Journal Papers

  1. D. S. Esser, M. F. Rox, R. P. Naftel D. C. Rucker, E. J. Barth, A. Kuntz, and R. J. Webster III. Encoding Desired Deformation Profiles in Endoscope-Like Soft Robots. IEEE Transactions on Medical Robotics and Bionics, 2024.

  2. K.T. Dang, C. Hatch, P. Connor, S. Qiu, T. Qin, R. Alterovitz, R. J. Webster III, and C. Rucker. Stiff yet Bendy: Tubular Transmissions for Driving Surgical Robots through Flexible Endoscopes. Journal of Medical Robotics Research, In Press, 2024.

  3. G. Ciuti, R. J. Webster III, K.-W. Kwok, and A. Menciassi. Biorobotics for Surgery. Nature Reviews Bioengineering, In Press, 2024.

  4. B. Y. Cho, D. S. Esser, J. Thompson, B. Thach, R. J. Webster III and A. Kuntz. Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network. In IEEE Robotics and Automation Letters, vol. 9, no. 11, pp. 9263-9270, 2024.

  5. K. E. Riojas, T. L. Bruns, J. Granna, M. Smetak, R. F. Labadie, and R. J. Webster III. Toward Inferring Positioning of Straight Cochlear-Implant Electrode Arrays During Insertion Using Real-Time Impedance Sensing. International Journal of Medical Robotics and Computer Assisted Surgery, 20(1):e2609, 2024.

  6. N. R. Posselli, P. S. Wellborn, P. S. Bernstein, R. J. Webster III, and J. J. Abbott. Head-Mounting Surgical Robots for Passive Compensation of Patient Motion. Journal of Medical Robotics Research, 9(1-2):2350006, 2024.

  7. P. C. Cannon, S. A. Setia, S. Klein-Gardner, N. L. Kavoussi, R. J. Webster III, and S. D. Herrell. Are 3D Image Guidance Systems Ready for Use? A Comparative Analysis of 3D Image Guidance Implementations in Minimally Invasive Partial Nephrectomy. Journal of Endourology, 38(4):395-407, 2024.

  8. J. Ferguson, R. J. Webster III, and D. C. Rucker. Unified Shape and External Load State Estimation for Continuum Robots. IEEE Transactions on Robotics, 40:1813-1827, 2024.

  9. P. L. Anderson, R. J. Hendrick, M. Rox, and R. J. Webster, III. Exceeding Traditional Curvature Limits of Concentric Tube Robots Through Redundancy Resolution. International Journal of Robotics Research, 43(1):53-68, 2024.

  10. P. C. Cannon, J. M. Ferguson, B. E. Pitt, J. A. Shrand, S. A. Setia, N. Nimmagadda, E. J. Barth, N. L. Kavoussi, R. L. Galloway, S. D. Herrell III, and R. J. Webster III. A Safe Framework for Quantitative In Vivo Human Evaluation of Image Guidance. IEEE Open Journal of Engineering in Medicine and Biology, 5:133-139, 2023.

  11. J. M. Ferguson, T. E. Ertop, S. D. Herrell III, and R. J. Webster III. Unified Robot and Inertial Sensor Self-Calibration. Robotica, 41(5):1590-1616, 2023.

  12. A. Kuntz, M. Emerson, T. Ertop, I. Fried, M. Fu, J. Hoelscher, M. Rox, J. Akulian, E. A. Gillaspie, Y. Z. Lee, F. Maldonado, R. J. Webster III, and R. Alterovitz. Autonomous Medical Needle Steering In Vivo. Science Robotics, 8(82), 2023.

  13. K. E. Riojas, T. L. Bruns, J. Granna, R. J. Webster, III, and R. F. Labadie. Robotic Pullback Technique of a Precurved Cochlear-Implant Electrode Array Using Real-Time Impedance Sensing Feedback. International Journal of Computer Assisted Radiology and Surgery, 18(3):413-421, 2023.

  14. M. Rox, D. S. Esser, M.E. Smith, T. E. Ertop, M. Emerson, F. Maldonado, E. A. Gillaspie, A. Kuntz, and R. J. Webster III. Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Discs. IEEE Robotics and Automation Letters, 8(6):3494-3501, 2023.

  15. N. Nimmagadda, J. M. Ferguson, N. L. Kavoussi, B. Pitt, E. J. Barth, J. Granna, R. J. Webster III, and D. S. Herrell III. Patient-Specific, Touch-Based Registration During Robotic, Image-Guided Partial Nephrectomy. World Journal of Urology, 40(3):671–677, 2022.

