomas; Majdani, Omid; Burgner-Kahrs, Jessica

Toward automated cochlear implant insertion using tubular manipulators Inproceedings

Proceedings of SPIE 9786, Medical Imaging, pp. 97861F-1–8, 2016

BibTeX, Link, Details | Tags: computational_design concentric_tube continuum_robot minimally_invasive_surgery

A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation

Granna, Josephine; Godage, Isuru S; Wirz, Raul; Weaver, Kyle D; Webster III, Robert J; Burgner-Kahrs, Jessica

A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation Journal Article

IEEE Robotics and Automation Letters, 1 (2), pp. 876–883, 2016

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot image_guided_surgery minimally_invasive_surgery motion_planning

Initial Feasibility Study for Transurethral Kidney Surgery using a Tubular Continuum Manipulator

Bormann, Malte; Granna, Josephine; Imkamp, Florian; Burgner-Kahrs, Jessica

Initial Feasibility Study for Transurethral Kidney Surgery using a Tubular Continuum Manipulator Inproceedings

Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 81–86, 2016

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A novel method for texture-mapping conoscopic surfaces for minimally invasive image-guided kidney surgery

Ong, Rowena; Glisson, Courtenay L; Burgner-Kahrs, Jessica; Simpson, Amber; Danilchenko, Andrei; Lathrop, Ray; Herrell, Duke S; Webster, Robert J; Miga, Michael; Galloway, Robert L

A novel method for texture-mapping conoscopic surfaces for minimally invasive image-guided kidney surgery Journal Article

International Journal of Computer Assisted Radiology and Surgery, 11 (8), pp. 1515–1526, 2016

BibTeX, Link, Details | Tags: conoscopic_holography minimally_invasive_surgery

2015

Arbeitsmechanismus

Burgner-Kahrs, Jessica; Nguyen, Thien-Dang

Arbeitsmechanismus Patent

DE 102014113962 B3, 2015

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Continuum Robots for Medical Applications - A Survey

Burgner-Kahrs, Jessica; Rucker, Caleb D; Choset, Howie

Continuum Robots for Medical Applications - A Survey Journal Article

IEEE Transactions on Robotics, 31 (6), pp. 1261-1280, 2015

BibTeX, DOI, Details | Tags: trajectory_planning continuum_robot control design minimally_invasive_surgery modeling motion_planning survey computational_design

A Tendon-Driven Continuum Robot with Extensible Sections

Nguyen, Thien-Dang; Burgner-Kahrs, Jessica

A Tendon-Driven Continuum Robot with Extensible Sections Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

BibTeX, DOI, Details | Tags: continuum_robot extensible follow_the_leader tendon_actuated tendon_driven continuum_robots

System, Method, And Apparatus For Configuration, Design, And Operation Of An Active Cannula Robot

Swaney, Philip J; Lathrop, Ray; Burgner, Jessica; Weaver, Kyle; Gilbert, Hunter B; III, Robert Webster J; Comber, David B

System, Method, And Apparatus For Configuration, Design, And Operation Of An Active Cannula Robot Patent

US 2015/0223832 A1, 2015

BibTeX, Details | Tags: continuum_robot extensible design

Wir brauchen kreative Veränderungen

Burgner-Kahrs, Jessica

Wir brauchen kreative Veränderungen Journal Article

Forschung & Lehre, 05/15 , pp. 364, 2015

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Tubular Manipulators -- A New Concept for Intracochlear Positioning of an Auditory Prosthesis

Rau, Thomas S; Granna, Josephine; Lenarz, Thomas; Majdani, Omid; Burgner-Kahrs, Jessica

Tubular Manipulators -- A New Concept for Intracochlear Positioning of an Auditory Prosthesis Journal Article

Current Directions in Biomedical Engineering, (1), pp. 515-518, 2015

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Konzept für die Elektrodeninsertion von Cochlea-Implantaten mit tubulären Manipulatoren

