selected scholarly activity
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chapters
- Image-Guided Robotic Assisted Interventions. 365-371. 2009
- Robotic Kidney and Spine Percutaneous Procedures Using a New Laser-Based CT Registration Method. Lecture Notes in Computer Science. 249-257. 2001
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conferences
- A comparative study of H∞and PID control for indirect deformable object manipulation. 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO). 414-420. 2012
- CUDA accelerated simulation of needle insertions in deformable tissue. Journal of Physics: Conference Series. 012006-012006. 2012
- Stitching path planning using circular needles-tissue interaction model. 2011 IEEE International Conference on Robotics and Biomimetics. 1134-1139. 2011
- Model based deformable object manipulation using linear robust output regulation. IEEE International Conference on Intelligent Robots and Systems. 496-501. 2010
- Preface. 2010 Third International Conference on Advances in Computer-Human Interactions. ix-x. 2010
- Deformation Planning for Robotic Soft Tissue Manipulation. 2009 Second International Conferences on Advances in Computer-Human Interactions. 199-204. 2009
- MRI-compatible Pneumatic Robot (MRBot) for Prostate Brachytherapy: Preclinical Assessment of Accuracy and Execution of Dosimetric Plans. International Journal of Radiation Oncology Biology Physics. S306-S307. 2008
- MR compatible actuation for medical instrumentation. 2008 IEEE International Conference on Automation, Quality and Testing, Robotics. 49-52. 2008
- MRI robot for prostate brachytherapy. Journal of Endourology. A339-A339. 2006
- 1014: Differentiating Between Renal Carcinoma and Normal Parenchyma Utilizing Electrical Capacitance Measurements. Investigative Urology. 268-268. 2004
- Robotically-assisted radiofrequency ablation of liver tumors: Comparison with standard manual techniques. Gastroenterology. A801-A801. 2004
- Acubot: a robot for radiological interventions. IEEE Transactions on Automation Science and Engineering. 927-930. 2003
- Fluoroscopy servoing using translation/rotation decoupling in an A/P view. Proceedings of SPIE - The International Society for Optical Engineering. 161-165. 2003
- Automatic Targeting Method and Accuracy Study in Robot Assisted Needle Procedures. Lecture Notes in Computer Science. 124-131. 2003
- Robotically Assisted Interventions: Clinical Trial for Spinal Blocks. Lecture Notes in Computer Science. 963-964. 2003
- Segmentation of surgical needles for fluoroscopy servoing using the insight software toolkit (ITK). Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings. 698-701. 2003
- Robot-assisted, CT fluoroscopic guided interventions within the genitourinary tract. Journal of Urology. 389-389. 2002
- Urologic telerounding. Journal of Urology. 5-5. 2002
- Software architecture for robotically assisted and image-guided minimally invasive interventions. CARS 2002: COMPUTER ASSISTED RADIOLOGY AND SURGERY, PROCEEDINGS. 218-223. 2002
- <title>CT-directed robotic biopsy testbed: motivation and concept</title>. Proceedings of SPIE - The International Society for Optical Engineering. 231-236. 2001
- CT-directed robotic biopsy testbed: User interface and coordinate transformations. International Congress Series. 171-177. 2001
- Motion-Based Robotic Instrument Targeting under C-Arm Fluoroscopy. Lecture Notes in Computer Science. 988-998. 2000
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journal articles
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Design and control of an image‐guided robot for spine surgery in a hybrid
OR . International Journal of Medical Robotics and Computer Assisted Surgery. 16:e2108. 2020 - Feasibility and accuracy of a robotic guidance system for navigated spine surgery in a hybrid operating room: a cadaver study. Scientific Reports. 10:7522. 2020
- A Pneumatically Actuated Target Stabilization Device for MRI-Guided Breast Biopsy. IEEE/ASME transactions on mechatronics. 20:1288-1300. 2015
- A tissue stabilization device for MRI-guided breast biopsy. Medical Engineering and Physics. 36:1197-1204. 2014
- A System for Laparoscopic Surgery Ergonomics and Skills Evaluation. Journal of Endourology. 25:1111-1114. 2011
- Does needle rotation improve lesion targeting?. International Journal of Medical Robotics and Computer Assisted Surgery. 7:138-147. 2011
- GPU implementation of a deformable 3D image registration algorithm. Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings. 2011:4897-4900. 2011
- Model based stabilization of soft tissue targets in needle insertion procedures. Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings. 2009:5084-5087. 2009
- Transperineal Prostate Intervention: Robot for Fully Automated MR Imaging—System Description and Proof of Principle in a Canine Model. Radiology. 247:543-549. 2008
- Fully automated MRI-guided robotics for prostate brachytherapy. Nowotwory. 58:18-25. 2008
- An evaluation method for the mechanical performance of guide-wires and catheters in accessing the upper urinary tract. Medical Engineering and Physics. 29:918-922. 2007
- Automatic Brachytherapy Seed Placement Under MRI Guidance. IEEE Transactions on Biomedical Engineering. 54:1499-1506. 2007
- Respiratory Biofeedback during CT-guided Procedures. Journal of Vascular and Interventional Radiology. 18:749-755. 2007
- A New Type of Motor: Pneumatic Step Motor. IEEE/ASME transactions on mechatronics. 12:98-106. 2007
- “MRI Stealth” robot for prostate interventions. Minimally Invasive Therapy and Allied Technologies. 16:241-248. 2007
- Magnetic resonance imaging compatible robotic system for fully automated brachytherapy seed placement. Urology. 68:1313-1317. 2006
- Technology Insight: telementoring and telesurgery in urology. Nature Reviews Urology. 3:611-617. 2006
- Robotic prostate surgery. Expert Review of Medical Devices. 3:575-584. 2006
- Robotic prostate surgery. Expert Review of Medical Devices. 3:575-584. 2006
- Synthetic Torso for Training in and Evaluation of Urologic Laparoscopic Skills. Journal of Endourology. 20:340-345. 2006
- Tumor Ablation Treatment Planning Coupled to Robotic Implementation: A Feasibility Study. Journal of Vascular and Interventional Radiology. 17:903-907. 2006
- MAGNETIC RESONANCE IMAGE-GUIDED ROBOT FOR PROSTATE BRACHYTHERAPY. European Urology Open Science. 5:334-334. 2006
- Robotically assisted prostate brachytherapy with transrectal ultrasound guidance—Phantom experiments. Brachytherapy. 5:14-26. 2006
- A Computer Assisted Method for Guide-Wore and Catheter Evaluation. Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings. 2006:436-439. 2005
- A randomized controlled trial of human versus robotic and telerobotic access to the kidney as the first step in percutaneous nephrolithotomy. Computer Assisted Surgery. 10:165-171. 2005
- Precision placement of instruments for minimally invasive procedures using a "Needle Driver" robot. International Journal of Medical Robotics and Computer Assisted Surgery. 01:40-40. 2005
- Precision placement of instruments for minimally invasive procedures using a “needle driver” robot. International Journal of Medical Robotics and Computer Assisted Surgery. 1:40-47. 2005
- Robotic Assisted Radio-Frequency Ablation of Liver Tumors – Randomized Patient Study. Lecture Notes in Computer Science. 8:526-533. 2005
- Robotic Telementoring/Telesurgical System and Randomized Evaluation Study. Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings. 2005:2167-2170. 2005
- Analysis of the conformational dependence of mass-metric tensor determinants in serial polymers with constraints. Journal of Chemical Physics. 121:12708-12720. 2004
- Overview and fundamentals of urologic robot-integrated systems. Urologic Clinics of North America. 31:671-682. 2004
- NERVE SPARING RADICAL PROSTATECTOMY: EFFECTS OF HEMOSTATIC ENERGY SOURCES ON THE RECOVERY OF CAVERNOUS NERVE FUNCTION IN A CANINE MODEL. Investigative Urology. 172:1318-1322. 2004
- Telerounding and patient satisfaction after surgery. Journal of the American College of Surgeons. 199:523-530. 2004
- TUMOR CAPACITANCE: ELECTRICAL MEASUREMENTS OF RENAL NEOPLASIA. Investigative Urology. 172:454-457. 2004
- 1076: Nerve Sparing Radical Prostatectomy: Effects of Hemostatic Energy Sources on the Recovery of Cavernous Nerve Function in a Canine Model. Investigative Urology. 171:284-284. 2004
- 34 Telerobotic PCNL: It works both ways. European Urology Open Science. 3:11-11. 2004
- Po-topic IV-12. Academic Radiology. 10:957-958. 2003
- Telementoring Between Brazil and the United States: Initial Experience. Journal of Endourology. 17:217-220. 2003
- Is Telesurgery a New Reality? Our Experience with Laparoscopic and Percutaneous Procedures. Journal of Endourology. 17:137-142. 2003
- A randomised controlled trial of human versus telerobotic access to the kidney during percutaneous nephrolithotomy. European Urology Open Science. 2:198-198. 2003
- Robotically Driven Interventions: A Method of Using CT Fluoroscopy without Radiation Exposure to the Physician. Radiology. 225:277-282. 2002
- Robotic Percutaneous Access to the Kidney: Comparison with Standard Manual Access. Journal of Endourology. 16:471-475. 2002
- Robotically Assisted Nerve and Facet Blocks. Academic Radiology. 9:821-825. 2002
- Is telesurgery a new reality? Our experience in laparoscopic and percutaneous procedures. European Urology Open Science. 1:7-7. 2002
- Percutaneous access to the kidney using PAKY: our experience in telesurgery. European Urology Open Science. 1:194-194. 2002
- System for Robotically Assisted Prostate Biopsy and Therapy with Intraoperative CT Guidance. Academic Radiology. 9:60-74. 2002
- MEASUREMENT OF BIO-IMPEDANCE WITH A SMART NEEDLE TO CONFIRM PERCUTANEOUS KIDNEY ACCESS. Investigative Urology. 166:1520-1523. 2001
- MEASUREMENT OF BIO-IMPEDANCE WITH A SMART NEEDLE TO CONFIRM PERCUTANEOUS KIDNEY ACCESS. Investigative Urology. 166:1520-1523. 2001
- Measurement of bio-impedance with a smart needle to confirm percutaneous kidney access. Journal of Urology. 166:1520-1523. 2001
- CT-directed robotic biopsy testbed: user interface and coordinate transformations. International Congress Series. 1230:174-183. 2001
- System for Robotically Assisted Percutaneous Procedures with Computed Tomography Guidance. Computer Assisted Surgery. 6:370-383. 2001
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Design and control of an image‐guided robot for spine surgery in a hybrid