  16. M. H. Freeman, J. B. Gafford, L. Fichera, J. Noble, R. J. Webster III, R. F. Labadie. Transeustachian Middle Ear Endoscopy Using a Steerable Distal-Camera Tipped Endoscope. Otology & Neurotology, 43, (2):206-211, 2022.

  17. J. Granna, E. B. Pitt, M. E. McKay, T. J. Ball, J. S. Neimat, D. J. Englot, R. P. Naftel, E. J. Barth, and R. J. Webster III. Targeting Epilepsy Through the Foremen Ovale: How Many Helical Needles are Needed? Annals of Biomedical Engineering, 50(5):499-506, 2022.

  18. T. L. Bruns, K. E. Riojas, R. F. Labadie, and R. J. Webster, III. Real-time Localization of Cochlear-Implant Electrode Arrays Using Bipolar Impedance Sensing. IEEE Transactions on Biomedical Engineering, 69(2):718-724, 2022.

  19. P. S. Wellborn, J. E. Mitchell, N. J. Pieper, and R. J. Webster III. Design and Analysis of a Small-Scale Magnetorheological Brake. IEEE/ASME Transactions on Mechatronics, 27(5):3099-3109, 2022.

  20. N. E. Pacheco, J. B. Gafford, M. A. Atalla, R. J. Webster III, and L. Fichera. Beyond Constant Curvature: A New Mechanics Model for Unidirectional Notched-Tube Continuum Wrists. Journal of Medical Robotics Research, 6(1-2):2140004, 2021.

  21. C. M. Hendricks, M. S. Cavilla, D. E. Usevitch, T. L. Bruns, K. E. Riojas, L. Leon, R. J. Webster III, F. M. Warren, and J. J. Abbott. Magnetic Steering of Robotically Inserted Lateral-Wall Cochlear-Implant Electrode Arrays Reduces Forces on the Basilar Membrane In Vitro. Otology & Neurotology, 42(7):1022-1030, 2021.

  22. J. Hoelscher, M. Fu, I. Fried, M. Emerson, T. Ertop, M. Rox, A. Kuntz, J. Akulian, R. J. Webster III, and R. Alterovitz. Backward Planning for a Multi-Stage Steerable Needle Lung Robot. IEEE Robotics and Automation Letters, 6(2):3987-3994, 2021.

  23. K. E. Riojas, E. T. Tran, M. H. Freeman, J. H. Noble, R. J. Webster III, and R. F. Labadie. Clinical Translation of an Insertion Tool for Minimally Invasive Cochlear Implant Surgery. ASME Journal of Medical Devices, 15(3):031001, 2021.

  24. J. Gafford, K. Galloway, S. Webster, M. Emerson, K. Riojas, D. Ropella, A. Tumen, F. Maldonado, M. Bacchetta, E. Barth, S. D. Herrell, and R. J. Webster III. The Vanderbilt Open-Source Ventilator: From Napkin Sketch to Ready to Save Lives in 3 Weeks. IEEE Robotics and Automation Magazine, 28(1):101-114, 2021.

  25. N. L. Kavoussi, E. B. Pitt, J. M. Ferguson, J. Granna, A. Remirez, N. Nimmagadda, R. Melnyk, A. Ghazi, R. J. Webster III, and S. D. Herrell III. Accuracy of Touch-Based Registration During Robotic, Image-Guided Partial Nephrectomy Before and After Tumor Resection in Validated Phantoms. Journal of Endourology, 35(3):362-368, 2021.

  26. R. F. Labadie, K. E. Riojas, K. Von Wahlde, J. E. Mitchell, T. L. Bruns, R. J. Webster III, B. M. Dawant, J. M. Fitzpatrick, and J. H. Noble. Clinical Implementation of Second-Generation Minimally-Invasive Image-Guided Cochlear Implantation Surgery. Otology & Neurotology, 42(5): 702-705, 2021.

  27. J. Gafford, M. Freeman, L. Fichera, J. H. Noble, R. Labadie, and R. J. Webster III. Eyes in Ears: A Miniature Steerable Digital Endoscope for Trans-Nasal Diagnosis of Middle Ear Disease. Annals of Biomedical Engineering, 49(1):219-232, 2021.

  28. T. L. Bruns, A. A. Remirez, M. A. Emerson, R. A. Lathrop, A. W. Mahoney, H. B. Gilbert, C. L. Liu, P. T. Russell, K. D. Weaver, and R. J. Webster III. A Modular, Multi-Arm Concentric Tube Robot System with Application to Transnasal Surgery for Orbital Tumors. International Journal of Robotics Research, 40(2-3):521-533, 2021.

