Publications

2024

Publication Image
On the Disentanglement of Tube Inequalities in Concentric Tube Continuum Robots

Reinhard M. Grassmann, Anastassiia Senyk, Jessica Burgner-Kahrs

IEEE International Conference on Robotics and Automation, 2024.

Publication Image
Actuation Constraints in Continuum Robotics Revisited - 2 Dof Manifold and Clarke Transform

Reinhard M. Grassmann, Anastasiia Senyk, Jessica Burgner-Kahrs

IEEE International Conference on Robotics and Automation, Late Breaking News Poster, 2024.

Publication Image
A Non-Linear Model Predictive Task-Space Controller Satisfying Shape Constraints for Tendon-Driven Continuum Robots

Maximilian Hachen, Chengnan Shentu, Sven Lilge, Jessica Burgner-Kahrs

IEEE International Conference on Robotics and Automation, Late Breaking News Poster, 2024.

Publication Image
A Lightweight Modular Segment Design for Tendon-Driven Continuum Robots with Pre-Programmable Stiffness

Puspita Triana Dewi, Priyanka Rao, Jessica Burgner-Kahrs

IEEE International Conference on Soft Robotics, 2024.

Publication Image
Computationally Efficient Lookahead Search for Contact-aided Navigation for Tendon-driven Continuum Robots

Priyanka Rao, Itai Spigelman, Oren Salzman, Jessica Burgner-Kahrs

IEEE International Conference on Soft Robotics, Late Breaking Results, 2024.

Publication Image
Towards Contact-Aided Motion Planning for Tendon-Driven Continuum Robots

Priyanka Rao, Oren Salzman, Jessica Burgner-Kahrs

IEEE Robotics & Automation Letters, 9(5):4687 - 4694, 2024.

Publication Image
State Estimation for Continuum Multi-Robot Systems on SE(3)

Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs

arXiv PrePrint, 2024.

Publication Image
Open Continuum Robotics - One Actuation Module to Create them All

Reinhard M. Grassmann, Chengnan Shentu, Taqi Hamoda, Puspita Triana Dewi, Jessica Burgner-Kahrs

Frontiers in Robotics and AI, 11, 2024.

Publication Image
MoSS - Monocular Shape Sensing for Continuum Robots.

Chengnan Shentu, Enxu Li, Chaojun Chen, Puspita Triana Dewi, David B. Lindell, Jessica Burgner-Kahrs

IEEE Robotics and Automation Letters, 9(2):1524 - 1531, 2024.

2023

Publication Image
Investigating frictional contact behavior for soft material robot simulations

Rebecca Berthold, Jessica Burgner-Kahrs, Matthias Wangenheim, Stephanie Kahms

Meccanica, 58:2165-2176, 2023.

Publication Image
Stability Analysis of Tendon Driven Continuum Robots and Application to Active Softening

Quentin Peyron, Jessica Burgner-Kahrs

IEEE Transactions on Robotics, 40:85-100, 2023.

Publication Image
CIDGIKc Distance-Geometric Inverse Kinematics for Continuum Robots

Hanna Jiamei Zhang, Matthew Giamou, Filip Marić, Jonathan Kelly, Jessica Burgner-Kahrs

IEEE Robotics & Automation Letters, 8(11):7679 - 7686, 2023.

Publication Image
Modeling and Analysis of Tendon-driven Continuum Robots for Rod-based Locking

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

IEEE Robotics and Automation Letters, 8(6):3126-3133, 2023.

Publication Image
Design of Patterns in Tubular Robots Using DNN-Metaheuristics Optimization

Soyeon Park, Jongwoo Kim, Jieun Park, Jessica Burgner-Kahrs, Gunwoo Noh

International Journal of Mechanical Sciences, 251:108352, 2023.

Publication Image
Concentric Tube Robot Optimization and Path Planning for Epilepsy Surgeries.

Zhiling Zou, Jessica Burgner-Kahrs, Thomas Looi, James Drake

International Symposium on Medical Robotics (ISMR), 2023.

Publication Image
Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links

Sven Lilge, Kefei Wen, Jessica Burgner-Kahrs

Frontiers in Robotics and AI, 9:1082185, 2023.

Publication Image
Kinetostatic Modeling of Tendon-Driven Parallel Continuum Robots

Sven Lilge, Jessica Burgner-Kahrs

IEEE Transactions on Robotics, 39(2):1563-1579, 2023.