Godage, Isuru; Remirez, Andria A; Wirz, Raul; Weaver, Kyle D; Burgner-Kahrs, Jessica; Webster III, Robert J

Konzept für die Elektrodeninsertion von Cochlea-Implantaten mit tubulären Manipulatoren Inproceedings

14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 299-304, 2015

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Robotic Intracerebral Hemorrhage Evacuation -- An In-Scanner Approach with Concentric Tube Robots

Godage, Isuru; Remirez, Andria A; Wirz, Raul; Weaver, Kyle D; Burgner-Kahrs, Jessica; Webster III, Robert J

Robotic Intracerebral Hemorrhage Evacuation -- An In-Scanner Approach with Concentric Tube Robots Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1447-1452, 2015

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Implications of Trajectory Generation Strategies for Tubular Continuum Robots

Fellmann, Carolin; Burgner-Kahrs, Jessica

Implications of Trajectory Generation Strategies for Tubular Continuum Robots Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 202-208, 2015

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Task-specific Design of Tubular Continuum Robots for Surgical Applications

Burgner-Kahrs, Jessica

Task-specific Design of Tubular Continuum Robots for Surgical Applications Incollection

Verl, A; Albu-Schäffer, A; Brock, O; Raatz, A (Ed.) -- Soft Robotics - From Theory to Applications, pp. 220–230, Springer, ISBN -- 978-3-662-44505-1., 2015

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Can Coffee improve Image Guidance?

Wirz, Raul; Lathrop, Ray A; Burgner-Kahrs, Jessica; Russell III, Paul T; Webster III, Robert J

Can Coffee improve Image Guidance? Inproceedings

Proceedings of SPIE 9415, Medical Imaging, pp. 941513 (12 pages), 2015

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Evaluation of input devices for teleoperation of concentric tube continuum robots for surgical tasks

Fellmann, Carolin; Kashi, Daryoush; Burgner-Kahrs, Jessica

Evaluation of input devices for teleoperation of concentric tube continuum robots for surgical tasks Inproceedings

Proceedings of SPIE 9415, Medical Imaging, pp. 94151O (9), 2015

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Additive Manufacturing of Patient-Specific Tubular Continuum Manipulators

Amanov, Ernar; Ngyuen, Thien-Dang; Burgner-Kahrs, Jessica

Additive Manufacturing of Patient-Specific Tubular Continuum Manipulators Inproceedings

Proceedings of SPIE 9415, Medical Imaging, pp. 94151P, 2015

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Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evcuation

Guo, Yi; Granna, Josephine; Weaver, Kyle D; Webster III, Robert J; Burgner-Kahrs, Jessica

Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evcuation Inproceedings

The Hamlyn Symposium on Medical Robotics, pp. 9–10, 2015

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Anwendungsspezifische Evaluierung eines gestenbasierten Eingabegerätes für die Teleoperation von tubulären Kontinuumsrobotern

Fellmann, Carolin; Nabavi, Arya; Burgner-Kahrs, Jessica

Anwendungsspezifische Evaluierung eines gestenbasierten Eingabegerätes für die Teleoperation von tubulären Kontinuumsrobotern Inproceedings

14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 17-22, 2015

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Generelle und anwendungsspezifische Genauigkeitsuntersuchungen für tubuläre Kontinuumsroboter

Amanov, Ernar; Burgner-Kahrs, Jessica

Generelle und anwendungsspezifische Genauigkeitsuntersuchungen für tubuläre Kontinuumsroboter Inproceedings

14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 3-8, 2015

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Toward Concentric Tube Manipulators for Cochlear Implant Positioning

Granna, J; Rau, T S; Majdani, O; Burgner-Kahrs, J

Toward Concentric Tube Manipulators for Cochlear Implant Positioning Inproceedings

Workshop Proceeding Navigation and Actuation of Flexible Instruments in Medical Applications (NAFIMA),, pp. 22-23, 2015