  29. F. Campisano, S. Calo, A. A. Remirez, J. Chandler, K. Obstein, R. J. Webster III, and P. Valdastri. Closed-Loop Control of Soft Continuum Manipulators under Tip Follower Actuation. International Journal of Robotics Research, 40(6-7):923-938, 2021.

  30. M. Rox, M. Emerson, T. E. Ertop, I. Fried, M. Fu, J. Hoelscher, A. Kuntz, J. Granna, J. Mitchell, M. Lester, F. Maldonado, E. A. Gillaspie, J. A. Akulian, R. Alterovitz, and R. J. Webster, III. Decoupling Steerability from Diameter: Helical Dovetail Laser Patterning for Steerable Needles. IEEE Access, 8:181411-181419, 2020.

  31. J. M. Ferguson, E. B. Pitt, A. Kuntz, J. Granna, N. L. Kavoussi, N. Nimmagadda, E. J. Barth, S. Duke Herrell, III, and R. J. Webster, III. Comparing the Accuracy of the da Vinci Xi and da Vinci Si for Image Guidance and Automation. The International Journal of Medical Robotics and Computer Assisted Surgery, 16(6):1-10 e2149, 2020.

  32. E. Amanov, D. S. Ropella, N. Nimmagadda, T. E. Ertop, J. E. Mitchell, N. L. Kavoussi, R. J. Hendrick, N. Dillon, E. Blum, S. D. Herrell III, and R. J. Webster III. Transurethral Anastomosis after Transurethral Radical Prostatectomy: A Phantom Study on Intraluminal Suturing With Concentric Tube Robots. IEEE Transactions on Medical Robotics and Bionics, 2(4):578-581, 2020.

  33. T. L. Bruns, K. E. Riojas, D. S. Ropella, M. S. Cavilla, A. J. Petruska, M. H. Freeman, R. F. Labadie, J. J. Abbott, and R. J. Webster III. Magnetically Steered Robotic Insertion of Cochlear-Implant Electrode Arrays: System Integration and First-In-Cadaver Results. IEEE Robotics and Automation Letters, 5(2):2240-2247, 2020.

  34. M. F. Rox, D. S. Ropella, R. J. Hendrick, E. Blum, R. P. Naftel, H. C. Bow, S. D. Herrell, K. D. Weaver, L. B. Chambless, and R. J. Webster III. Mechatronic Design of a Two-Arm Concentric Tube Robot System for Rigid Neuroendoscopy. IEEE Transactions on Mechatronics, 25(3):1432-1443, 2020.

  35. F. Campisano, A. Remirez, C. A. Landewee, S. Calo, K. Obstein, R. J. Webster, III, and P. Valdastri. Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy. IEEE Robotics and Automation Letters, 5(4):6427-6434, 2020.

  36. L. Harvey, R. Hendrick, N. Dillon, E. Blum, L. Branscombe, S. Webster, R. J. Webster, III, and T. Anderson. A Novel Robotic Endoscopic Device Used for Operative Hysteroscopy. Journal of Minimally Invasive Gynecology, 26(7):1631-1635, 2020.

  37. W. G. Morrel, K. E. Riojas, R. J. Webster, III, J. H. Noble, and R. F. Labadie. Custom Mastoid-Fitting Templates to Improve Cochlear Implant Electrode Insertion Trajectory. International Journal of Computer Assisted Radiology and Surgery, 15(10):1713-1718, 2020.

  38. J. M. Ferguson, E. B. Pitt, A. A. Remirez, M. A. Siebold, A. Kuntz, N. L. Kavoussi, E. J. Barth, S.D. Herrell, III, and R. J. Webster, III. Toward Practical and Accurate Touch-Based Image Guidance for Robotic Partial Nephrectomy. IEEE Transactions on Medical Robotics and Bionics, 2(2):196-205, 2020.

  39. A. Kuntz, A. Sethi, R. J. Webster, III, and R. Alterovitz. Learning the Complete Shape of Concentric Tube Robots. IEEE Transactions on Medical Robotics and Bionics, 2(2):140-147, 2020.

  40. J. Till, V. Aloi, K. E. Riojas, P. L. Anderson, R. J. Webster, III, and D. C. Rucker. A Dynamic Model for Concentric Tube Robots. IEEE Transactions on Robotics, 36(6):1704-1718, 2020.

  41. F. Campisano, A. A. Remirez, S. Calo, J. J. Chandler, K. L. Obstein, R. J. Webster, III, and P. Valdastri. Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators. IEEE Robotics and Automation Letters, 5(2):2642-2649, 2020.

