Abstracts / Posters / Invited / Nonrefereed

  1. J. F. d’Almeida, E. Wilke, S. E. Purdue, K. Maciolek, N. Kavoussi, S. D. Herrell III, R. J. Webster III. A Feasibility Study on Transurethral Robotic Suturing in the Bladder. ICRA ELSR 2025. Atlanta, GA. (Presented by PhD student Jesse d’Almeida).

  2. P. Connor, J. Gafford, S. Webster, S. D. Herrell III, N. Kavoussi, K. Maciolek, A. Reed, K. Chevli, J. Childs, T. Efird, R. J. Webster III. A Steerable Kidney Stone Basket. The American Urological Association Annual Meeting, 2025. Las Vegas, NV. TOP 10 ABSTRACT. (Presented by PhD student Peter Connor)

  3. P. Connor, J. Gafford, S. Webster, S. D. Herrell III, N. Kavoussi, K. Maciolek, A. Reed, K. Chevli, C. Schlichter, P. Anderson, M. Schaafsma, R. J. Webster III. A Fiber-Steering Device to Reduce Laser Lithotripsy Procedure Time. The American Urological Association Annual Meeting, 2025. Las Vegas, NV. (Presented by PhD student Peter Connor)

  4. D. Orcutt, J. F. d’Almeida, E.Wilke, S. E. Purdue, K. A. Maciolek, N. L. Kavoussi, S. D. Herrell III, R. J. Webster III. Transurethral Suturing of Bladder Perforations Using a Concentric Tube Robot in a Porcine Model. The American Urological Association Annual Meeting, 2025. Las Vegas, NV. (Presented by PhD student Jesse d’Almeida)

  5. K. L. Obstein, P. Anderson, C. Schlichter, S. Webster, R. J. Webster III, R.M. Ness, J. Gafford. A novel device for direct visualization of the papilla with a forward viewing endoscope: first-in-human study. In Digestive Disease Week, 2024. Washington, D.C., POSTER OF DISTINCTION.

  6. P. C. Cannon, S. A. Setia, N. L. Kavoussi, S. D. Herrell III, and R. J. Webster III. How Insights from In Vivo Human Pilot Studies with da Vinci Image Guidance are Informing Next Generation System Design. In Hamlyn Symposium on Medical Robotics, 2023. (Presented by PhD student Piper Cannon)

  7. T. Qin, P. Connor, K. Dang, R. Alterovitz, R. J. Webster III, and C. Rucker. Computational Analysis of Design Parameters for a Bimanual Concentric Push-Pull Robot. In Hamlyn Symposium on Medical Robotics, 2023. (Presented by Robert Webster III)

  8. A. M. Grillo, J. E. Peters, D. S. Esser, S. J. Garrow, T. Ball, R. Naftel, D. J. Englot, J. Neimat, W. A. Grissom, E. J. Barth, and R. J. Webster, III. Design Considerations for Robotic, MRI-Guided, Trans-Foramen Ovale Access to the Brain. In SPIE Medical Imaging, vol. 12466, SPIE, 2023. (Presented by PhD student Abby Grillo)

  9. J. A. Shrand, J. F. d’Almeida, T. E. Ertop, N. L. Kavoussi, S. A. Setia, D. Herrell S. III, and R. J. Webster III. A Virtual Reality Framework for Evaluating Concentric Tube Surgical Robot Designs. In SPIE Medical Imaging, 2023. (Presented by PhD student Jason Shrand)

  10. M. E. Smith, D. S. Esser, M. Rox, A. Kuntz, and R. J. Webster, III. A Radial Folding Mechanism To Enable Surgical Continuum Manipulators to Fit Through Smaller Ports. In International Symposium on Medical Robotics, 2023. (Presented by undergraduate researcher Mariana Smith)

  11. J. E. Peters, A. M. Grillo, D. S. Esser, S. J. Garrow, N. S. Kumar, T. Ball, R. Naftel, D. J. Englot, J. Neimat, W. A. Grissom, and R. J. Webster III. A Highly Compact, Multi-Material, Fluid Powered Actuation System for MRI-Guided Surgical Intervention. Fluid Power Systems Technology, vol 87431. American Society of Mechanical Engineers, 2023. (Presented by co-advised PhD student Jack Peters)

