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Proceedings Papers

A Highly Compact, Multi-Material, Fluid Powered Actuation System for MRI-Guided Surgical Intervention

John E. Peters, Abby M. Grillo, Daniel S. Esser, Sarah J. Garrow, Nithin S. Kumar, Tyler Ball, Robert Naftel, Dario J. Englot, Joseph Neimat, William A. Grissom, Robert J. Webster, III, Eric J. Barth
Proc. ASME. FPMC2023, ASME/BATH 2023 Symposium on Fluid Power and Motion Control, V001T01A007, October 16–18, 2023
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2023-110577
https://doi.org/10.1115/FPMC2023-110577
View Paper titled, A Highly Compact, Multi-Material, Fluid Powered Actuation System for MRI-Guided Surgical Intervention
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Topics: Fluids, Magnetic resonance imaging, Surgery, Actuators, Additive manufacturing, Pressure, Design, Instrumentation, Magnetic fields, Motion control
Proceedings Papers

A Novel Tool for Auricle Retraction During Closure of Post-Auricular Incisions

Piper C. Cannon, Miriam R. Smetak, Robert J. Webster, III, Robert F. Labadie
Proc. ASME. DMD2022, 2022 Design of Medical Devices Conference, V001T11A010, April 11–14, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DMD2022-1048
https://doi.org/10.1115/DMD2022-1048
View Paper titled, A Novel Tool for Auricle Retraction During Closure of Post-Auricular Incisions
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Topics: Compression, Design, Ear, Performance, Preferences, Surgery, Tension
Journal Articles

Clinical Translation of an Insertion Tool for Minimally Invasive Cochlear Implant Surgery

Katherine E. Riojas, Emily T. Tran, Michael H. Freeman, Jack H. Noble, Robert J. Webster, III, Robert F. Labadie
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research-Article
J. Med. Devices. September 2021, 15(3): 031001.
Paper No: MED-20-1118
https://doi.org/10.1115/1.4050203
Published Online: April 2, 2021
View Article titled, Clinical Translation of an Insertion Tool for Minimally Invasive Cochlear Implant Surgery
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Topics: Cochlear implants, Design, Phantoms, Surgery, Ear, Drills (Tools), Rollers
Proceedings Papers

A Simple Manual Roller Wheel Insertion Tool for Electrode Array Insertion in Minimally Invasive Cochlear Implant Surgery

Narendran Narasimhan, Katherine E. Riojas, Trevor L. Bruns, Jason E. Mitchell, Robert J. Webster, III, Robert F. Labadie
Proc. ASME. DMD2019, 2019 Design of Medical Devices Conference, V001T06A003, April 15–18, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DMD2019-3249
https://doi.org/10.1115/DMD2019-3249
View Paper titled, A Simple Manual Roller Wheel Insertion Tool for Electrode Array Insertion in Minimally Invasive Cochlear Implant Surgery
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Topics: Cochlear implants, Electrodes, Rollers, Surgery, Wheels, Tunnels, Buckling, Construction, Drills (Tools), Path planning
Proceedings Papers

An Experimental Comparison of Two User Interface Designs for a Hand-Held Surgical Robot

Margaret F. Rox, Richard J. Hendrick, S. Duke Herrell, Robert J. Webster, III
Proc. ASME. DMD2017, 2017 Design of Medical Devices Conference, V001T08A009, April 10–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DMD2017-3372
https://doi.org/10.1115/DMD2017-3372
View Paper titled, An Experimental Comparison of Two User Interface Designs for a Hand-Held Surgical Robot
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Topics: Robots, Surgery, User interfaces, Manipulators, Endoscopes, Biological tissues, Lasers, Robotics, Degrees of freedom, Design
Proceedings Papers

Treating Epilepsy via Thermal Ablation: Initial Experiments With an MRI-Guided Concentric Tube Robot