  42. J. B. Gafford, S. Webster, N. Dillon, E. Blum, R. Hendrick, F. Maldonado, E. A. Gillaspie, 0. B. Rickman, S. D. Herrell, and R. J. Webster III. A Concentric Tube Robot System for Rigid Bronchoscopy: A Feasibility Study on Central Airway Obstruction Removal. Annals of Biomedical Engineering, 48(1):181-191, 2019.

  43. P. S. Wellborn, P. T. Russell, and R. J. Webster III. A Multi-Subject Accuracy Study on Granular Jamming for Non-Invasive Attachment of Fiducial Markers to Patients. International Journal of Computer Assisted Radiology and Surgery, 15(1):69-74, 2019.

  44. I. S. Godage, R. J. Webster III, and I. D. Walker. Center-of-Gravity-Based Approach for Modeling Dynamics of Multisection Continuum Arms. IEEE Transactions on Robotics, 35(5):1097-1108, 2019.

  45. K. E. Riojas, P. L. Anderson, R. A. Lathrop, S. D. Herrell, D. C. Rucker, and R. J. Webster III. A Hand-Held Non-Robotic Surgical Tool with a Wrist and an Elbow. IEEE Transactions on Biomedical Engineering, 66(11):3176-3184, 2019.

  46. K. E. Riojas, R. J. Hendrick, and R. J. Webster III. Can Elastic Instability be Beneficial in Concentric Tube Robots? Robotics and Automation Letters, 3(3):1624-1630, 2018.

  47. Y. Chen, I. S. Godage, Z. Tsz Ho Tse, R. J. Webster III, and E. J. Barth. Characterization and Control of a Pneumatic Motor for MR-Conditional Robotic Applications. IEEE/ASME Transactions on Mechatronics, 22(6), 2017.

  48. N. P. Dillon, L. Fichera, K. Kesler, M. G. Zuniga, J. E. Mitchell, R. J. Webster III, and R. F. Labadie. Pre-Operative Screening and Manual Drilling Strategies to Reduce the Risk of Thermal Injury During Minimally Invasive Cochlear Implantation Surgery. Annals of Biomedical Engineering, 45(9):2184-2195, 2017.

  49. M. Mizuta, T. Kurita, N. P. Dillon, E. E. Kimball, C. G. Garrett, M. P. Sivasankar, R. J. Webster III, and B. Rousseau. In-Vivo Measurement of Vocal Fold Surface Resistance. The Laryngoscope, 127(10):E364-E370, 2017.

  50. P. L. Anderson, A. Mahoney, and R. J. Webster III. Continuum Reconfigurable Parallel Robots for Surgery: Shape Sensing and State Estimation with Uncertainty. IEEE Robotics and Automation Letters, 2(3):1617-1624, 2017.

  51. P. S. Wellborn, N. P. Dillon, P. T. Russell III, and R. J. Webster III. Coffee: The Key to Safer Image-Guided Surgery – A Granular Jamming Cap for Non-Invasive, Rigid Fixation of Fiducial Markers to the Patient. International Journal of Computer Assisted Radiology and Surgery, 12(6):1069-1077, 2017.

  52. L. Fichera, N. P. Dillon, D. Zhang, I. S. Godage, M. A. Siebold, B. I. Hartley, J. H. Noble, P. T. Russell III, R. F. Labadie, and R. J. Webster III. Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into The Middle Ear. IEEE Robotics and Automation Letters,
    2(3):1488-1494, 2017.

  53. N. P. Dillon, R. Balachandran, M. A. Siebold, R. J. Webster III, G. B. Wanna, and R. F. Labadie. Cadaveric Testing of Robot-Assisted Access to the Internal Auditory Canal for Vestibular Schwannoma Removal. Otology & Neurotology, 38(3):441-447, 2017.

  54. L. B. Kratchman, T. L. Bruns, J. J. Abbott, and R. J. Webster III. Guiding Elastic Rods with a Robot-Manipulated Magnet for Medical Applications. IEEE Transactions on Robotics, 33(1):227-233, 2017.

  55. M. A. Siebold, N. P. Dillon, L. Fichera, R. F. Labadie, R. J. Webster III, and J. M. Fitzpatrick. Safety Margins in Robotic Bone Milling: From Registration Uncertainty to Statistically Safe Surgeries. The International Journal of Medical Robotics and Computer Assisted Surgery, 13(3), 2017.

  56. D. B. Comber, E. B. Pitt, H. B. Gilbert, M. W. Powelson, E. Matijevich, J. S. Neimat, R. J. Webster III, and E. J. Barth. Optimization of Curvilinear Needle Trajectories for Transforamenal Hippocampotomy. Operative Neurosurgery, 13(1):15-22, 2017.