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

Kefei Wen, Jessica Burgner-Kahrs

Journal of Mechanisms and Robotics, 15(4), 041003 (10 pages), 2023.

2022

Publication Image
Continuum Robot State Estimation Using Gaussian Process Regression in SE(3)

Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs

The International Journal of Robotics Research, 41(13-14):1099-1120, 2022.

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

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

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

Publication Image
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

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

Publication Image
Cooperative control of dual-arm concentric tube continuum robots

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

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

Best Robotics Paper Award Finalist
Publication Image
A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots

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

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

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

Priyanka Rao, Quentin Peyron, Jessica Burgner-Kahrs

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

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

Sven Lilge, Jessica Burgner-Kahrs

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

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

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

Frontiers in Robotics and AI, 9:873446 (19 pages), 2022.

2021

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

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

Hamlyn Symposium on Medical Robotics, 2021.

Publication Image
Kinematic and Singularity Analysis of Tendon-Driven Parallel Continuum Robots

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

Publication Image
Design, Modeling and Evaluation of Tendon Driven Parallel Continuum Robots

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

Publication Image
Concentric Tube Path Planning for Epilepsy with 3D Slicer

Hamlyn Symposium on Medical Robotics, 2021.

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

Nan Liang

Master Thesis, University of Toronto, 2021.

Publication Image
Using Euler Curves to Model Continuum Robots

Priyanka Rao, Quentin Peyron, Jessica Burgner-Kahrs

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

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

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

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

Publication Image
Learning-based Inverse Kinematics from Shape as Input for Concentric Tube Continuum Robots

Nan Liang, Reinhard M Grassmann, Jessica Burgner-Kahrs

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

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

Vincent Modes, Tobias Ortmaier, Jessica Burgner-Kahrs

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

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

Georg Böttcher, Sven Lilge, Jessica Burgner-Kahrs

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

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

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

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

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

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

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

2020

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

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

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

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

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

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

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

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

University of Toronto Robotics Institute, 2020.

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

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

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

Publication Image
CTCR Prototype Development - An Obstacle in the Research Community?

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

RSS 2020 Workshop RobRetro, 2020.

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

Vincent Modes, Jessica Burgner-Kahrs

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

2019

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

Josephine Granna

PhD Thesis, Leibniz University Hannover, 2019.

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

Ernar Amanov

PhD Thesis, Leibniz University Hannover, 2019.

Publication Image
Smooth Orientation Trajectory Generator Respecting Kinematic Limits

Reinhard Grassmann, Jessica Burgner-Kahrs

IEEE-RAS International Conference on Humanoid Robots, 2019.

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

Reinhard Grassmann, Jessica Burgner-Kahrs

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

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

Reinhard Grassmann, Jessica Burgner-Kahrs

Robotics - Science and Systems Conference, 10 pages, 2019.

Publication Image
Towards Learning Force Sensing for a Concentric Tube Continuum Robot

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

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.

Publication Image
Controlling Concentric Tube Robots while Enforcing Shape Constraints

Sven Lilge, Jessica Burgner-Kahrs

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.

Publication Image
Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot

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

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

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

Josephine Granna, Arya Nabavi, Jessica Burgner-Kahrs

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

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

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

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

2018

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

Reinhard Grassmann, Vincent Modes, Jessica Burgner-Kahrs

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

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

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

Annual Meeting of the German Society for Computer- and Robot-assisted Surgery, 2018.

Best Paper Award Runner Up
Publication Image
Curvature and Shape Sensing for Continuum Robotics using Draw Tower Gratings in Multi Core Fiber

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

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

Publication Image
Eye-in-Hand Visual Servoing of Concentric Tube Robots

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

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

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

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

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

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

Mohamed Taha Chikhaoui, Jessica Burgner-Kahrs

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

Publication Image
Stiffening Sheaths for Continuum Robots

Marlene Langer, Ernar Amanov, Jessica Burgner-Kahrs

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

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

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

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

Best Oral Presentation Award
Publication Image
Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy

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

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

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

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

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

Die systematische Ermittlung des chirurgischen Arbeitsraumes im Rahmen laparoskopischer Niereneingriffe - Grundlage für die Konzeptionierung eines versteifbaren Endoportsystems für die Single-Port Laparoskopie

Florian Imkamp, Ernar Amanov, Thien-Dang Nguyen, Vincent Hielscher, Jessica Burgner-Kahrs

2. Nordkongress Urologie, 2018.

Best Oral Presentation Award Runner Up

2017

Publication Image
On the Merits of Helical Tendon Routing in Continuum Robots

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

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

Publication Image
Toward Improving Path Following Motion - Hybrid Continuum Robot Design

E Amanov, J Granna, J Burgner-Kahrs

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

Publication Image
Towards Handheld Continuum Robots

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

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

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

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

DE 10 2015 115 525, 2017.