Yue Chen, Megan E. Poorman, David B. Comber, E. Bryn Pitt, Cindy Liu, Isuru S. Godage, Hong Yu, William A. Grissom, Eric J. Barth, Robert J. Webster, III
Proc. ASME. DMD2017, 2017 Design of Medical Devices Conference, V001T02A002, April 10–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DMD2017-3408
https://doi.org/10.1115/DMD2017-3408
View Paper titled, Treating Epilepsy via Thermal Ablation: Initial Experiments With an MRI-Guided Concentric Tube Robot
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Topics: Ablation (Vaporization technology), Magnetic resonance imaging, Robots, Brain, Needles, Nervous system, Patient treatment, Probes, Resolution (Optics), Risk
Proceedings Papers

An MRI-Compatible Robot for Intracerebral Hemorrhage Removal

Yue Chen, Isuru S. Godage, Saikat Sengupta, Cindy Lin Liu, Kyle D. Weaver, Eric J. Barth, Robert J. Webster, III
Proc. ASME. DMD2017, 2017 Design of Medical Devices Conference, V001T08A019, April 10–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DMD2017-3451
https://doi.org/10.1115/DMD2017-3451
View Paper titled, An MRI-Compatible Robot for Intracerebral Hemorrhage Removal
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Topics: Magnetic resonance imaging, Robots, Brain, Blood, Biological tissues, Needles, Cavities, Deformation, Imaging, Ionizing radiation
Journal Articles

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 J. Webster, III
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. March 2017, 11(1): 014501.
Paper No: MED-16-1191
https://doi.org/10.1115/1.4034575
Published Online: December 21, 2016
View Article titled, Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical Instruments
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Topics: Design, Kinematics, Manufacturing, Needles, Nickel titanium alloys, Surgical tools, Tendons, Testing, Surgery, Statics
Journal Articles

Curving Clinical Biopsy Needles: Can We Steer Needles and Still Obtain Core Biopsy Samples?

Patrick S. Wellborn, Philip J. Swaney, Robert J. Webster, III
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. September 2016, 10(3): 030904.
Paper No: MED-16-1101
https://doi.org/10.1115/1.4033783
Published Online: August 1, 2016
View Article titled, Curving Clinical Biopsy Needles: Can We Steer Needles and Still Obtain Core Biopsy Samples?
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Topics: Bending (Stress), Needles, Biological tissues, Nickel titanium alloys
Journal Articles

Follow-the-Leader Deployment of Steerable Needles Using a Magnetic Resonance-Compatible Robot With Stepper Actuators

E. Bryn Pitt, David B. Comber, Yue Chen, Joseph S. Neimat, Robert J. Webster, III, Eric J. Barth
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Special Section Technical Briefs
J. Med. Devices. June 2016, 10(2): 020945.
Paper No: MED-16-1170
https://doi.org/10.1115/1.4033242
Published Online: May 12, 2016
View Article titled, Follow-the-Leader Deployment of Steerable Needles Using a Magnetic Resonance-Compatible Robot With Stepper Actuators
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Topics: Actuators, Needles, Resonance, Robots, Wafer steppers, Trajectories (Physics)
Journal Articles

Design and Thermal Testing of an Automatic Drill Guide for Less Invasive Cochlear Implantation

Neal P. Dillon, Jason E. Mitchell, M. Geraldine Zuniga, Robert J. Webster, III, Robert F. Labadie
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Special Section Technical Briefs
J. Med. Devices. June 2016, 10(2): 020923.
Paper No: MED-16-1163
https://doi.org/10.1115/1.4033223
Published Online: May 12, 2016
View Article titled, Design and Thermal Testing of an Automatic Drill Guide for Less Invasive Cochlear Implantation
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Topics: Design, Drills (Tools), Testing, Drilling, Surgery, Bone, Trajectories (Physics)
Journal Articles

A Disposable Robot for Intracerebral Hemorrhage Removal

Yifan Zhu, Philip J. Swaney, Isuru S. Godage, Ray A. Lathrop, Robert J. Webster, III
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Special Section Technical Briefs
J. Med. Devices. June 2016, 10(2): 020952.
Paper No: MED-16-1174
https://doi.org/10.1115/1.4033246
Published Online: May 12, 2016
View Article titled, A Disposable Robot for Intracerebral Hemorrhage Removal
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Topics: Robots, Railroad passenger cars, Motors
Proceedings Papers