  57. P. J. Swaney, A. W. Mahoney, B. I. Hartley, A. A. Remirez, E. P. Lamers, R. H. Feins, R. Alterovitz, and R. J. Webster III. Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles. Journal of Medical Robotics Research, 2(1):1750001, 2017.

  58. A. L. Tam, H. J. Lim, I. I. Wistuba, A. Tamrazi, M. D. Kuo, E. Ziv, S. Wong, A. J. Shih, R. J.
    Webster III, G. S. Fischer, S. Nagrath, S. E. Davis, S. B. White, and K. Ahrar. Image-Guided Biopsy in the Era of Personalized Cancer Care: Proceedings From the Society of Interventional Radiology Research Consensus Panel. Journal of Vascular and Interventional Radiology, 27(1):8-19, 2016.

  59. C. R. Mitchell, R. J. Hendrick, R. J. Webster III, and S. D. Herrell. Toward Improving Transurethral Prostate Surgery: Development and Initial Experiments with a Prototype Concentric Tube Robotic Platform. Journal of Endourology, 30(6):692-696, 2016. Best Basic Science Paper, Endourology Fellows Competition.

  60. P. S. Wellborn, P. J. Swaney, and R. J. Webster III. Curving Clinical Biopsy Needles: Can We Steer Needles and Still Obtain Core Biopsy Samples? ASME Journal of Medical Devices, 10(3):030904, 2016.

  61. P. J. Swaney, P. A. York H. B. Gilbert, J. Burgner-Kahrs, and R. J. Webster III. Design, Fabrication, and Testing of a Needle-sized Wrist for Surgical Instruments. ASME Journal of Medical Devices,11(1):014501-9, 2016.

  62. N. P. Dillon, J. E. Mitchell, M. G. Zuniga, R. J. Webster III, and R. F. Labadie. Design and Thermal Testing of an Automatic Drill Guide for Less Invasive Cochlear Implantation. ASME Journal of Medical Devices, 10(2):020923, 2016.

  63. Y. Zhu, P. J. Swaney, I. S. Godage, R. A. Lathrop, and R. J. Webster III. A Disposable Robot for Intracerebral Hemorrhage Removal. ASME Journal of Medical Devices, 10(2):020952, 2016.

  64. E. B. Pitt, D. B. Comber, Y. Chen, J. S. Neimat, R. J. Webster III, and E. J. Barth. Follow-the-Leader Deployment of Steerable Needles Using a Magnetic Resonance-Compatible Robot with Stepper Actuators. ASME Journal of Medical Devices, 10(2):020945, 2016.

  65. P. L. Anderson, R. A. Lathrop, and R. J. Webster III. Robot-Like Dexterity Without Computers and Motors: A Review of Hand-Held Laparoscopic Instruments with Wrist-Like Tip Articulation. Expert Review of Medical Devices, 13(7):661-672, 2016.

  66. P. L. Anderson, R. A. Lathrop, S. D. Herrell, and R. J. Webster III. Comparing a Mechanical Analogue with the da Vinci User Interface: Suturing at Challenging Angles. IEEE Robotics and Automation Letters, 1(2):1060-1065, 2016.

  67. J. Granna, I. S. Godage, R. Wirz, K. D. Weaver, R. J. Webster III, and J. Burgner-Kahrs. A 3D Volume Coverage Path Planning Algorithm with Application to Intracerebral Hemorrhage Evacuation. IEEE Robotics and Automation Letters, 1(2):876-883, 2016.

  68. H. Su, G. Li, D. C. Rucker, R. J. Webster III, and G. S. Fischer. A Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-loop Targeting. Annals of Biomedical Engineering, 44(10):2863-2873, 2016.

  69. R. Ong, C. L. Glisson, J. Burgner-Kahrs, A. Simpson, A. Danilchenko, R. Lathrop, S. D. Herrell, R. J. Webster III, M. I. Miga, and R. L. Galloway. A Novel Method for Texture-Mapping Conoscopic Surfaces for Minimally Invasive Image-guided Kidney Surgery. International Journal for Computer Assisted Radiology and Surgery, 11(8):1515-1526, 2016.

  70. H. B. Gilbert and R. J. Webster III. Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots. IEEE Robotics and Automation Letters, 1(1):98-105, 2016.

  71. H. B. Gilbert, R. J. Hendrick, and R. J. Webster III. Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test. IEEE Transactions on Robotics, 32(1):20-35, 2016. Best Student Paper of 2016, Vanderbilt School Of Engineering.

  72. I. S. Godage, R. Wirz, I. D. Walker, and R. J. Webster III. Accurate and Efficient Dynamics for Variable Length Continuum Arms: A Center of Gravity Approach. Soft Robotics, 2(3):96-106, 2015.

  73. R. J. Hendrick, C.R. Mitchell, S. D. Herrell, and R. J. Webster III. Hand-Held Transendoscopic Robotic Manipulators: A Transurethral Laser Prostate Surgery Case Study. International Journal of Robotics Research, 34(15):1559-1572, 2015.

  74. N. P. Dillon, R. Balachandran, J. M. Fitzpatrick, M. A. Siebold, R. F. Labadie, G. B. Wanna, T. J. Withrow, and R. J. Webster III. A Compact Bone-Attached Robot for Mastoidectomy. ASME Journal of Medical Devices, 9(3):031003, 2015.

  75. E. P. Lamers, A. A. Remirez, P. J. Swaney, and R. J. Webster III. A Bronchial Puncture Mechanism for Transoral Access to the Lung Parenchyma. ASME Journal of Medical Devices, 9(3):030921, 2015.

  76. A. Sarkar, R. J. Hendrick, R. A. Lathrop, B. Alvis, and R. J. Webster III. Design of a Safer Tracheostomy Tube. ASME Journal of Medical Devices, 9(2):020939, 2015.

  77. H.B. Gilbert, J. Neimat, and R. J. Webster III. Concentric Tube Robots as Steerable Needles: Achieving Follow-The-Leader Deployment. IEEE Transactions on Robotics, 31(2):246-258, 2015.

  78. P. J. Swaney, H. B. Gilbert, R. J. Webster III, P. T. Russell III, and K. D. Weaver. Endonasal Skull Base Tumor Removal Using Concentric Tube Continuum Robots: A Phantom Study. Journal of Neurological Surgery Part B: Skull Base, 76(2):145-149, 2015.

  79. R. Wirz, L. Torres, P. J. Swaney, H. B. Gilbert, R. Alterovitz, R. J. Webster III, K. D. Weaver, and P. T. Russell III. An Experimental Feasibility Study on Robotic Endonasal Telesurgery. Neurosurgery, 76(4):479-484, 2015.

  80. A. A. Remirez, R. A. Lathrop, P. T. Russell III, and R. J. Webster III. Design of a Stiff Steerable Grasper for Sinus Surgery. ASME Journal of Medical Devices, 9(3):030915, 2014.

  81. D. B. Comber, E. J. Barth, and R. J. Webster III. Design and Control of a Magnetic Resonance Compatible Precision Pneumatic Active Cannula Robot. ASME Journal of Medical Devices, 8(1):011003, 2014.

  82. H. B. Gilbert, R. Hendrick, A. Remirez, and R. J. Webster III. A Robot for Transnasal Surgery Featuring Needle-Sized Tentacle-Like Arms. Expert Review of Medical Devices, 11(1):5-7, 2014.

  83. S. D. Herrell, R. J. Webster III, and N. Simaan. Future Robotic Platforms in Urologic Surgery: Recent Developments. Current Opinion in Urology, 24(1):118-126, 2014.

  84. J. L. Gorlewicz, J. Burgner, T. J. Withrow, and R. J. Webster III. Initial Experiences Using Vibratory Touchscreens to Display Graphical Math Concepts to Students with Visual Impairments. Journal of Special Education Technology, 29(2):17-26, 2014.

  85. J. Burgner, D. C. Rucker, H.B. Gilbert, P. J. Swaney, P. T. Russell III, K. D. Weaver, and R. J. Webster III. A Telerobotic System for Transnasal Surgery. IEEE/ASME Transactions on Mechatronics, 19(3):996-1006, 2014.

  86. S. Patil, J. Burgner, R. J. Webster III, and R. Alterovitz. Needle Steering in 3D via Rapid Replanning. IEEE Transactions on Robotics, 30(4):853-864, 2014.

  87. J. L. Gorlewicz, L. B. Kratchman, and R. J. Webster III. Haptic Paddle Enhancements and a Formal Assessment of Student Learning in System Dynamics. ASEE Advances in Engineering Education, 4(2):1-31, 2014.

  88. R. J. Hendrick, R. A. Lathrop, J. S. Schneider, and R. J. Webster III. Design of an Endonasal Graft Placement Tool for Repair of Skull Base Defects. ASME Journal of Medical Devices, 7(2):020916, 2013. Best Paper/Poster Award - 3 in 5 competition.

  89. J. S. Schneider, J. Burgner, R. J. Webster III, and P. T. Russell III. Robotic Surgery for the Sinuses and Skull Base: What are the Possibilities and What are the Obstacles? Current Opinion in Otolaryngology and Head & Neck Surgery, 21(1):11-16, 2013.