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

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

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

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

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

11. Nordkongress Urologie, 2017.

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

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

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

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

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

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

Best Poster Presentation Award Runner Up
Publication Image
Tubuläre Kontinuumsmanipulatoren -- Erste Schritte für den Einsatz in der retrograden, intrarenalen Chirurgie

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

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

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

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

16th Annual Meeting of the German Society for Computer- and Robot-assisted Surgery, pp. 125–130, 2017.

Best Paper Award Runner Up
Publication Image
Erste präklinische Erprobung eines neuartigen Kontinuumsroboters für transorale Larynxchirurgie

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

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

Publication Image
Entwicklung von Kontrollalgorithmen für die Teleoperation von tubulären Kontinuumsrobotern

L J Kreuer, S Lilge, J Burgner-Kahrs

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

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

Josephine Granna, Arya Nabavi, Jessica Burgner-Kahrs

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

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

J Burgner-Kahrs

Latest Thinking, ISSN; 25105183., 2017.

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

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

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

2016

Publication Image
Towards Universal Continuum Manipulators

Ernar Amanov, Jessica Burgner-Kahrs

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

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

Ernar Amanov, Florian Imkamp, Jessica Burgner-Kahrs

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

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

Maria Neumann, Jessica Burgner-Kahrs

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

Publication Image
METABot - Magnetic Extensible Tendon Actuated Continuum Robot

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

DGR Days (German Society of Robotics), 2016.

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

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

DGR Days (German Society of Robotics), 2016.

Publication Image
Working Mechanism

J Burgner-Kahrs, Thien-Dang Nguyen

WO 2016/045658 A1, 2016.

Publication Image
Toward automated cochlear implant insertion using tubular manipulators

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

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

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

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

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

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

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

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

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

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

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

2015

Publication Image
Arbeitsmechanismus

Jessica Burgner-Kahrs, Thien-Dang Nguyen

DE 102014113962 B3, 2015.

Publication Image
Continuum Robots for Medical Applications - A Survey

Jessica Burgner-Kahrs, Caleb D Rucker, Howie Choset

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

Publication Image
A Tendon-Driven Continuum Robot with Extensible Sections

Thien-Dang Nguyen, Jessica Burgner-Kahrs

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

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

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

US 2015/0223832 A1, 2015.

Publication Image
Wir brauchen kreative Veränderungen

Jessica Burgner-Kahrs

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

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

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

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

Publication Image
Konzept für die Elektrodeninsertion von Cochlea-Implantaten mit tubulären Manipulatoren

Josephine Granna, Thomas Rau, Omid Majdani, Jessica Burgner-Kahrs

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

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

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

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

Publication Image
Implications of Trajectory Generation Strategies for Tubular Continuum Robots

Carolin Fellmann, Jessica Burgner-Kahrs

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

Publication Image
Task-specific Design of Tubular Continuum Robots for Surgical Applications

Jessica Burgner-Kahrs

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.

Publication Image
Can Coffee improve Image Guidance?

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

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

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

Carolin Fellmann, Daryoush Kashi, Jessica Burgner-Kahrs

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

Publication Image
Additive Manufacturing of Patient-Specific Tubular Continuum Manipulators

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

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

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

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

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

Publication Image
Anwendungsspezifische Evaluierung eines gestenbasierten Eingabegerätes für die Teleoperation von tubulären Kontinuumsrobotern

Carolin Fellmann, Arya Nabavi, Jessica Burgner-Kahrs

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

Publication Image
Generelle und anwendungsspezifische Genauigkeitsuntersuchungen für tubuläre Kontinuumsroboter

Ernar Amanov, Jessica Burgner-Kahrs

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

Publication Image
Toward Concentric Tube Manipulators for Cochlear Implant Positioning

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

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

Best Poster Award

2014

Publication Image
Characterizing the Workspace of Concentric Tube Continuum Robots

Josephine Granna, Jessica Burgner

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

Publication Image
Workspace Characterization for Concentric Tube Continuum Robots

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

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

Best Application Paper Award Finalist
Publication Image
Initial Experiences Using Vibratory Touchscreens to Display Graphical Math Concepts to Students with Visual Impairments

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

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

Publication Image
Needle Steering in 3-D Via Rapid Replanning

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

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

Publication Image
A Telerobotic System for Transnasal Surgery

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

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

2013

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

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

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

Publication Image
Minimally-Invasive Intracerebral Hemorrhage Removal Using An Active Cannula

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

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

Publication Image
A flexure-based wrist for needle-sized surgical robots

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

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

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

Jessica Burgner, Hunter B Gilbert, Robert J Webster III

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

Best Medical Robotics Paper Award Finalist
Publication Image
The Use of Teleoperated Concentric Tube Robots for Transsphenoidal Parasellar Surgery

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

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

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

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

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

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

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

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

Publication Image
Comparison study of intraoperative surface acquisition methods for surgical navigation.

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

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

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

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

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

Publication Image
Robot-assisted intracerebral hemorrhage evacuation -- an experimental evaluation

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

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

2012

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

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

Journal of Medical Devices, 6 (1), 2012.

Publication Image
Intraoperative Digitization with a Handheld Optically Tracked Laser Device

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

1st Vanderbilt Surgery & Engineering Symposium, 2012.

Publication Image
Intraoperative brain tumor resection cavity characterization with conoscopic holography

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

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

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

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

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

Publication Image
Tracked 3D ultrasound targeting with an active cannula

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

2011

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

Yaokun Zhang, Jessica Burgner, Jörg Raczkowsky, Heinz Wörn

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

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

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

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

Publication Image
Toward Fluroscopic Shape Reconstruction for Control of Steerable Medical Devices

Jessica Burgner, Duke S Herrell, Robert J Webster III

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

Publication Image
A bimanual teleoperated system for endonasal skull base surgery

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

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

Publication Image
Design of an Autoclavable Active Cannula Deployment Device

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

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

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

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

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

2010

Publication Image
Robot Assisted Laser Osteotomy

Jessica Burgner

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

Publication Image
Robotic Guidance for Microsurgical Laser Bone Processing in ENT Surgery

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

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

Publication Image
Präzisions-Laser-Cochleostomie am humanen Präparat

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

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

Publication Image
Cochleostomie mittels roboter-gestützter hochpräziser Laserablation im Experimental-OP

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

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

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

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

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

Publication Image
Accurate Robot Assisted Laser Bone Processing

Jessica Burgner, Heinz Wörn

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

Best Technical Paper Presentation Award
Publication Image
Optimization of Line Cut Strategy for Bone Tissue Ablation Using Short-Pulsed CO$_2$ Laser Based on Thermal Relaxation

Yaokun Zhang, Jessica Burgner, Jörg Raczkowsky, Heinz Wörn

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

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

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

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

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

Heinz Wörn, Matthias Riechmann, Jessica Burgner

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

Publication Image
Planning and simulation of microsurgical laser bone ablation

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

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

Publication Image
Ex vivo accuracy evaluation for robot assisted laser bone ablation

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

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

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

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

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

2009

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

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

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

Publication Image
Protecting the membranous inner ear during laser bone ablation

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

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

Publication Image
Robot assisted laser bone processing -- Marking and cutting experiments

Jessica Burgner, Meiko Müller, Jörg Raczkowsky, Heinz Wörn

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

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

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

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

Publication Image
Setup and experimental trial for robot-assisted laser cochleostomy

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

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

2008

Publication Image
Methods for end-effector coupling in robot assisted interventions

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

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

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

Jessica Burgner, Jörg Raczkowsky, Heinz Wörn

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

2007

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

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

6th Annual Conference of the German Society for Computer- and Robot-assisted Surgery, pp. 275–278, 2007.

Best Poster Presentation Award Runner Up
Publication Image
System for robot assisted orthognathic surgery

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

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

2006

Publication Image
Initiale Registrierung von anatomischen Landmarken in Weichgewebe mittels navigiertem Ultraschall

Jessica Burgner

Universität Karlsruhe (TH), 2006.

Publication Image
Evaluierung einer ultraschallbasierten Registrierung am Multimodal-Abdomen-Phantom

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

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