Russell H. Taylor

PERSONAL DATA

Birth date                     4 June 1948

Birth place                   Newport News, Virginia

Citizenship                   US

Family                         Married, one son

 

Professional Address    Department of Computer Science

                                    The Johns Hopkins University

                                    Baltimore, Maryland 21218

 

Office phone                410-516-6299

Fax                              410-516-5553

Email                           rht@cs.jhu.edu

EDUCATION

1970    The Johns Hopkins University                    B.E.S. (Interdepartmental)

                       

Interdepartmental major with concentration in Operations Research & Computer Science

 

1976    Stanford University                                      Ph.D. (Computer Science)

 

Dissertation research, The Synthesis of Manipulator Control Programs from Task-Level Specifications, developed methods for automatic programming of sensor-based robot programs for mechanical assembly tasks.

WORK HISTORY

 

1998-now        Johns Hopkins University        Director, Center for Computer-Integrated Surgical Systems and technology

1995-now        Johns Hopkins University        Professor of Computer Science with joint appointments in Radiology, Mechanical Engineering and Surgery

1990-94           IBM Research                          Manager of Computer Assisted Surgery

1989-90           IBM Research                          Research Staff Member

1987-89           IBM Research                          Manager of Automation Technology

1982-87           IBM Research                          Manager of Robot Systems and Technology

1982                IBM Research                          Visiting Scientist at MIT Al Lab

1980-82           IBM Research                          Research Staff Member

1978-79           IBM Boca Raton                      Advisory Engineer

1976-77           IBM Research                          Research Staff Member

1970-76           Stanford Univ.                         Research Assistant

1968-70           Johns Hopkins University        Research Assistant

 

Note: Fuller summaries of experience appear below.


AWARDS AND HONORS

 

  1. Medical Image Computing an Computer Assisted Surgery(MICCAI) Society Fellow (elected 2009)
  2. IEEE Robotics and Automation Society Pioneer Award "for pioneering work in medical robotics and in the theory and practice of programmable automation systems" (2008)
  3. Maurice E. Mueller Award for Excellence in Computer Assisted Surgery (2000)
  4. IEEE Third Millenium Medal (2000)
  5. IEEE Fellow (elected 1994) for technical contributions and leadership in the theory and implementation of programmable sensor-based robot systems and their application to surgery and manufacturing.
  6. AIBME Fellow (elected 1998)
  7. IBM Outstanding Technical Achievement Award (1993) and IBM Group Achievement Award (1991) for "Robodoc" system for Hip Replacement Surgery.
  8. IBM Outstanding Technical Achievement Award (1984) and two Outstanding Contribution Awards (1982,1987) for development and transfer into productive use of AML language.
  9. IBM Invention Awards (1983, 1991, 1992, 1994)

 

PROFESSIONAL ACTIVITIES

 

Editorial boards

  1. IEEE Trans. on Robotics and Automation (1985-now, Editor in chief: 1988-1994)
  2. International Journal of Robotics Research (1986-now)
  3. Computer Aided Surgery (1995-now)
  4. Medical Image Analysis (1996-now)

 

Significant conference and workshop committees (very incomplete)

  1. Medical Robotics and Computer Assisted Surgery (Program chair, 1994; general chair 1995; Organizing committee 1997)
  2. Medical Image Computing & Computer-Assisted Interventions (MICCAI) – Organizing/Steering Committee (1998-2002)
  3. NSF Workshop on Computer-Assisted Surgery (co-organizer and program chair, Mar 1993)
  4. MediMech 92 (Program chair, Oct. 1992)
  5.   IEEE Int. Conference on Robotics and Automation (1987-1994; 2001-2004)
  6. Int. Workshop on Deformable Modeling and Soft Tissue Simulation (2001)
  7. Computer-Assisted Radiology & Surgery (CARS) 2002
  8. Computer Assisted Surgery for the Head (CAS-H), Conference Advisory Board, Bern, Switzerland, 2004
  9. IEEE International Conference on Robotic Systems (IROS), Conference Review Committee Member
  10. Computer-Assisted Orthopaedic Surgery, Standards Committee Member, 2004

Other committees (incomplete list)

  1. Advisory Committee, NSF Div. of Information, Robotics and Intelligent Systems (1988-1991)
  2. Administrative Committee, IEEE Robotics & Automation Society (1987-1994>
  3. National Research Council; Japan Society for Promotion of Science Panel on Bilateral Exchange on Approaches to Robotics in the United States and Japan (1989)
  4. Advisory Panel, NSF Robotics and Human Augmentation (2001-now)
  5. Advisory Board, Ontario Consortium for Image-Guided Therapy and Surgery (2001-now)
  6. Medical Image Computing and Computer-Aided Interventions Society, Founding Member of Society Board, 2003-2004
  7. (Numerous other program committees and advisory boards over the past 20 years)

 

 

TEACHING

Courses Taught or Developed

 

 

Course Name & description

Year Developed

Years Taught

(by me)

600.445

Computer-Integrated Surgery (Fall Semester)

This course (originally titled "Quantitative Medical Computing") is a difficult, multidisciplinary course that combines an overview of emerging applications in computer-integrated surgery with instruction in a range of technical sub-disciplines ranging from image processing to modeling to registration to interventional devices. It is taken by upper level-undergraduates and graduate students

1995

1995-2009

600.446

Advanced Computer-Integrated Surgery (Spring)

This course is a project-oriented seminar course, in which students work in small teams to undertake a substantial implementation effort tied to current research or development activities.  Students learn project management and presentation skills as well as gaining practical experience and more in-depth knowledge in a CIS topic.