  90. A. L. Simpson, J. Burgner, C. L. Glisson, S. D. Herrell, B. Ma, T. S. Pheiffer, R. J. Webster III, and M. I. Miga. Comparison Study of Intraoperative Surface Acquisition Methods for Surgical Navigation. IEEE Transactions on Biomedical Engineering, 60(4):1090-1099, 2013.

  91. P. J. Swaney, J. Burgner, H.B. Gilbert, and R. J. Webster III. A Flexure-Based Steerable Needle: High Curvature with Reduced Tissue Damage. IEEE Transactions on Biomedical Engineering, 60(4):906-909, 2013.

  92. J. L. Gorlewicz, S. Battaglia, B. F. Smith, G. Ciuti, J. Gerding, A. Menciassi, K. Obstein, P. Valdastri, and R. J. Webster III. Wireless Insufflation of the Gastrointestinal Tract. IEEE Transactions on Biomedical Engineering, 60(5):1225-1233, 2013.

  93. J. Ueda, D. B. Comber, J. Slightam, M. Turkseven, V. Gervasi, R. J. Webster III, and E. J. Barth. MRI-Compatible Fluid-Powered Medical Devices. Dynamic Systems and Control Magazine, 135(6):13-16, 2013.

  94. J. Burgner, A. L. Simpson, J. M. Fitzpatrick, R. A. Lathrop, S. D. Herrell, M. I. Miga, and R. J. Webster III. A Study on the Theoretical and Practical Accuracy of Conoscopic Holography-Based Surface Measurements: Toward Image Registration in Minimally Invasive Surgery. International Journal of Medical Robotics and Computer Assisted Surgery, 9(2):190-203, 2013.

  95. N. P. Dillon, L. B. Kratchman, M. S. Dietrich, R. F. Labadie, R. J. Webster III, and T. J. Withrow. An Experimental Evaluation of the Force Requirements for Robotic Mastoidectomy. Otology & Neurotology, 34(7):e93-e102, 2013.

  96. J. Burgner, P. J. Swaney, R. A. Lathrop, K. D. Weaver, and R. J. Webster III. Debulking From Within: A Robotic Steerable Cannula for Intracerebral Hemorrhage Evacuation. IEEE Transactions on Biomedical Engineering, 60(9):2.567-2575, 2013.

  97. J. Bekeny, P. J. Swaney, R. J. Webster, III, P. T. Russell, and K. D. Weaver. Forces Applied at the Skull Base During Transnasal Endoscopic Transsphenoidal Pituitary Tumor Excision. Journal of Neurological Surgery Part B: Skull Base, 74(6):337-341, 2013.

  98. D. C. Rucker, J. Das, H.B. Gilbert, P. J. Swaney, M. I. Miga, N. Sarkar, and R. J. Webster III. Sliding Mode Control of Steerable Needles. IEEE Transactions on Robotics, 29(5):1289-1299, 2013.

  99. D. Schurzig, R. F. Labadie, A. Hussong, T. S. Rau, and R. J. Webster III. Design of a Tool Integrating Force Sensing with Automated Insertion in Cochlear Implantation. IEEE/ ASME Transactions on Mechatronics, 17(2):381-389, 2012.

  100. P. Valdastri, M. Simi, and R. J. Webster III. Advanced Technologies for Gastrointestinal Endoscopy. Annual Review of Biomedical Engineering, 14:397-429, 2012.

  101. L. B. Kratchman, D. Schurzig, T. R. McRackan, R. Balachandran, J. H. Noble, R. J. Webster III, and R. F. Labadie. A Manually-Operated, Advance Off-Stylet Insertion Tool for Image-Guided, Minimally Invasive Cochlear Implantation Surgery. IEEE Transactions on Biomedical Engineering, 59(10):2792-2800, 2012.

  102. J. Burgner, P. J. Swaney, T. L. Bruns, M. S. Clark, D. C. Rucker, E. C. Burdette, and R. J. Webster III. An Autoclavable Steerable Cannula Manual Deployment Device: Design and Accuracy Analysis. ASME Journal of Medical Devices, 6(4):041007, 2012.

  103. A. Danilchenko, R. Balachandran, J. L. Toennies, S. Baron, B. Munske, J.M. Fitzpatrick, T. J. Withrow, R. J. Webster III, and R. F. Labadie. Robotic Mastoidectomy. Otology & Neurotology, 32(1):11-16, 2011.