BibTeX, Details | Tags: continuum_robot extensible concentric_tube

2014

Characterizing the Workspace of Concentric Tube Continuum Robots

Granna, Josephine; Burgner, Jessica

Characterizing the Workspace of Concentric Tube Continuum Robots Inproceedings

41st International Symposium on Robotics, pp. 730–736, ISBN -- 978-3-8007-3601-0., 2014

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Workspace Characterization for Concentric Tube Continuum Robots

Burgner, Jessica; Gilbert, Hunter B; Granna, Josephine; Swaney, Philip J; Webster III, Robert J

Workspace Characterization for Concentric Tube Continuum Robots Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1269–1275, 2014

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Initial Experiences Using Vibratory Touchscreens to Display Graphical Math Concepts to Students with Visual Impairments

Gorlewicz, Jenna L; Burgner, Jessica; Withrow, Thomas J; Webster III, Robert J

Initial Experiences Using Vibratory Touchscreens to Display Graphical Math Concepts to Students with Visual Impairments Journal Article

Journal of Special Education Technology, 29 (2), pp. 17–25, 2014

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Needle Steering in 3-D Via Rapid Replanning

Patil, Sachin; Burgner, Jessica; Webster III, Robert J; Alterovitz, Ron

Needle Steering in 3-D Via Rapid Replanning Journal Article

IEEE Transactions on Robotics, 30 (4), pp. 853–864, 2014

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A Telerobotic System for Transnasal Surgery

Burgner, Jessica; Rucker, Caleb D; Gilbert, Hunter B; Swaney, Philip J; Russell, Paul T; Weaver, Kyle D; Webster III, Robert J

A Telerobotic System for Transnasal Surgery Journal Article

IEEE/ASME Transactions on Mechatronics, 19 (3), pp. 996–1006, 2014

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2013

Debulking from within -- A robotic steerable cannula for intracerebral hemorrhage evacuation.

Burgner, Jessica; Swaney, Philip J; Lathrop, Ray A; Weaver, Kyle D; Webster III, Robert J

Debulking from within -- A robotic steerable cannula for intracerebral hemorrhage evacuation. Journal Article

IEEE Transactions on Biomedical Engineering, 60 (9), pp. 2567–2575, 2013

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Minimally-Invasive Intracerebral Hemorrhage Removal Using An Active Cannula

Swaney, Philip J; Burgner, Jessica; Lathrop, Ray A; Gilbert, Hunter B; Weaver, Kyle D; Webster III, Robert J

Minimally-Invasive Intracerebral Hemorrhage Removal Using An Active Cannula Inproceedings

IEEE International Conference on Robotics and Automation, pp. 219–224, 2013

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A flexure-based wrist for needle-sized surgical robots

Losey, Dylan P; York, Peter A; Swaney, Philip J; Burgner, Jessica; Webster III, Robert J

A flexure-based wrist for needle-sized surgical robots Inproceedings

Proceedings SPIE 8671, Medical Imaging, pp. 86711G-1–9, 2013

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On the Computational Design of Concentric Tube Robots -- Incorporating Volume-Based Objectives

Burgner, Jessica; Gilbert, Hunter B; Webster III, Robert J

On the Computational Design of Concentric Tube Robots -- Incorporating Volume-Based Objectives Inproceedings

IEEE International Conference on Robotics and Automation, pp. 1193–1198, 2013

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The Use of Teleoperated Concentric Tube Robots for Transsphenoidal Parasellar Surgery

Weaver, Kyle D; Webster III, Robert J; Swaney, Philip J; Burgner, Jessica; Russell, Paul T; Gilbert, Hunter B; Bekeny, James; Hendrick, Richard

The Use of Teleoperated Concentric Tube Robots for Transsphenoidal Parasellar Surgery Journal Article