1996

1996-2009

600.145

Introduction to Computer-Integrated Surgery (intersession & summer)

This course provides a brief (1 credit) introduction to the basic technology of computer-integrated surgery systems, together with example applications.  The material covered is similar in nature to that in 600.445, but in less depth and without intensive mathematics.  The course is intended for lower-level undergraduates and for students wanting to learn something about CIS without investing the time required to take 600.445.  The summer version of the course is also taken by high school students in special programs.

1999

1999-2006,2008

600.746

Methods in Medical Image Analysis Seminar

  This weekly seminar focuses on research issues in medical image analysis, including image segmentation, registration, statistical modeling, and applications. It will also include selected topics relating to medical image acquisition, especially where they relate to analysis. The purpose of the course is to provide the participants with a thorough background in current research in these areas, as well as to promote greater awareness and interaction between multiple research groups within the University.  Topics vary from year to year.  Examples include classic papers in medical imaging, ultrasound imaging, deformable registration, level-set segmentation methods, etc.

2001

2001-2009

500.410

Surgery for Engineers

This course is a hands-on course on basic surgical technique offered to graduate students and undergraduates in computer-integrated surgery and biomedical engineering.  It is taught by a faculty member in the JHU Department of Comparative Medicine.  I do not teach this course, but was instrumental in developing the course concept and in getting it started.

1999-2000

 

 

Winter School for Medical Robotics and Computer-Integrated Interventional Systems (MRCIIS)

This is an intensive 1 week short course for post-graduate and post-doctoral students on medical obotics and computer-integrated interventional medicine. The course includes tutorial lectures and research talks by internationally recognized faculty, lab tours & demonstrations in our new facilities in the Computational Sciences and Engineering Building on the Johns Hopkins Homewood Campus, and a compressed version of Johns Hopkins' unique Surgery for Engineers course. I was the principal organizer of the course, which was team taught by an international team of faculty.

The course was first taught in January 2009, with partial support from NSF and IEEE. It was taken by 38 students from around the world, 25 of whom participated in surgery for engineers. The faculty of the school consisted of 19 distinguished researchers from around the world, of whom 13 were from outside JHU.

2008

2009 

 

Postdoctoral Fellows Advised

  1. Peter Kazanzides: Developed prototype of Robodoc, the first robot for orthopaedic surgery; 1989-1990 (at IBM Research).
  2. Yong-Yil Kim: Developed prototype passive manipulation aid for craniofacial osteotomies; 1989-1990 (at IBM Research).
  3. Kreg Gruben: Developed prototype robots for laparoscopic surgery; 1993 (at JHU and IBM Research).
  4. Steve Schreiner: X-ray guided robotic system for percutaneous therapy of liver cancer; 1994-1996 (JHU).
  5. Payman Sadegh: Optimal planning fo HDR brachytherapy; 1998 (JHU)
  6. Peter Berkelman: Microsurgical force sensing for steady hand robot; 1999-2000 (JHU, jointly supervised with Louis Whitcomb).
  7. Nabil Simaan: Developed snake-like robots for minimally-invasive surgery; 2003-2004 (JHU)
  8. Ofri Sadowsky: X-ray hybrid reconstruction and applications to orthopaedic surgery 2008-2009 (JHU)
  9. Yoshito Otake: X-ray reconstruction, registration, and application to orthopaedic surgery 2008-2009 (JHU)

 

Ph.D. Theses Advised

As principal advisor

  1.   Rajesh Kumar, An Augmented Steady Hand System for Precise Micromanipulation, Computer Science, The Johns Hopkins University, Baltimore, 2001.
  2.   Jianhua Yao., A statistical bone density atlas and deformable medical image registration, Ph.D. Thesis, Computer Science, The Johns Hopkins University, Baltimore, January 2002.
  3. Andrew Bzostek, Computer-Integrated Needle Therapy Systems: Implementation and Analysis, Ph.D. thesis, Computer Science, The Johns Hopkins University, Baltimore, March 2005.
  4. Ming Li, Intelligent Robotic Surgical assistance for Sinus Surgery. Ph.D. thesis, Computer Science, The Johns Hopkins University, Baltimore, August 2005.
  5. Ankur Kapoor, Motion Constrained Control of Robots for Dexterous Surgical Tasks, Ph.D. Thesis, Computer Science, The Johns Hopkins University, Baltimore, September 2007.
  6. Ofri Sadowsky, Image Registration and Hybrid Volume Reconstruction of Bone Anatomy Using a Statistical Shape Atlas, Ph.D. Thesis, Computer Science, The Johns Hopkins University, September 2008.

As secondary advisor or reader (incomplete list)