  104. D. C. Rucker and R. J. Webster III. Statics and Dynamics of Continuum Robots with General Tendon Routing and External Loading. IEEE Transactions on Robotics, 27(6):1033-1044, 2011.

  105. L.B. Kratchman, G. S. Blachon, T. J. Withrow, R. Balachandran, R. F. Labadie, and R. J. Webster III. Design of a Bone-Attached Parallel Robot for Percutaneous Cochlear Implantation. IEEE Transactions on Biomedical Engineering, 58(10):2904-2910, 2011.

  106. S. Baron, H. Eilers, B. Munske, .J. L. Toennies, R. Balachandran, R. F. Labadie, T. Ortmaier, and R.
    J. Webster III. Percutaneous Inner-Ear Access Via an Image-Guided Industrial Robot System. Journal of Engineering in Medicine, 224(5):633-649, 2010.

  107. R. A. Lathrop, D. Hackworth, and R. J. Webster III. Minimally Invasive Holographic Surface Scanning for Soft Tissue Image Registration. IEEE Transactions on Biomedical Engineering, 57(6):1497-1506, 2010.

  108. J. L. Toennies, G. Tortora, M. Simi, P. Valdastri, and R. J. Webster III. Swallowable Medical Devices for Diagnosis and Surgery: The State of the Art. Proceeding of the Institute of Mechanical Engineers. Part C: Journal of Mechanical Engineering Science, 224(C7):1397-1414, 2010.

  109. D. C. Rucker, R. J. Webster III, G. S. Chirikjian, and N. J. Cowan. Equilibrium Conformations of Concentric-Tube Continuum Robots. International Journal of Robotics Research, 29(10):1263-1280, 2010.

  110. R. J. Webster III and B. A. Jones. Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review. International Journal of Robotics Research, 29(13):1661-1683, 2010.

  111. D. Schurzig, R. J. Webster III, M. S. Dietrich, and R. F. Labadie. Force of Cochlear Implant Electrode Insertion Performed by a Robotic Insertion Tool: Comparison of Traditional Versus Advance-Off Stylet Techniques. Otology & Neurotology, 31(8):1207-1210, 2010.

  112. D. C. Rucker, B. A. Jones, and R. J. Webster III. A Geometrically Exact Model for Externally Loaded Concentric Tube Continuum Robots. IEEE Transactions on Robotics, 26(5):769-780, 2010. Best Student Paper of 2010, Vanderbilt School Of Engineering.

  113. R. J. Webster III, J.M. Romano, and N. J. Cowan. Mechanics of Precurved-Tube Continuum Robots. IEEE Transactions on Robotics, 25(1):67-78, 2009.

  114. P. Valdastri, R. J. Webster III, C. Quaglia, M. Quirini, A. Menciassi, and P. Dario. A New Mechanism for Meso-Scale Legged Locomotion in Compliant Tubular Environments. IEEE Transactions on Robotics, 25(5):1047-1057, 2009.

  115. D. C. Rucker and R. J. Webster III. Parsimonious Evaluation of Concentric-Tube Continuum Robot Equilibrium Conformation. IEEE Transactions on Biomedical Engineering, 56(9):2308-2311, 2009.

  116. C. Quaglia, E. Buselli, R. J. Webster III, P. Valdastri, A. Menciassi, and P. Dario. An Endoscopic Capsule Robot: A Meso-Scale Engineering Case Study. Journal of Micromechanics and Microengineering, 19(10):105007, 2009.

  117. E. M. Boctor, M. A. Choti, E. C. Burdette, and R. J. Webster III. Three-Dimensional Ultrasound-Guided Robotic Needle Placement: An Experimental Evaluation. International Journal of Medical Robotics and Computer Assisted Surgery, 4(2):180-191, 2008.

  118. R. J. Webster III. Object Capture With a Camera-Mobile Robot System. IEEE Robotics & Automation Magazine, 13(1):85-88, 2006.

  119. R. J. Webster III, J. S. Kim, N. J. Cowan, G. S. Chirikjian, and A. M. Okamura. Nonholonomic Modeling of Needle Steering. International Journal of Robotics Research, 25(5-6):509-525, 2006.

  120. R. J. Webster III, T. E. Murphy, L. N. Verner, and A. M. Okamura. A Novel Two-Dimensional Tactile Slip Display: Design, Kinematics, and Perceptual Experiments. ACM Transactions on Applied Perception, 2(2):150-165, 2005.

  121. E. M. Boctor, R. J. Webster III, H. Mathieu, A. M. Okamura, and G. Fichtinger. Virtual Remote Center of Motion Control for Needle Placement Robots. Journal of Computer Aided Surgery, 9(5):175-183, 2004