Journal of Neurological Surgery Part B -- Skull Base, 74 (S01), pp. A123, 2013

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A study on the theoretical and practical accuracy of conoscopic holography-based surface measurements -- Toward image registration in minimally invasive surgery

Burgner, Jessica; Simpson, Amber L; Fitzpatrick, Michael J; Lathrop, Ray A; Herrell, Duke S; Miga, Michael I; Webster III, Robert J

A study on the theoretical and practical accuracy of conoscopic holography-based surface measurements -- Toward image registration in minimally invasive surgery Journal Article

International Journal of Medical Robotics and Computer Assisted Surgery, 9 (2), pp. 190–203, 2013

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Robotic surgery for the sinuses and skull base -- What are the possibilities and what are the obstacles?

Schneider, John S; Burgner, Jessica; Webster III, Robert J; Russell, Paul T

Robotic surgery for the sinuses and skull base -- What are the possibilities and what are the obstacles? Journal Article

Current Opinion in Otolaryngology & Head and Neck Surgery, 21 (1), pp. 11–16, 2013

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Comparison study of intraoperative surface acquisition methods for surgical navigation.

Simpson, Amber L; Burgner, Jessica; Glisson, Courtenay L; Herrell, Duke S; Ma, Burton; Pheiffer, Thomas S; Webster III, Robert J; Miga, Michael I

Comparison study of intraoperative surface acquisition methods for surgical navigation. Journal Article

IEEE Transactions on Biomedical Engineering, 60 (4), pp. 1090–1099, 2013

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A flexure-based steerable needle -- High curvature with reduced tissue damage

Swaney, Philip J; Burgner, Jessica; Gilbert, Hunter B; Webster III, Robert J

A flexure-based steerable needle -- High curvature with reduced tissue damage Journal Article

IEEE Transactions on Biomedical Engineering, 60 (4), pp. 906–909, 2013

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Robot-assisted intracerebral hemorrhage evacuation -- an experimental evaluation

Burgner, Jessica; Swaney, Philip J; Lathrop, Ray A; Weaver, Kyle D; Webster III, Robert J

Robot-assisted intracerebral hemorrhage evacuation -- an experimental evaluation Inproceedings

Proc. SPIE 8671, Medical Imaging, pp. 86710H (5 pages), 2013

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2012

Manual Active Cannula Deployment --  Experimental Accuracy Evaluation in Free Space

Clark, Marlena S; Burgner, Jessica; Swaney, Philip J; Webster, Robert J

Manual Active Cannula Deployment -- Experimental Accuracy Evaluation in Free Space Journal Article

Journal of Medical Devices, 6 (1), 2012

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Intraoperative Digitization with a Handheld Optically Tracked Laser Device

Simpson, Amber L; Wu, Yifei; Burgner, Jessica; Pheiffer, Thomas S; Rucker, Caleb D; Sun, Kay; Jarnagin, William R; Thompson, Reid C; Webster III, Robert J; Miga, Michael I

Intraoperative Digitization with a Handheld Optically Tracked Laser Device Inproceedings

1st Vanderbilt Surgery & Engineering Symposium, 2012

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Intraoperative brain tumor resection cavity characterization with conoscopic holography

Simpson, Amber L; Burgner, Jessica; Chen, Ishita; Pheiffer, Thomas S; Sun, Kay; Thompson, Reid C; Webster III, Robert J; Miga, Michael

Intraoperative brain tumor resection cavity characterization with conoscopic holography Inproceedings

Proceedings of SPIE 8316, Medical Imaging, pp. 831631 (8 pages), 2012

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Kontinuumsroboter auf Basis vorgebogener Nitinolröhrchen -- Evaluierung eines Prototypen für die Transnasale Schädelbasischirurgie

Burgner, Jessica; Gilbert, Hunter B; Swaney, Philip J; Russell III, Paul T; Webster III, Robert J

Kontinuumsroboter auf Basis vorgebogener Nitinolröhrchen -- Evaluierung eines Prototypen für die Transnasale Schädelbasischirurgie Inproceedings

Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, pp. 1-4, 2012

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Tracked 3D ultrasound targeting with an active cannula

Swaney, Philip J; Burgner, Jessica; Pheiffer, Thomas S; Rucker, Caleb D; Gilbert, Hunter B; Ondrake, Janet E; Simpson, Amber L; Burdette, Clif E; Miga, Michael I; Webster III, Robert J

Tracked 3D ultrasound targeting with an active cannula Inproceedings

Proceedings SPIE 8316, pp. 83160R-1–9), 2012

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A Feasibility Study on the use of Concentric Tube Continuum Robots for Endonasal Skull Base Tumor Removal

Gilbert, Hunter B; Swaney, Philip J; Burgner, Jessica; Weaver, Kyle D; Russell III, Pail T; Webster III, Robert J

A Feasibility Study on the use of Concentric Tube Continuum Robots for Endonasal Skull Base Tumor Removal Inproceedings

The Hamlyn Symposium on Medical Robotics, pp. 1-2, 2012

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Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery

Swaney, Philip J; Croom, Jordan M; Burgner, Jessica; Gilbert, Hunter B; Rucker, Caleb D; Webster III, Robert J; Weaver, Kyle D; Russell, Paul T

Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery Inproceedings

ASME Dynamic Systems and Control Conference, pp. 387–393, ISBN -- 978-0-7918-4531-8., 2012

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Towards intra-operative monitoring of ablation using tracked 3D ultrasound elastography and internal palpation

Foroughi, Pezhman; Burgner, Jessica; Choti, Michael A; Webster III, Robert J; Hager, Gregory D; Boctor, Emad M

Towards intra-operative monitoring of ablation using tracked 3D ultrasound elastography and internal palpation Inproceedings

Proceedings of SPIE 8320, Medical Imaging, pp. 83200T-1–7), 2012

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An Autoclavable Steerable Cannula Manual Deployment Device -- Design and Accuracy Analysis

Burgner, Jessica; Swaney, Philip J; Bruns, Trevor L; Clark, Marlena S; Rucker, Caleb D; Burdette, Clif E; Webster III, Robert J

An Autoclavable Steerable Cannula Manual Deployment Device -- Design and Accuracy Analysis Journal Article

ASME Journal of Medical Devices, 6 (4), pp. 041007(7), 2012

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Accurate High-Intensity Focused Ultrasound Ablation in a Porcine Liver Model Through Integration of Real-Time Image Guidance, Robotic Navigation, and Elastographic Monitoring

Carnegie, Daniel A; Boctor, Emad M; Guo, Xiaoyu; Kang, Hyun-Jae; Deshmukh, Nsihikant; Foroughi, Pezhman; Burdette, Cliff E; Webster III, Robert J; Burgner, Jessica; Choti, Michael A

Accurate High-Intensity Focused Ultrasound Ablation in a Porcine Liver Model Through Integration of Real-Time Image Guidance, Robotic Navigation, and Elastographic Monitoring Inproceedings

Society of American Gastrointestinal and Endoscopic Surgeons (SAGES) Conference, 2012

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2011

Dependence of ablation depth on incident angle for bony tissue ablation using pulsed CO$_2$ laser

Zhang, Yaokun; Burgner, Jessica; Raczkowsky, Jörg; Wörn, Heinz

Dependence of ablation depth on incident angle for bony tissue ablation using pulsed CO$_2$ laser Inproceedings

Proceedings of SPIE 8092, pp. 809216(8), 2011

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Toward haptic/aural touchscreen display of graphical mathematics for the education of blind students

Toennies, Jenna L; Burgner, Jessica; Withrow, Thomas J; Webster III, Robert J

Toward haptic/aural touchscreen display of graphical mathematics for the education of blind students Inproceedings

IEEE World Haptics Conference, pp. 373–378, 2011

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Toward Fluroscopic Shape Reconstruction for Control of Steerable Medical Devices

Burgner, Jessica; Herrell, Duke S; Webster III, Robert J

Toward Fluroscopic Shape Reconstruction for Control of Steerable Medical Devices Inproceedings

ASME Dynamic Systems and Control Conference, pp. 791–794, 2011

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A bimanual teleoperated system for endonasal skull base surgery

Burgner, Jessica; Swaney, Philip J; Rucker, Caleb D; Gilbert, Hunter B; Nill, Scott T; Russell, Paul T; Weaver, Kyle D; Webster III, Robert J

A bimanual teleoperated system for endonasal skull base surgery Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2517–2523, 2011

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Design of an Autoclavable Active Cannula Deployment Device

Bruns, Trevor L; Tucker, John M; Rucker, Caleb D; Swaney, Philip J; Boctor, Emad M; Burdette, Everette C; Burgner, Jessica; Webster III, Robert J

Design of an Autoclavable Active Cannula Deployment Device Journal Article

ASME Journal of Medical Devices, 5 (2), pp. 027538, 2011

BibTeX, DOI, Details | Tags: image_guidance kidney registration minimally_invasive_surgery conoscope

Registration methods for gross Motion correction during image-guided kidney surgery

Glisson, Courtenay L; Ong, Rowena E; Simpson, Amber L; Burgner, Jessica; Lathrop, Ray A; Webster III, Robert J; Galloway, Robert L

Registration methods for gross Motion correction during image-guided kidney surgery Journal Article

International Journal of Computer Assisted Radiology and Surgery, 6 (S1), pp. 160–161, 2011

BibTeX, DOI, Details | Tags: image_guidance kidney registration minimally_invasive_surgery conoscope

2010

Robot Assisted Laser Osteotomy

Burgner, Jessica

Robot Assisted Laser Osteotomy PhD Thesis

Karlsruhe Institute of Technology, ISBN -- 978-3-866-44497-3., 2010

BibTeX, DOI, Details | Tags: accuracy calibration image_guided_surgery medical_robotics minimally_invasive_surgery surgery trajectory_planning

Präzisions-Laser-Cochleostomie am humanen Präparat

Kahrs, Lüder A; Knapp, Felix; Burgner, Jessica; Raczkowksy, Jörg; Wörn, Heinz; Schipper, Jörg; Klenzner, Thomas

Präzisions-Laser-Cochleostomie am humanen Präparat Inproceedings

Jahrestagung der Vereinigung Westdeutscher Hals-Nasen-Ohren-Ärzte, 2010

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Cochleostomie mittels roboter-gestützter hochpräziser Laserablation im Experimental-OP

Klenzner, Thomas; Burgner, Jessica; Kahrs, Lüder A; Knapp, Felix; Raczkowksy, Jörg; Wörn, Heinz; Schipper, Jörg

Cochleostomie mittels roboter-gestützter hochpräziser Laserablation im Experimental-OP Inproceedings

81. Jahresversammlung der Deutschen Gesellschaft für Hals-Nasen-Ohen Heilkunde, Kopf- und Halschirurgie e.V., 2010

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Analysis of the short-pulsed CO$_2$ laser ablation process for optimizing the processing performance for cutting bony tissue

Mehrwald, Markus; Burgner, Jessica; Platzek, Christoph; Feldmann, Claus; Raczkowsky, Jörg; Wörn, Heinz

Analysis of the short-pulsed CO$_2$ laser ablation process for optimizing the processing performance for cutting bony tissue Inproceedings

Proceedings of SPIE 7562, Optical Interactions with Tissues and Cells XXI, pp. 75620P-1–10), 2010

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Accurate Robot Assisted Laser Bone Processing

Burgner, Jessica; Wörn, Heinz

Accurate Robot Assisted Laser Bone Processing Inproceedings

Computer Assisted Orthopaedic Surgery, pp. 121–122, 2010

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Robotic Guidance for Microsurgical Laser Bone Processing in ENT Surgery

Burgner, Jessica; Kahrs, Lüder A; Raczkowsky, Jörg; Schipper, Jörg; Klenzner, Thomas; Wörn, Heinz

Robotic Guidance for Microsurgical Laser Bone Processing in ENT Surgery Inproceedings

Robotics Science and Systems, Workshop on Enabling Technologies for Image-Guided Interventional Procedures, pp. 18–21, 2010

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Optimization of Line Cut Strategy for Bone Tissue Ablation Using Short-Pulsed CO$_2$ Laser Based on Thermal Relaxation

Zhang, Yaokun; Burgner, Jessica; Raczkowsky, Jörg; Wörn, Heinz

Optimization of Line Cut Strategy for Bone Tissue Ablation Using Short-Pulsed CO$_2$ Laser Based on Thermal Relaxation Inproceedings

Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 3–7, 2010

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Ein 3D-Ultraschallnavigationssystem für die computer-assistierte Chirurgie im Kopf-Halsbereich -- Visionen und Konzeptec

Brennecke, Thorsten; Burgner, Jessica; Kahrs, Lüder A; Günther, Christian; Beyl, Timm; Raczkowsky, Jö; Tretbar, Stefan; Klenzner, Thomas; Schipper, Jörg; Wörn, Heinz

Ein 3D-Ultraschallnavigationssystem für die computer-assistierte Chirurgie im Kopf-Halsbereich -- Visionen und Konzeptec Inproceedings

Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 203–206, 2010

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Patientenspezifische Modelle in der roboterassistierten Chirurgue/Patient specific models for robot-assisted surgery

Wörn, Heinz; Riechmann, Matthias; Burgner, Jessica

Patientenspezifische Modelle in der roboterassistierten Chirurgue/Patient specific models for robot-assisted surgery Journal Article

Biomedizinische Technik, 55 (S1), pp. 27–30, 2010

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Planning and simulation of microsurgical laser bone ablation.

Kahrs, Lüder A; Burgner, Jessica; Klenzner, Thomas; Raczkowsky, Jörg; Schipper, Jörg; Wörn, Heinz

Planning and simulation of microsurgical laser bone ablation. Journal Article

International Journal of Computer Assisted Radiology and Surgery, 5 (2), pp. 155–162, 2010

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Ex vivo accuracy evaluation for robot assisted laser bone ablation

Burgner, Jessica; Müller, Meiko; ö, J"; Wörn, Heinz

Ex vivo accuracy evaluation for robot assisted laser bone ablation Journal Article

International Journal of Medical Robotics and Computer Assisted Surgery, 6 (4), pp. 489–500, 2010

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2009

Experimental trials of robot-assisted cochleostomy -- A discussion of different approaches

Klenzner, Thomas; Kahrs, Lüder Alexander; Knapp, Felix B; Lohnstein, Petra; Burgner, Jessica; Riechmann, Matthias; Wörn, Heinz; Schipper, Jörg

Experimental trials of robot-assisted cochleostomy -- A discussion of different approaches Inproceedings

Computer Aided Surgery around the Head (CAS-H), 2009

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Protecting the membranous inner ear during laser bone ablation

Kahrs, Lüder A; Knapp, Felix B; Burgner, Jessica; Raczkowsky, Jörg; Wörn, Heinz; Schipper, Jörg; Klenzner, Thomas

Protecting the membranous inner ear during laser bone ablation Inproceedings

Computer Aided Surgery around the Head (CAS-H), 2009

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Robot assisted laser bone processing -- Marking and cutting experiments

Burgner, Jessica; Müller, Meiko; Raczkowsky, Jörg; Wörn, Heinz

Robot assisted laser bone processing -- Marking and cutting experiments Inproceedings

IEEE International Conference on Advanced Robotics (ICAR), pp. 1–6, 2009, ISBN -- 978-1-4244-4855-5., 2009

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End-effector calibration and registration procedure for robot assisted laser material processing -- Tailored to the particular needs of short pulsed CO2 laser bone ablation

Burgner, Jessica; Kahrs, Lüder A; Raczkowsky, Jörg; Wörn, Heinz

End-effector calibration and registration procedure for robot assisted laser material processing -- Tailored to the particular needs of short pulsed CO2 laser bone ablation Inproceedings

IEEE International Conference on Robotics and Automation, pp. 3091–3096, 2009, ISBN -- 978-1-4244-2788-8., 2010

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Including parameterization of the discrete ablation process into a planning and simulation environment for robot-assisted laser osteotomy

Burgner, Jessica; Kahrs, Lüder A; Raczkowsky, Jörg; Wörn, Heinz

Including parameterization of the discrete ablation process into a planning and simulation environment for robot-assisted laser osteotomy Journal Article

Studies in Health Technology and Informatics, 142 , pp. 43–48, 2009

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Setup and experimental trial for robot-assisted laser cochleostomy

Burgner, Jessica; Knapp, Felix B; u‚, L"; Raczkowsky, J; Wörn, H; Schipper, Jö; Klenzner, Thomas

Setup and experimental trial for robot-assisted laser cochleostomy Journal Article

International Journal of Computer Assisted Radiology and Surgery, 4 (S1), pp. 118–119, 2009

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2008

Methods for end-effector coupling in robot assisted interventions

Burgner, Jessica; Raczkowsky, Jörg; Wörn, Heinz; Eggers, Georg; Mühling, Joachim

Methods for end-effector coupling in robot assisted interventions Inproceedings

IEEE International Conference on Robotics and Automation, pp. 3395–3400, 2008, ISBN -- 978-1-4244-1646-2., 2008

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Establishment of an Experimental Setup for Robot Assisted Laser Osteotomy with Corresponding Simulation Environment for Optimization of all Relevant Parameters

Burgner, Jessica; Raczkowsky, Jörg; Wörn, Heinz

Establishment of an Experimental Setup for Robot Assisted Laser Osteotomy with Corresponding Simulation Environment for Optimization of all Relevant Parameters Inproceedings

Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 147–148, 2008

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2007

Semiautomatisches Ankopplungsverfahren für einen Assistenzroboter zur Repositionierung osteotomierter Knochenstücke bei orthognath-chirurgischen Eingriffen

Burgner, Jessica; Zhang, Yaokun; Eggers, Georg; Raczkowsky, Jörg; Mühling, Joachim; Wörn, Heinz

Semiautomatisches Ankopplungsverfahren für einen Assistenzroboter zur Repositionierung osteotomierter Knochenstücke bei orthognath-chirurgischen Eingriffen Inproceedings

Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 275–278, 2007

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System for robot assisted orthognathic surgery

Burgner, Jessica; Toma, Monica; Vieira, Vitor; Eggers, Georg; Raczkowsky, Jörg; Mühling, Joachim; Marmulla, Rüdiger; Wörn, Heinz

System for robot assisted orthognathic surgery Journal Article

International Journal of Computer Assisted Radiology and Surgery, 2 (S1), pp. 419–421, 2007

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2006

Initiale Registrierung von anatomischen Landmarken in Weichgewebe mittels navigiertem Ultraschall

Burgner, Jessica

Initiale Registrierung von anatomischen Landmarken in Weichgewebe mittels navigiertem Ultraschall PhD Thesis

Universität Karlsruhe (TH), 2006

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Evaluierung einer ultraschallbasierten Registrierung am Multimodal-Abdomen-Phantom

Burgner, Jessica; Kahrs, Lüder A; Raczkowsky, Jörg; Wörn, Heinz

Evaluierung einer ultraschallbasierten Registrierung am Multimodal-Abdomen-Phantom Inproceedings

DGBMT Jahrestagung, pp. V210-1–2, 2006

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