  1.   David LaRose, X-ray/CT Registration using Accelerated Volume Rendering, Ph.D. Thesis, Computer Science, Carnegie Mellon University, April 2001.  (Reading Committee Member)
  2. Ashraf Mohamed,Combining Statistical and Biomechanical Models for Estimation of Anatomical Deformations, Ph.D. Thesis, Computer Science, Johns Hopkins University, July, 2005. (Co-advisor and Reading Committee Member)
  3. Sheng Xu, Organ motion compensation in computer integrated surgery, Ph.D. Thesis, Computer Science, Johns Hopkins University,  July, 2005. (Co-advisor and Reading Committee Member)
  4. Krishna Ramamurthy, Cone-Beam Tomography Using C-Arm X-ray Projections: Complete Trajectories and Integration of PRior CT Information, Ph.D. Thesis, Electrical and Computer Engineering, The Johns Hopkins University, Baltimore, April 2006. (Reading Committe Member)
  5. Emad Boctor, Enabling Technologies for Ultrasound Imaging in Computer-Assisted Intervention, Ph.D. Thesis, Computer Science, The Johns Hopkins University, Baltimore, October 2007. (Co-advisor and Reading Committee Member)
  6. Panadda Marayong, Motion Control Methods for Human-Machine Cooperative Systems, Ph.D. Thesis, Mechanical Engineering, Ph.D. Thesis, Computer Science, The Johns Hopkins University, Baltimore, August 2007. (Reading Committee Member)
  7. Ameet Jain, Computation of 3D Implant Coordinates for Prostate Brachytherapy, Ph.D. Thesis, Computer Science, The Johns Hopkins University, Baltimore, September 2007. (Co-advisor and Reading Committee Member)
  8. Lotta Ellingsen, Hybrid Deformable Image Registration - with Applicaton to Brains, Pelvises, and Statistical Atlases, Ph.D. Thesis, Electrical and Computer Engineering, The Johns Hopkins University, Baltimore, December 2007. (Reading Committe Member)
  9. Robert Webster, Design and Mechnanics of Continuum Robots for Surgery, Ph.D. Thesis, Mechanical Engineering, Ph.D. Thesis, Computer Science, The Johns Hopkins University, Baltimore, December 2007. (Reading Committee Member)

 

 

M.S. Theses Advised

As principal advisor

  1. Aaron Barnes, A modular robotic system for precise minimally invasive surgery, MS Thesis, Mechanical Engineering, The Johns Hopkins University, Baltimore, 1999.
  2. Jonathan Lazarus, Computer-Assisted Vertebroplasty, MS Thesis, Computer Science, The Johns Hopkins University, Baltimore, 2000.
  3. Randall Goldberg, A Modular Robotic System for Ultrasound Image Acquisition, M.S. Thesis, Mechanical Engineering, The Johns Hopkins University, Baltimore, 2001.
  4. Adam Morris, Bone Registration and Tracking using an optical tracking system, M.S. Thesis, Computer Science, The Johns Hopkins University, Baltimore, 2002.
  5. Joshua Leven, A Telerobotic Surgical System with Integrated Robot-Assisted Laparoscopic Unltrasound Capability, Computer Science, The Johns Hopkins University, Baltimore, May 2005.
  6. Gregory Fischer, Electromagnetic Tracker Characterization and Optimal Tool Design (with Application to ENT Surgery), Mechanical Engineering, The Johns Hopkins University, Baltimore, May 2005.
  7. Barry Herman, On the Role of Three Dimensional Visualization for Surgical Applications in Interactive Human Machine Systems, Computer Science, The Johns Hopkins University. May 2005.

 

 

PUBLICATIONS

 

Books

  1. Taylor, R.H., S. Lavallee, G. Burdea, and R. Mosges, eds. Computer-Integrated Surgery. 1996, MIT Press: Cambridge, Mass.

 

Book Chapters & Sections

  1. Lozano-Perez, T. and R. Taylor, "Geometric Issues in Planning Robot Tasks", in Robotics Science, M. Brady, Editor. 1989, MIT Press.
  2. Cutting, C.B., F.L. Bookstein, and R.H. Taylor, "Applications of Simulation, Morphometrics and Robotics in Craniofacial Surgery", in Computer-Integrated Surgery, R.H. Taylor, et al., Editors. 1996, MIT Press: Cambridge, Mass. p. 641-662.
  3. Taylor, R. H. (1999). "Medical Robotics". Handbook of Industrial Robotics, Second Edition. S. Y. Nof. New York, Wiley: 1213-1230.
  4. Taylor, R. H., "Robotics in Orthopaedic Surgery", Computer-Assisted Orthopaedic Surgery, Nolte & Ganz, eds.  Seattle, Hogrefe & Huber, pp 35-41.
  5. Taylor, R. H. and L. Joskowicz, "Computer-Integrated Surgery and Medical Robotics", in Standard Handbook of Biomedical Engineering and Design, M. Kutz, Editor. 2002, McGraw Hill.
  6. R. H. Taylor, "Robotic Systems for Orthopaedic Surgery," in Computer and Robotic Assisted Knee and Hip Surgery, A. DiGioia, B. Jaramaz, F. Picard, and L. P. Nolte, Eds., Oxford Press, 2004, pp. 67-78.
  7. R. H. Taylor, "Medical Robotics," in Computer and Robotic Assisted Knee and Hip Surgery, A. DiGioia, B. Jaramaz, F. Picard, and L. P. Nolte, Eds., Oxford Press, 2004, pp. 54-59.
  8. N. Simaan, R. Taylor, A. Hillel, and P. Flint, "Minimally Invasive Surgery of the Upper Airways: Addressing the Challenges of Dexterity Enhancement in Confined Spaces," in Surgical Robotics – History, Present and Future Applications, R. Faust, Ed.: Nova Science Publishing, 2007, pp. 223-242.
  9. Li, M., A. Kapoor, R.H. Taylor. "Telerobot Control by Virtual Fixtures for Surgical Applications." Chapter in: Advances in Telerobotics Human Interfaces, Bilateral Control and Applications. Manuel Ferre, Martin Buss, Rafael Aracil, Claudio Melchiorri and Carlos Balaguer (Eds.) Springer Verlag, 2007, pp 381-401.
  10. Taylor, R.H., P. Kazanzides."Medical Robotics and Computer-Integrated Interventional Medicine." In Biomedical Information Technology. Academic Press, 2007, pp. 393-416.
  11. R. Taylor, A. Menciassi, G. Fichtinger, and P. Dario, "Medical Robotics and Systems", Handbook on Robotics: Springer, 2008, pp. 1199-1222.
  12. R. H. Taylor and P. Kazanzides, "Medical Robotics and Computer-Integrated Interventional Medicine," in Advances in Computers. vol. 73, M. Zelkowitz, Ed.: Elsevier, 2008, pp. 217-258.

 

 

Published Refereed Reviews

 

1.       Taylor, R.H., "Review of  'MH-1: a Computer Operated Mechanical Hand:', by H.A. Ernst", in Robotics Reviews, O. Khatib, Editor. 1989, MIT Press: Cambridge.

2.       Taylor, R.H., "Review of 'Robots in Service', by J. Engleberger", in Robotics Reviews II, O. Khatib, Editor. 1991, MIT Press: Cambridge

 

 

Refereed Journal Articles

 

  1. Grossman, D.D. and R.H. Taylor, "The Interactive Generation of Object Models with a Manipulator." IEEE Trans. on Systems, Man, and Cybernetics, 1978, SMC-8 (9): p. 667-679.
  2. Taylor, R.H., "The Planning and Execution of Straight Line Manipulator Trajectories." IBM Journal of Research and Development, 1979, 23(4): p. 424-436.
  3. Taylor, R.H., P.D. Summers, and J.M. Meyer, "AML, A Manufacturing Language." Int. Journal. of Robotics Research, 1982, 1(3): p. 19-41.
  4. Taylor, R.H. and D.D. Grossman, "An Integrated Robot Systems Architecture." IEEE Proceedings, 1983, 71(7): p. 842-857.
  5. Lozano-Perez, T., M.T. Mason, and R.H. Taylor, "Automatic Synthesis of Fine-Motion Strategies for Robots" Int. J. Robotics Res, 1984, 3(1): p. 3-24.
  6. Nackman, L.R. and R.H. Taylor, "An Hierarchical Exception Handler Binding Mechanism." Software Practice and Experience, 1984, 14(10): p. 999-1003.
  7. Taylor, R.H., R.L. Hollis, and M.A. Lavin, "Precise Manipulation with Endpoint Sensing." IBM Journal of Research and Development, 1985, 29(5): p. 363-377.
  8. Funda, J., R.H. Taylor, and R.P. Paul, "On Homogeneous Transforms, Quaternions, and Computational Efficiency." IEEE Transactions on Robotics and Automation, 1990, 6(3 (June)): p. 382-387.
  9. Taylor, R.H., R.P. Paul, B.D. Mittelstadt, et al, "An Image-Based Robotic System for Hip Replacement Surgery," J. Robotics Society of Japan, 1990, 8(5): p. 111-116.
  10. Taylor, R.H., H.A. Paul, C.B. Cutting, B. Mittelstadt, W. Hanson, P. Kazanzides, B. Musits, Y.-Y. Kim, A. Kalvin, B. Haddad, D. Khoramabadi, and D. Larose, "Augmentation of Human Precision in Computer-Integrated Surgery." Innovation et Technologie en Biologie et Medicine, 1992, 13(4 (special issue on computer assisted surgery)): p. 450-468.
  11. Taylor, R.H., H.A. Paul, P. Kazandzides, B.D. Mittelstadt, W. Hanson, J.F. Zuhars, B. Williamson, B.L. Musits, E. Glassman, and W.L. Bargar, "An Image-directed Robotic System for Precise Orthopaedic Surgery." IEEE Transactions on Robotics and Automation, 1994, 10(3): p. 261-275.
  12. Taylor, R.H., J. Funda, B. Eldridge, K. Gruben, D. LaRose, S. Gomory, M. Talamini MD, L. Kavoussi MD, and J. Anderson, "A Telerobotic Assistant for Laparoscopic Surgery." IEEE EMBS Magazine, 1995, 14(3): p. 279-291.
  13. Eldridge, B., K. Gruben, D. LaRose, J. Funda, S. Gomory, J. Karidis, G. McVicker, R. Taylor, and J. Anderson, "A Remote Center of Motion Robotic Arm for Computer Assisted Surgery." Robotica, 1996, 14(1): p. 103-109.
  14. Kalvin, A.D. and R.H. Taylor, "Superfaces: Polygonal Mesh Simplification with Bounded Error." IEEE Computer Graphics and Applications, 1996, 16(3): p. 64-77.
  15. Joskowicz, L. and R.H. Taylor, "Interference-Free Insertion of a Solid Body into a Cavity: An Algorithm and a Medical Application." Int Journal of Robotics Research, 1996, 15(3): p. 211-229.
  16. Taylor, R.H., J. Funda, L. Joskowicz, A. Kalvin, S. Gomory, A. Gueziec, and L. Brown, "An Overview of Computer-Integrated Surgery Research at the IBM T. J. Watson Research Center." IBM Journal of Research and Development, 1996, 40(2): p.163-183.
  17. Funda, J., R. Taylor, B. Eldridge, S. Gomory, and K. Gruben, "Constrained Cartesian motion control for teleoperated surgical robots." IEEE Transactions on Robotics and Automation, 1996, 12(3), p. 453-466.
  18. Caddedu, J.A., A. Bzostek, S. Schreiner, A. Barnes, W.W. Roberts, J.H. Anderson, R.H. Taylor, and L.R. Kavoussi, "A Robotic System for Percutaneous Renal Access." Urology, 1997, 158(4): p. 1589-1593.
  19. Gueziec, A., P. Kazanzides, B. Williamson, and R. Taylor, "Anatomy-Based Registration of CT-Scan and Intraoperative X-Ray Images for Guiding a Surgical Robot." IEEE Transactions on Medical Imaging, 1998, 17(5): p. 715-728.
  20. Bishoff, J.T., Stoianovici, D., Lee, B.R., Bauer, J., Taylor, R.H., Whitcomb, L.L., Cadeddu, J.A., and D. Chan, Kavoussi, L.R. "RCM-PAKY: Clinical Application of a New Robotic System for Precise Needle Placement." Journal of Endourology, 1998, 12: p. S82.
  21. Cadeddu, J.A., D. Stoianovici, R. Taylor, L. Whitcomb, S. Jackman, B. Lee, J.T. Bishoff, M.D. Fabrizio, T.W. Jarrett, and L.R. Kavoussi, "A Robotic System for Percutaneous Renal Access Incorporating a Remote Center of Motion Design." Journal of Endourology, 1998, 12: p. S237.
  22. Taylor, R.H., L. Joskowicz, B. Williamson, et al., "Computer-Integrated Revision Total Hip Replacement Surgery: Concept and Preliminary Results." Medical Image Analysis, 1999, 3(3): p. 301-319.
  23. Poulose, B., M. Kutka, M.M. Sagaon, et al., "Human Versus Robotic Organ Retraction During Laparoscopic Nissen Fundoplication." Surgical Endoscopy, 1999, 13: p. 461-465.
  24. Sadegh, P., F. Mourtada, R. Taylor, and J. Anderson, "Brachytherapy Optimal Planning with application to Intravascular Radiation Therapy." Medical Image Analysis, 1999, 3(3): p. 223-236.
  25. Taylor, R., P. Jensen, L. Whitcomb, et al., "A Steady-Hand Robotic System for Microsurgical Augmentation". International Journal of Robotics Research, 1999. 18(12): p. 1201-1210 (Invited Paper).
  26. Taylor, R.H., G. Fichtinger, P. Jensen, and C. Riviere, "Medical Robotics and Computer-Integrated Surgery: Information-driven Systems for 21st Century Operating Rooms." Japanese Journal of Computer-Assisted Surgery, 2000, 2(2): p. 47-53 (Invited Paper).
  27. Yao, J., R.H. Taylor, R.P. Goldberg, et al., "A C-arm Fluoroscopy-guided progressive cut refinement strategy using a surgical robot." Computer Aided Surgery, 2000. 5(6): p. 373-390.
  28. Liao, R., J. Williams, L. Myers, S. Li, R.H. Taylor, C. Davatzikos, "Optimization of Multiple Isocenter Treatment Planning for Linac-Based Stereotactic Radiosurgery." Computer Aided Surgery, 2000, 5(4): p.  220-233.
  29. Joskowicz, L. and R. Taylor, "Computers in Imaging and Guided Surgery." Computing in Science and Engineering, 2001. 3(5): p. 65-72.
  30. G. Fichtinger, T. L DeWeese, A. Patriciu, A. Tanacs, D. Mazilu, J. H. Anderson, K. Masamune, R H. Taylor, and D. Stoianovici, "System For Robotically Assisted Prostate Biopsy And Therapy With Intra-Operative CT Guidance." Journal of Academic Radiology, 2002, 9(1): p. 60-74.
  31. K. Masamune, G.F., A. Patriciu, R. Susil, R.  Taylor, L. Kavoussi, J. Anderson, I. Sakuma, T. Dohi, D. Stoianovici, "Guidance System for Robotically Assisted Percutaneous Procedures with Computed Tomography". Computer Aided Surgery, 2001, 6(6): p. 370-383.
  32. Solomon S, Patriciu A, Masamune K, Whitcomb L, Taylor RH, Kavoussi L, Stoianovici D, "CT Guided Robotic Needle Biopsy: A Precise Sampling Method Minimizing Radiation Exposure", Radiology. 225 (2002): 277-282.
  33. D. L. Rothbaum, J. Roy, P. Berkelman, G. Hager, D. Stoianovici, R. H. Taylor, L. L. Whitcomb, M. Howard Francis, and J. K. Niparko, "Robot-assisted stapedotomy:  micropick fenestration of the stapes footplate," Otolaryngology - Head and Neck Surgery, 2002,127(5): p. 417-426.
  34. R. Taylor, D. Stoianovici. "Medical Robotic Systems in Computer-Integrated Surgery". Problems in General Surgery, 2003, 20(2): p. 1-9.    
  35. R. Taylor, D. Stoianovici, "Medical Robotics in Computer-Integrated Surgery." IEEE Transactions on Robotics and Automation, 2003, 19(5), p. 765-781.
  36. P. J. Berkelman, L. Whitcomb, R. Taylor, and P. Jensen, "A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation." IEEE Trans. Robotics and Automation, 2003, 19(5), p. 917-922.
  37. D. Rothbaum, J. Roy, G. Hager, R. Taylor, and L. Whitcomb, "Task Performance in stapedotomy: Comparison between surgeons of different experience levels," Otolaryngology - Head and Neck Surgery, 2003, 128(1): p. 71-77.
  38. Yao, J. and R. H. Taylor, "Non-Rigid Registration and Correspondence in Medical Image Analysis Using Multiple-Layer Flexible Mesh Template Matching." International Journal of Pattern Recognition and Artificial Intelligence (IJPRAI), 2003, 17(7): p. 1145-1165.
  39. M. Armand, J. Lepistö, A. Merkle, K. Tallroth, X. Liu, R. Taylor, and J. Wenz, "Computer-Aided Orthopaedic Surgery with Near Real-Time Biomechanical Feedback," APL Technical Digest, vol. 25, pp. 242-252, 2004.
  40. Cleary, K., V. Watson, D. Lindisch, D. Stoianovici, A. Patriciu, D. Mazilu, R. H. Taylor, G. Fichtinger, S. Xu, C. S. White, J. Donlon, and M. Taylor, "Precision placement of instruments for minimally invasive procedures using a "needle driver" robot." International Journal of Medical Robotics and Computer Assisted Surgery, 2005, 1(2): p. 1-9.
  41. G. Fichtinger, A. Degeut, M. K., G. S. Fischer, E. Balogh, H. Matthieu, R. H. Taylor, S. J. Zinreich, and L. M. Fayad, "Image Overlay Guidance for Needle Insertions in CT Scanner." IEEE Transactions on Biomedical Engineering, 2005, 52 (8): p. 1415-1424.
  42. Burschka, D., M. Li, R. Taylor, G.D. Hager, and M. Ishii, "Scale-invariant registration of monocular endoscopic images to CT-scans for Sinus." Medical Image Analysis, 2005, 9(1): p. 413-426.
  43. G. S. Fischer, A. Degeut, D. Schlattman, R. H. Taylor , L. Fayad, S. J. Zinreich, and G. Fichtinger, "MRI Image Overlay: Applications to Arthrography needle insertion." Stud. Health. Technol. Inform., 2005, 119: p. 150-155.
  44. Herman, B. C., E. Hanly, N. Schenkman, R. Taylor, M. Talamini, and M. Marohn, "Telerobotic Surgery Creates Opportunity for Augmented Reality Surgery." Telemedicine Journal and e-Health, 2005, 11(2): p. 203.
  45. Fichtinger, G,. A. Deguet, G. Fischer, I. Iordachita, E. Balogh, K. Masamune, R.H. Taylor, L.M. Fayad, M De Oliveria, and S.J. Zinreich, "CT Image Overlay for Percutaneous Needle Insertions." Journal of Computer Aided Surgery, 2005, 10, p. 241-255.
  46. Sadowsky, O., J. Cohen, and R.H. Taylor, "Projected Tetrahedra Revisited: A Barycentric Formulation Applied to Digital Radiograph Reconstruction Using Higher-Order Attenuation Functions." IEEE Transactions On Visualization and Computer Graphics, 2006: p. 231-236.
  47. Xu, S., K. Cleary, et al., "Lung Deformation Estimation and Four-Dimensional CT Lung Reconstruction." Academic Radiology, 2006, 13(9): p. 1082-1092.
  48. Taylor, R.H., "A Perspective on Medical Robotics." IEEE Proceedings, 2006, 94: p. 1652-1664. (invited paper)
  49. Li, M., M. Ishii, and R.H. Taylor, "Spatial Motion Constraints in Medical Robot Using Virtual Fixtures Generated by Anatomy." IEEE Transactions on Robotics 2007, (23)1, pp4-19.
  50. Armiger, R., Armand, M., Lepisto, J., Minhas, D., Tallroth, K., Mears, S., Waites, M., Taylor, R.H., "Evaluation of a Computerized Measurement Technique for Joint Alignment Before and During Periacetabular Osteotomy." Computer Aided Surgery, 2007, 12(4): p. 215-224.
  51. Dimaio, S., T. Kapur, K. Cleary, S. Aylward, P. Kazanzides, K. Vosburgh, R. Ellis, J. Duncan, K. Farahani, H. Lemke, T. Peters, W.B. Lorensen, D. Gobbi, J. Haller, L.L. Clarke, S. Pizer, R. Taylor, R. Galloway Jr., G. Fichtinger, N. Hata, K. Lawson, C. Tempany, R. Kikinis, F. Jolesz, "Challenges in image-guided therapy system design." Neuroimage, 2007, 37 Suppl 1: p. S144-51.
  52. P. Kazanzides, G. Fichtinger, G. D. Hager, A. M. Okamura, L. L. Whitcomb, and R. H. Taylor, "Surgical and Interventional Robotics - Core Concepts, Technology, and Design [Tutorial]," Robotics & Automation Magazine, IEEE, vol. 15, pp. 122-130, 2008.
  53. G. Fichtinger, P. Kazanzides, A. M. Okamura, G. D. Hager, L. L. Whitcomb, and R. H. Taylor, "Surgical and Interventional Robotics - Part II  [Tutorial]," Robotics & Automation Magazine, IEEE, vol. 15, pp. 94-102, September 2008.
  54. G. D. Hager, A. M. Okamura, P. Kazanzides, L. L. Whitcomb, G. Fichtinger, and R. H. Taylor, "Surgical and Interventional Robotics - Part III  [Tutorial]," Robotics & Automation Magazine, IEEE, vol. 15, pp. 84-93, December 2008.
  55. L.-M. Su, B. P. Vagvolgyi, R. Agarwal, C. E. Reiley, R. H. Taylor, and G. D. Hager, "Augmented Reality During Robot-assisted Laparoscopic Partial Nephrectomy: Toward Real-Time 3D-CT to Stereoscopic Video Registration," Urology, p. in press, 2009.
  56. N. Simaan, K. Xu, A. Kapoor, W. Wei, P. Kazanzides, P. Flint, and R. Taylor, "A System for Minimally Invasive Surgery in the Throat and Upper Airways," Int. J. Robotics Research (special issue on medical robotics), p. Accepted, to appear June/July, 2009.
  57. I. Iordachita, Z. Sun, M. Balicki, J. U. Kang, S. J. Phee, J. Handa, P. Gehlbach, and R. Taylor, "A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery," Int J Computer Assisted Radiology and Surgery, vol. 4, pp. 383-390, 2009.

 

 

Refereed Conference Papers

 

  1. Taylor, R., J. Low, and J. Feldman.  "Recent Developments in SAIL, an Algol-based Language for Artificial Intelligence" in Fall Joint Computer Conference. 1972. Anaheim: ACM
  2. Finkel, R., R. Taylor, R. Bolles, R. Paul, and J. Feldman.  "AL, a programming system for automation" in Fourth Int. Joint Conf. on Artificial Intelligence. 1975. Tblisi.
  3. Taylor, R.H. and D.D. Grossman.  "The Architecture of an Integrated Robot System" in First Int. Conf. on Advanced Robotics (ICAR). 1983. Tokyo.
  4. Lozano-Perez, T., M. Mason, and R. Taylor.  "Automatic Synthesis of Fine Motion Strategies" in First Int. Symposium on Robotics Research. 1983. Mount Washington: MIT Press.
  5. Taylor, R., R. Hollis, and M. Lavin.  "Precise Manipulation with Endpoint Sensing" in Second Int. Symposium on Robotics Research. 1984. Kyoto: MIT Press.
  6. Taylor, R., J. Korein, G. Maier, and L. Durfee.  "A General Purpose Architecture for Programmable Automation Research" in Third Int. Symposium on Robotics Research. 1985. Chantilly: MIT Press.
  7. Hollis, R., R. Taylor, M. Johnson, A. Levas, and A. Brennemann.  "Robotic Circuit Board Testing Using Fine Positioners with Fiber-Optic Sensing" in Int'l Symposium on Industrial Robots. 1985. Tokyo.
  8. Korein, J., G. Maier, R. Taylor, and L. Durfee.  "A Configurable System for Automation Programming and Control" in IEEE Conf. on Robotics and Automation. 1986. San Francisco: IEEE Press.
  9. Maier, G., R. Taylor, and J. Korein.  "A Dynamically Configurable General Purpose Automation Controller" in SOCOCO. 1986. Graz, Austria: IEEE Press.
  10. Nackman, L.R., M.A. Lavin, R.H. Taylor, W.C.J. Dietrich, and D.D. Grossman.  "AML/X: A Programming Language for Manufacturing and Design" in Fall Joint Computer Conference. 1986. Dallas.
  11. Taylor, R., J. Korein, L. Durfee, and G. Maier.  "A Computational Architecture for Programmable Automation Research" in SPIE Conference. 1986. Cambridge, Mass.
  12. Taylor, R., M. Mason, and K. Goldberg.  "Sensor-based Manipulation Planning as a Game with Nature" in Fourth Int. Symposium on Robotics Research. 1987. Santa Cruz, Calif.: MIT Press.
  13. Taylor, R.H. and V.T. Rajan.  "The Efficient Computation of Uncertainty Spaces for Sensor-Based Robot Planning" in IEEE Workshop on Intelligent Robots and Systems (IROS). 1988. Tokyo.
  14. Mason, M., K. Goldberg, and R. Taylor.  "Planning Sequences of Squeeze-Grasps to Orient and Grasp Polygonal Objects" in Seventh CISM-IFTOMM Symposium on Theory and Practice of Robots and Manipulators. 1988. Udine, Italy.
  15. Boneschanger, N., H. van der Drift, S. Buckley, and R. Taylor.  "Subassembly Stability" in AAAI. 1988. St. Paul, Minn.
  16. Taylor, R., H.A. Paul, B. Mittelstadt, and e. al.  "A Robotic System for Cementless Total Hip Replacement Surgery in Dogs" in Second Workshop on Medical and Healthcare Robotics. 1989. Newcastle-on-Tyne.
  17. Taylor, R., H.A. Paul, B. Mittelstadt, and e. al.  "Robotic Hip Replacement Surgery in Dogs" in Eleventh Annual Conference on Engineering in Medicine and Biology. 1989. Seattle: IEEE Press.
  18. Mittelstadt, B., D. Hayes, H. Paul, R. Taylor, and B. Musits.  "Accuracy of Surgical Technique of Femoral Canal Preparation in Cementless Total Hip Replacement" in Annual Meeting of American Acadamy of Orthopaedic Surgeons. 1990. New Orleans.
  19. Taylor, R., H. Paul, B. Mittelstadt, et al.  "An Image-Based Robotic System for Precise Orthopaedic Surgery" in 12th Annual Conference on Engineering in Medicine and Biology. 1990. Philadelphia: IEEE.
  20. Taylor, R., P. Kazanzides, B. Mittelstadt, and H. Paul.  "Redundant Consistency Checking in a Precise Surgical Robot" in 12th Annual Conference on Engineering in Medicine and Biology. 1990. Philadelphia: IEEE Press.
  21. Cutting, C., R.H. Taylor, F. Bookstein, A. Kalvin, B. Haddad, Y. Kim, M. Noz, and J. McCarthy.  "Comprehensive Three-Dimensional Cephalometric System for the Planning and Execution of Craniofacial Surgical Procedures" in Proc. IV Biannual Meeting of the International Society of Cranio-Maxillofacial Surgery. 1991. Santiago de Campostella.
  22. Taylor, R.H., C.B. Cutting, Y. Kim, A.D. Kalvin, D. Larose, B. Haddad, D. Khoramabadi, M. Noz, R. Olyha, N. Bruun, and D. Grimm.  "A Model-Based Optimal Planning and Execution System with Active Sensing and Passive Manipulation for Augmentation of Human Precision in Computer-Integrated Surgery" in Proc. 1991 Int. Symposium on Experimental Robotics. 1991. Toulouse, France: Springer-Verlag.
  23. Taylor, R., H. Paul, P. Kazanzides, and e. al.  "Taming the Bull: Safety in a Precise Surgical Robot" in  Intl. Conf. on Advanced Robotics (ICAR). 1991. Pisa, Italy.
  24. Cutting, C., R. Taylor, R. Bookstein, D. Khorramabadi, B. Haddad, A. Kalvin, H. Kim, and M. Nox.  "Computer Aided Planning and Execution of Craniofacial Surgical Procedures" in Proc. IEEE Engineering in Medicine and Biology Conference. 1992. Paris, France.
  25. Paul, H., B. Mittelstadt, W. Bargar, P. Kazanzides, B. Williamson, J. Zuhars, R. Taylor, and W. Hanson.  "Accuracy of Implant Interface Preparation: Hand-held Broach vs. Robot Machine Tool" in Proc.  Orthopaedic Research Society. 1992. Washington D.C.
  26. Paul, H., B. Mittelstadt, W. Bargar, B. Musits, R. Taylor, P. Kazanzides, J. Zuhars, B. Williamson, and W. Hanson.  "A Surgical Robot for Total Hip Replacement Surgery" in Int. Conference on Robotics and Automation. 1992. Nice, France: IEEE Press.
  27. Kazanzides, P., B. Mittelstadt, J. Zuhars, and R. Taylor.  "Force Sensing and Control for a Surgical Robot" in Int. Conference on Robotics and Automation. 1992. Nice, France: IEEE Press.
  28. Taylor, R., J. Funda, D. LaRose, Y. Kim, N. Bruun, N. Swarup, C. Cutting, and M. Treat.  "A Passive/Active Manipulation System for Surgical Augmentation" in First Int. Workshop on Mechatronics in Medicine. 1992. Malaga, Spain.
  29. Taylor, R., J. Funda, D. LaRose, and M. Treat.  "A Telerobotic System for Augmentation of Endoscopic Surgery" in IEEE Conference on Engineering in Medicne and Biology. 1992. Paris: IEEE Press.
  30. Taylor, R., J. Funda, D. LaRose, and M. Treat.  "An Experimental System for Computer Assisted Endoscopic Surgery" in IEEE Satellite Symposium on Neuroscience and Technoloy. 1992. Lyons: IEEE Press.
  31. Funda, J., R. Taylor, K. Gruben, and D. LaRose.  "Optimal Motion Control for Teleoperated Surgical Robots" in 1993 SPIE Intl. Symp. on Optical Tools for Manuf. & adv. Autom. 1993. Boston.
  32. Joskowicz, L. and R.H. Taylor.  "Hip Implant Insertability Analysis: A Medical Instance of the Peg-in-Hole Problem" in Int. Conf. on Robotics and Automation. 1993. Atlanta: IEEE Press.
  33. Taylor, R.H.  "An Overview of Computer Assisted Surgery Research at IBM T. J. Watson Research Center" in Sixth Int. Symposium on Robotics Research. 1993. Hidden Valley, Pa.: MIT Press.
  34. Funda, J., R. Taylor, S. Gomory, B. Eldridge, K. Gruben, and M. Talamini, Mark.  "An experimental user interface for an interactive surgical robot" in 1st International Symposium on Medical Robotics and Computer Assisted Surgery. 1994. Pittsburgh.
  35. Funda, J., B. Eldridge, K. Gruben, S. Gomory, and R. Taylor.  "Comparison of two manipulator designs for laparoscopic surgery" in 1994 SPIE Int's Symposium on Optical Tools for Manufacturing and Advanced Automation. 1994. Boston: October.
  36. Funda, J., R. Taylor, B. Eldridge, K. Gruben, D. LaRose, and S. Gomory.  "Image Guided Command and Control of a Surgical Robot" in Proc. Medicine Meets Virtual Reality II. 1994. San Diego.
  37. Joskowicz, L. and R.H. Taylor.  "Preoperative Insertability Analysis and Visualization of Custom Hip Implants" in 1st International Symposium on Medical Robotics and Computer Assisted Surgery. 1994. Pittsburgh.
  38. Kalvin, A. and R. Taylor.  "Superfaces: Hierarchical Polyhedral Approximation with Bounded Error" in Proc. Medical Imaging 1994L Image Capture, Formatting, and Display (SPIE 2164). 1994. Newport Beach, Ca.: SPIE.
  39. Cutting, C., R. Taylor, D. Khorramabadi, and B. Haddad.  "Optical Tracking of Bone Fragments During Craniofacial Surgery" in Proc. 2nd Int. Symp. on Medical Robotics and Computer Assisted Surgery. 1995. Baltimore, Md.: MRCAS '95 Symposium, C/O Center for Orthop Res, Shadyside Hospital, Pittsburgh, Pa.
  40. Joskowicz, L., R.H. Taylor, B. Williamson, R. Kane, A. Kalvin, A. Gueziec, G. Taubin, J. Funda, S. Gomory, L. Brown, and J. McCarthy.  "Computer-Integrated Revision Total Hip Replacement Surgery: Preliminary Results" in Proc. 2nd Int. Symp. on Medical Robotics and Computer Assisted Surgery. 1995. Baltimore, Md.: MRCAS '95 Symposium, C/O Center for Orthop Res, Shadyside Hospital, Pittsburgh, Pa.
  41. Funda, J., K. Gruben, B. Eldridge, S. Gomory, and R. Taylor.  "Control and evaluation of a 7-axis surgical robot for laparoscopy" in Proc 1995 IEEE Int. Conf. on Robotics and Automation. 1995. Nagoya, Japan: IEEE Press.
  42. Bzostek, A., S. Schreiner, A.C. Barnes, J.A. Caddedu, W. Roberts, J.H. Anderson, R.H. Taylor, and L.R. Kavoussi.  "An automated system for precise percutaneous access of the renal collecting system" in Proc. First Joint Conference of CVRMed and MRCAS. 1997. Grenoble, France: Springer.
  43. Stoianovici, D., J.A. Cadeddu, R.D. Demaree, S.A. