Publications

2025

Automating Tension Calibration for Tendon-Driven Continuum Robots: A Low-Cost Approach Towards Consistent Teleoperation

Kyum Lee, Chengnan Shentu, Chloe Pogue, Jessica Burgner-Kahrs

IEEE International Conference on Robotics and Automation [accepted], 2025.

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 Robotics and Automation Letters, 10(3):2438-2445, 2025.

DOI More

Clarke Transform and Encoder-Decoder Architecture for Arbitrary Joints Locations in Displacement-Actuated Continuum Robots

Reinhard M. Grassmann, Jessica Burgner-Kahrs

IEEE International Conference on Soft Robotics [accepted], 2025.

DOI

Parametric Design of a Tendon-Driven Continuum Robot for Industrial Applications

Puspita Triana Dewi, Chloe Pogue, Jessica Burgner-Kahrs

IEEE International Conference on Soft Robotics [accepted], 2025.

State Estimation for Continuum Multirobot Systems on SE(3)

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

IEEE Transactions on Robotics, 41:905-925, 2025.

DOI Video

2024

Using Clarke Transform to Create a Framework on the Manifold: From Sampling via Trajectory Generation to Control

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

arXiv preprint arXiv:2412.16422, 2024.

DOI

Clarke Transform - A Fundamental Tool for Continuum Robotics

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

arXiv preprint arXiv:2409.16501, 2024.

DOI

Tendon Driven Continuum Robots - Modeling and Motion Planning for Contact Aided Navigation and Shape Locking

Priyanka Rao

PhD Thesis, University of Toronto, 2024.

DOI

Universal-jointed Tendon-driven Continuum Robot - Design, Kinematic Modeling, and Locomotion in Narrow Tubes

Chengnan Shentu, Jessica Burgner-Kahrs

40th Anniversary of the IEEE International Conference on Robotics and Automation, 2024.

DOI More

Clarke Transform and Clarke Coordinates - A New Kid on the Block for State Representation of Continuum Robots

Reinhard M. Grassmann, Jessica Burgner-Kahrs

40th Anniversary of the IEEE International Conference on Robotics and Automation, 2024.

DOI

Space-Time Continuum - Continuous Shape and Time State Estimation for Flexible Robots

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

40th Anniversary of the IEEE International Conference on Robotics and Automation, 2024.

DOI

Parallel-Continuum Robots: A Survey

Sven Lilge, Kathrin Nuelle, Jake A. Child, Kefei Wen, D. Caleb Rucker, Jessica Burgner-Kahrs

IEEE Transactions on Robotics, 40:3252-3270, 2024.

DOI

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, pp. 8166-8172, 2024.

DOI Poster

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.

Poster

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.

Poster

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, pp. 531-536, 2024.

DOI Poster Video

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.

pdf

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.

DOI GitHub Video

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.

DOI GitHub Video

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.

DOI GitHub

2023

Investigating frictional contact behavior for soft material robot simulations

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

Meccanica, 58:2165-2176, 2023.

DOI

Tendon-Driven Parallel Continuum Robots - Modeling, Characterization and State Estimation

Sven Lilge

PhD Thesis, University of Toronto, 2023.

DOI

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.

DOI

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.

DOI GitHub

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.

DOI

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.

DOI

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.

DOI

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.

DOI

Kinetostatic Modeling of Tendon-Driven Parallel Continuum Robots

Sven Lilge, Jessica Burgner-Kahrs

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

DOI Video

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.

DOI

2022

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.

DOI

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.

DOI GitHub Video

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.

DOI Video

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

DOI

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.

2021

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.

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.

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.

Concentric Tube Path Planning for Epilepsy with 3D Slicer

Hamlyn Symposium on Medical Robotics, 2021.

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

Nan Liang

Master Thesis, University of Toronto, 2021.

Using Euler Curves to Model Continuum Robots

Priyanka Rao, Quentin Peyron, Jessica Burgner-Kahrs

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

DOI

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.

DOI

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.

DOI

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.

DOI

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.

DOI

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.

DOI GitHub

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.

DOI

2020

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.

DOI Video

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.

DOI

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.

DOI

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.

DOI

CTCR Prototype Development - An Obstacle in the Research Community?

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

RSS 2020 Workshop RobRetro, 2020.

DOI

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.

DOI

2019

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.

DOI

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

Ernar Amanov

PhD Thesis, Leibniz University Hannover, 2019.

DOI

Smooth Orientation Trajectory Generator Respecting Kinematic Limits

Reinhard Grassmann, Jessica Burgner-Kahrs

IEEE-RAS International Conference on Humanoid Robots, 2019.

DOI

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.

DOI

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.

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.

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.

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.

DOI

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.

DOI

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.

DOI

2018

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.

DOI

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

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.

DOI

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.

DOI

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.

DOI

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.

Stiffening Sheaths for Continuum Robots

Marlene Langer, Ernar Amanov, Jessica Burgner-Kahrs

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

DOI

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

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.

DOI

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.

DOI

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

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.

DOI

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.

DOI

Towards Handheld Continuum Robots

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

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

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.

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.

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.

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.

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

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.

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

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.

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.

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.

DOI

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

J Burgner-Kahrs

Latest Thinking, ISSN; 25105183., 2017.

Video

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.

DOI

2016

Towards Universal Continuum Manipulators

Ernar Amanov, Jessica Burgner-Kahrs

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

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.

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.

DOI

METABot - Magnetic Extensible Tendon Actuated Continuum Robot

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

DGR Days (German Society of Robotics), 2016.

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.

Working Mechanism

J Burgner-Kahrs, Thien-Dang Nguyen

WO 2016/045658 A1, 2016.

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.

DOI

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.

DOI

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.

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.

DOI

2015

Arbeitsmechanismus

Jessica Burgner-Kahrs, Thien-Dang Nguyen

DE 102014113962 B3, 2015.

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.

DOI

A Tendon-Driven Continuum Robot with Extensible Sections

Thien-Dang Nguyen, Jessica Burgner-Kahrs

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

DOI

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.

Wir brauchen kreative Veränderungen

Jessica Burgner-Kahrs

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

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.

DOI

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.

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.

DOI

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.

DOI

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.

DOI

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.

DOI

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.

DOI

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.

DOI

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.

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.

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.

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

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.

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

DOI

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.

DOI

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.

DOI

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.

DOI

2013

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.

DOI

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.

DOI

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.

DOI

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

DOI

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.

DOI

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.

DOI

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.

DOI

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.

DOI

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.

DOI

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.

DOI

2012

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.

DOI

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.

DOI

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.

DOI

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.

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.

DOI

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.

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.

DOI

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.

DOI

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.

DOI

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

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.

DOI

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.

DOI

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.

DOI

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.

DOI

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.

DOI

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.

DOI

2010

Robot Assisted Laser Osteotomy

Jessica Burgner

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

DOI

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.

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.

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.

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.

DOI

Accurate Robot Assisted Laser Bone Processing

Jessica Burgner, Heinz Wörn

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

Best Technical Paper Presentation Award

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.

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.

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.

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.

DOI

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.

DOI

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.

DOI

2009

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.

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.

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.

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.

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.

DOI

2008

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.

DOI

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

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

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.

DOI

2006

Initiale Registrierung von anatomischen Landmarken in Weichgewebe mittels navigiertem Ultraschall

Jessica Burgner

Universität Karlsruhe (TH), 2006.

Evaluierung einer ultraschallbasierten Registrierung am Multimodal-Abdomen-Phantom

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

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