Efficient Spatial Dynamics for Continuum Arms

Isuru S. Godage, Raul Wirz, Ian D. Walker, Robert J. Webster, III
Proc. ASME. DSCC2015, Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems, V003T53A005, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9932
https://doi.org/10.1115/DSCC2015-9932
View Paper titled, Efficient Spatial Dynamics for Continuum Arms
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Topics: Dynamics (Mechanics), Dynamic models, Center of mass, Muscle, Robots, Steady state, Transients (Dynamics)
Proceedings Papers

A New Continuum Robot With Crossed Elastic Strips: Extensible Sections With Only One Actuator per Section

Andria A. Remirez, Robert J. Webster, III
Proc. ASME. DSCC2015, Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems, V003T43A004, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9919
https://doi.org/10.1115/DSCC2015-9919
View Paper titled, A New Continuum Robot With Crossed Elastic Strips: Extensible Sections With Only One Actuator per Section
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Topics: Actuators, Robots, Strips, Engineering prototypes, Errors
Journal Articles

A Compact, Bone-Attached Robot for Mastoidectomy

Neal P. Dillon, Ramya Balachandran, J. Michael Fitzpatrick, Michael A. Siebold, Robert F. Labadie, George B. Wanna, Thomas J. Withrow, Robert J. Webster, III
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research-Article
J. Med. Devices. September 2015, 9(3): 031003.
Paper No: MED-14-1274
https://doi.org/10.1115/1.4030083
Published Online: September 1, 2015
View Article titled, A Compact, Bone-Attached Robot for Mastoidectomy
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Topics: Bone, Drills (Tools), Robotics, Robots, Surgery, Workflow, Design
Journal Articles

A Bronchial Puncture Mechanism for Transoral Access to the Lung Parenchyma

Erik P. Lamers, Andria A. Remirez, Philip J. Swaney, Robert J. Webster,, III
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. September 2015, 9(3): 030921.
Paper No: MED-15-1077
https://doi.org/10.1115/1.4030606
Published Online: September 1, 2015
View Article titled, A Bronchial Puncture Mechanism for Transoral Access to the Lung Parenchyma
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Topics: Lung, Needles
Journal Articles

Design of a Safer Tracheostomy Tube

Arpan Sarkar, Richard J. Hendrick, Ray A. Lathrop, Bret Alvis, Robert J. Webster, III
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. June 2015, 9(2): 020939.
Paper No: MED-15-1132
https://doi.org/10.1115/1.4030191
Published Online: June 1, 2015
View Article titled, Design of a Safer Tracheostomy Tube
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Topics: Design, Membranes, Trachea
Journal Articles

Design of a Stiff Steerable Grasper for Sinus Surgery

Andria A. Remirez, Ray A. Lathrop, Paul T. Russell, III, Robert J. Webster, III
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. September 2014, 8(3): 030915.
Paper No: MED-14-1066
https://doi.org/10.1115/1.4027036
Published Online: July 21, 2014
View Article titled, Design of a Stiff Steerable Grasper for Sinus Surgery
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Topics: Design, Surgery
Proceedings Papers

Design and Precision Control of an MR-Compatible Flexible Fluidic Actuator

David B. Comber, Jonathon E. Slightam, Eric J. Barth, Vito R. Gervasi, Robert J. Webster, III
Proc. ASME. FPMC2013, ASME/BATH 2013 Symposium on Fluid Power and Motion Control, V001T01A048, October 6–9, 2013
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2013-4481
https://doi.org/10.1115/FPMC2013-4481
View Paper titled, Design and Precision Control of an MR-Compatible Flexible Fluidic Actuator
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Topics: Actuators, Design, Magnetic resonance imaging, Fluids, Additive manufacturing, Control equipment, Degrees of freedom, Electrical components, Engineering prototypes, Errors
Journal Articles

Design and Control of an Magnetic Resonance Compatible Precision Pneumatic Active Cannula Robot

David B. Comber, Eric J. Barth, Robert J. Webster, III
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research-Article
J. Med. Devices. March 2014, 8(1): 011003.
Paper No: MED-12-1160
https://doi.org/10.1115/1.4024832
Published Online: December 6, 2013
View Article titled, Design and Control of an Magnetic Resonance Compatible Precision Pneumatic Active Cannula Robot
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Topics: Control equipment, Design, Robots, Pistons, Cylinders, Robotics