  12. A. N. Florea, D. S. Ropella, E. Amanov, D. S. Herrell, and R. J. Webster III. Design of a Modular, Multi-Arm Concentric Tube Robot Featuring Roller Gears. In SPIE Medical Imaging, 2022. (Presented by undergraduate research student Adrian Florea)

  13. J. F. d’Almeida, M. Rox, and R. J. Webster III. Toward Bipolar Electrosurgery with Concentric Tube Robots. In Hamlyn Symposium on Medical Robotics, 2022. (Presented by Ph.D. student Jesse d’Almeida)

  14. M. Rox, A. Copinga, R. Naftel, R. Webster, III, and A. Kuntz. Optimizing Continuum Robot Tendon Routing for Minimally Invasive Brain Surgery. In Hamlyn Symposium on Medical Robotics, 2022. (Presented by Ph.D. student Margaret Rox)

  15. T. E. Ertop, J. F. d’Almeida, E. Amanov, J. Shrand, N. Nimmagadda, S. Setia, N. L. Kavoussi, S. D. Herrell III, and R. J. Webster III. Towards Suturing From Within the Urethra Using Concentric Tube Robots: First Experiences in Biological Tissues. In International Symposium on Medical Robotics (ISMR), 2022. (Presented by Ph.D. student Tayfun Ertop)

  16. D. S. Esser, J. E. Peters, A. M. Grillo, S. J. Garrow, T. Ball, R. Naftel, D. J. Englot, W. A. Grissom, E. J. Barth, and R. J. Webster III. Robotic Curvilinear Laser Thermal Therapy Probe for Transforamenal Hippocampotomy. In Hamlyn Symposium on Medical Robotics, 2022. (Presented by Ph.D. student Daniel Esser)

  17. P. C. Cannon, M. R. Smetak, R. J. Webster III, and R. F. Labadie. A Novel Tool for Auricle Retraction During Closure of Post-Auricular Incisions. In Design of Medical Devices, 2022. (Presented by Ph.D. Student Piper Cannon)

  18. J. Hoelscher, I. Fried, M. Fu, M. Patwardhan, M. Christman, J. Akulian, Robert J. Webster III, Ron Alterovitz. A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022. (Presented by UNC Ph.D. Student Janine Hoelscher)

  19. J. B. Gafford, S. J. Webster, P. A. Anderson, S. D. Herrell, K. L. Obstein, D. C. Rucker, and R. J. Webster III. Answering the FDA’s Call to Action: Using Steerable Sheaths and Mirrors to Prevent ERCP Infections. In Hamlyn Symposium on Medical Robotics, 2022. (Presented by Robert Webster III)

  20. R. J. Hendrick, N. P. Dillon, L. M. Branscombe, T. J. Bruns, E. J. Blum, M. Oresi, S. Amack, S. D. Herrell III, and R. J. Webster III. The Virtuoso Surgical System: First Live Animal Experience. In Hamlyn Symposium on Medical Robotics, 2022. (Presented by Robert Webster III)

  21. N. Nimmagadda, J. Gafford, P. Anderson, S. Webster, N. L. Kavoussi, R. J. Webster III, and S. D. Herrell III. Utility of a Steerable Inner Sheath for Flexible Ureteroscopy: A Preliminary Bench-Top Investigation. In Engineering and Urology Surgery Annual Meeting, 2022. (Presented by Clincal Fellow Naren Nimmagadda)

  22. J. A. Shrand, J. M. Ferguson, P. C. Cannon, N. Nimmagadda, S. Setia, N. L. Kavoussi, R. J. Webster III, S. D. Herrell. A Visual Guide Improves Pointing Accuracy in Image-Guided Robotic Surgery, In Engineering and Urology Surgery Annual Meeting, 2022. (Presented by Ph.D. Student Jason Shrand)

  23. M. Emerson, J. Ferguson, T. Efe Ertop, M. Rox, J. Granna, M. Lester, F. Maldonado, E. A. Gillaspie, R. J. Webster III, and A. Kuntz. A Recurrent Neural Network Approach to Orientation Estimation for Needle Steering. In International Symposium on Experimental Robotics, 2021. (Presented by Ph.D. student Max Emerson).

  24. J. Kim, J. M. Ferguson, J. A. Shrand, E. B. Pitt, J. Granna, N. Mimmagadda, N. L. Kavoussi, S. D. Herrell III, and R. J. Webster III. Integrating FireFly Fluorescence into Image Guidance for the da Vinci Robot. SPIE Medical Imaging, 2021. (Presented by Undergraduate Student Juyoung Kim). BEST STUDENT PAPER FINALIST.

  25. I. Fried, J. Hoelscher, M. Fu, M. Emerson, T. E. Ertop, M. Rox, J. Granna, A. Kuntz, J. A. Akulian, R. J. Webster III, and R. Alterovitz. Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume. 2021 IEEE International Conference on Robotics and Automation, 2021. (Presented by collaborator Inbar Fried)

  26. M. Emerson, T. E. Ertop, M. F. Rox, M. Fu, I. Fried, .J. Hoelscher, A. Kuntz, J. Granna, .J. Mitchell, M. Lester, F. Maldonado, E. Gillaspie, J. Akulian, R. Alterovitz, and R. J. Webster III. A New Sheath for Highly Curved Steerable Needles. IEEE/ ASME International Conference on Advanced Intelligent Mechatronics, 2020.

  27. M. F. Rox, M. Emerson, T. E. Ertop, M. Fu, I. Fried, .T. Hoelscher, A. Kuntz, J. Granna, .J. Mitchell, M. Lester, F. Maldonado, E. Gillaspie, J. Akulian, R. Alterovitz, and R. J. Webster III. An Aiming Device for Steerable Needles. IEEE/ ASME International Conference on Advanced Intelligent Mechatronics, 2020.

  28. M. Freeman, J. Gafford, L. Fichera, R. J. Webster III, and R. Labadie. A Steerable Trans-Eustachian Endoscope for Middle Ear Examination. American Neurotology Society, 2020.

  29. E. B. Pitt, J. M. Ferguson, N. L. Kavoussi, E. J. Barth, R. J. Webster III, and S. D. Herrell. Intraoperative Guidance for Robotic Partial Nephrectomy Using Surface-Based Registration: Initial Model Assessment. Engineering and E’U’l-oluy Society, 2019. BEST PAPER AWARD.

  30. W. G. Morrel, K. E. Riojas, N. Narasimhan, R. J. Webster III, J. H. Noble, and R. F. Labadie. Custom Mastoid-Fitting Templates to Improve Cochlear Implant Electrode Insertion Trajectory. American Neurotology Society 54th Annual Spring Meeting, 2019.

  31. D. A. Watkins, A. Bernardo-Colon, R. J. Webster III, and T. S. Rex. A Blast Device for Inducing Ocular Trauma in Mouse Models. 6th Military Vision Symposium on Oculai’ f3 Vision Injury, 2017.

  32. M. Samuelson, P. Russell, R. Gonzalez, A. Ramirez, and R. J. Webster III. Use of the Concentric Tube Robot in the Maxillary Sinus. International Forum of Allergy f3 Rhinology, 2017.

  33. P. L. Anderson, R. J. Hendrick, and R. J. Webster III. Real-Time Redundancy Resolution for Concentric Tube Robots to Avoid Elastic Instability. IEEE International Conference on Robotics and Automation C4 Workshop, 2017. BEST POSTER, ICRA 2017 C4 Surgical Robotics Workshop.

  34. 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 Epithelial Surface Resistance. American Bronchoesophagological Association, Combined Otolaryngology Spring Meetings, pages E364-E370, 2017.

  35. N. P. Dillon, J. E. Mitchell, L. Fichera, R. J. Webster III, and R. F. Labadie. Minimally Invasive Cochlear implantation Using Customized Microstereotactic Frames. Medical Device Association, 2016.

  36. D. B. Comber, E. B. Pitt, J. E. Slightam, V. R. Gervasi, R. J. Webster III, and E. J. Barth. Design and Control of a Pneumatic, Additively Manufactured Robot. Fluid Power Innovation f3 Research Conference, 2015.

  37. A. Sivaganesan, A. Arain, D. Comber, E. Barth, R. J. Webster III, K. Haas, and J. S. Neimat. Directional Laser Ablation of the Hippocampus - A First Step in Lesioning Irregular Contours. Congress of Neurological Surgeons Annual Meeting, 2015.

  38. C.R. Mitchell, R. J. Hendrick, R. J. Webster III, and S. D. Herrell. A Novel Concentric Tube Robotic Platform for Transurethral Prostate Surgery. Proceedings of 30th EUS Annual Meeting, page 20, 2015.

  39. P. T. Russell III, R. Wirz, I. Godage, M. Clavenna, R. A. Lathrop, and R. J. Webster III. Fiducial Shift Error Consequences in Image Guidance Endonasal Surgery. American Rhinologic Society, 2015.

  40. H. B. Gilbert, R. A. Lathrop, R. J. Hendrick, and R. J. Webster III. Towards a Clinically-Ready Transnasal Concentric Tube System. IDEAS Conference, 2015.

  41. A. Mahoney, P.J. Swaney, and R. J. Webster III. Using Continuum Robots to Enable Transoral Access to the Peripheral Lung for Minimally Invasive Biopsy. IDEAS Conference, 2015.

  42. R. A. Lathrop, R. J. Webster III, H. B. Gilbert, and R. Wirz. Stable Cranial Mount. Southeastern Medical Device Association, 2015.

  43. R. Wirz, L. Torres, P. J. Swaney, H. B. Gilbert, R. Alterovitz, R. J. Webster III, K. D. Weaver, and Paul T Russell. Teleoperation of Concentric Tube Robots for Skull Base Applications: Pituitary Surgery at a Distance? North American Skull Base Society, 2015.

  44. P. J. Swaney, H. B. Gilbert, R. J. Webster III, P. T. Russell, and K. D. Weaver. Resection of Pituitary Lesions in a Phantom Model Using Concentric Tube Robots with Endoscopic Visualization. North American Skull Base Society, 2015.

  45. N. P. Dillon, R. Balachandran, R. J. Webster III, T. J. Withrow, G. B. Wanna, and R. F. Labadie. Surgical Workflow Considerations for Mastoidectomy Using a Bone-Attached Robot. American Rhinologic Society, Combined Otolaryngology Sp1’ing Meetings, 2015.

  46. R. Balachandran, N. P. Dillon, T. J. Withrow, R. J. Webster III, and R. F. Labadie. Mastoidectomy Using a Bone-Attached Robot. 12th Annual Conference of Cochlear Implant Group of India, 2014.

  47. 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. Design of Medical Devices Conference, June 2013. BEST PAPER/POSTER AWARD - 3 in 5 competition.

  48. M. S. Clark, J. Burgner, P. .J. Swaney, and R. J. Webster III. Manual Active Cannula Deployment: Experimental Accuracy Evaluation. Design of Medical Devices Conference, 2012.

  49. D. A. Carnegie, E.M. Boctor, X. Guo, H.J. Kang, N. Deshmukh, P. Foroughi, E. C. Burdette, R. J. Webster III, .J. Burgner, and M. A. Choti. Accurate High-Intensity Focused Ultrasound Ablation in a Porcine Liver Model Through Integration of Real-Time Image Guidance, Robotic Navigation, and Elastographic Monitoring. SAGES, 2012.

  50. H. B. Gilbert, P. J. Swaney, J. Burgner, K. D. Weaver, P. T. Russell III, and R. J. Webster III. A Feasibility Study on the use of Concentric Tube Continuum Robots for Endonasal Skull Base Tumor Removal. Hamlyn Symposium on Medical Robotics, 2012.

  51. H. B. Gilbert, .J. Burgner, S. Patil, P. J. Swaney, D. A. Watkins, R. Alterovitz, and R. J. Webster III. Toward Planning As Control and Tissue Sparing Needles. In the Pathways to Clinical Needle Steering: Recent Advances and Future Applications Workshop at the IEEE International Conference on Robotics and Automation, 2012.

  52. J. L. Gorlewicz and R. J. Webster III. The Promise of Haptics in Teaching Math to the Blind. NSF Advocacy Day, Washington D.C., 2012.

  53. D. B. Comber, D. Cardona, R. J. Webster III, and E. J. Barth. Precision Pneumatic Robot for MRI-Guided Neurosurgery. Design of Medical Devices Conference, 2012.

  54. D. C. Cardona and R. J. Webster III. MRI Compatible Robot with an Active Cannula. International Exposition for Power Transmission, 2011.

  55. J. L. Toennies, J. Burgner, T. J. Withrow, and R. J. Webster III. Toward Haptic/Aural Touchscreen Display of Graphical Mathematics for the Education of Blind Students. World Haptics Conference, 2011.

  56. J. L. Gorlewicz, L. B. Kratchman, B. Gadhia, P. Marayong, and R. J. Webster III. Modeling and Control of an Educational Haptic Device Using Matlab/Simulink. American Society of Engineering Education Conference (Oral Panel Presentation), 2011.

  57. J. L. Gorlewicz, L.B. Kratchman, and R. J. Webster III. A Hands-On Approach to Teaching System Dynamics. Center for the Integration of Research, Teaching, and Learning National Forum, 2011.

  58. A. Danilchenko, J. L. Toennies, R. Balachandran, S. Baron, B. Munske, R. J. Webster III, and R. F. Labadie. Robotic Mastoidectomy. American Otological Society Spring Meeting, 2010.

  59. J. Das, D. C. Rucker, and R. .J.Webster III. A Testbed for Multi-Lumen Steerable Needle Experiments. Design of Medical Devices Conference, 2010.

  60. D. Schurzig, Z. W. Smith, D. C. Rucker, R. F. Labadie, and R. J. Webster III. A Manual Insertion Mechanism for Percutaneous Cochlear Implantation. Design of Medical Devices Conference, 2010.

  61. J. L. Toennies, G Ciuti, B. Smith, P. Valdastri, A. Menciassi, and R. J. Webster III. Initial Feasibility Studies on Wireless Insufflation of the GI Tract. IEEE International Conference on Robotics and Automation 2010 - Workshop on Mesa-Scale Robotics for Medical Interventions, 2010.

  62. L.B. Kratchman, G. S. Blachon, T. .J. Withrow, R. Balachandran, R. F. Labadie, and R. J. Webster III. Toward Automation of Image-Guided Microstereotactic Frames: A Bone-Attached Parallel Robot for Percutaneous Cochlear Implantation. Robotics, Science and Systems- Workshop on Enabling Technologies for Image-Guided Robotic International Procedures, 2010.

  63. R. A. Lathrop, T. T. Cheng, and R. J. Webster III. Laparoscopic Image Guidance via Conoscopic Holography. Design of Medical Devices Conference, 2009.

  64. D. C. Rucker, J. M. Croom, and R. J. Webster III. Aiming Surgical Lasers With an Active Cannula. Design of Medical Devices Conference, 2009.

  65. J. L. Toennies and R. J. Webster III. A Wireless Insufflation System for Capsular Endoscopes. Design of Medical Devices Conference, 2009. BEST POSTER (3 in 5 Competition).

  66. J. P. Swensen and R. J. Webster III. Active Cannula: Applications to Steerable Needles. Medical Image Computing and Computer-Assisted Intervention, 2008.

  67. X. Xie and R. J. Webster III. A :3D Trajectory-Following Controller for Bevel-Steered Needles. Medical Image Computing and Computer-Assisted Intervention, 2008.

  68. D. C. Rucker, N. .J. Cowan, G. S. Chirikjian, and R. J. Webster III. Toward a General Active Cannula Model. Medical Image Computing and Computer-Assisted Intervention, 2008.

  69. R. A. Lathrop, R. L. Smith, and R. J. Webster III. Needle-Membrane Puncture Mechanic, Medical Image Computing and Computer-Assisted Intervention, 2008.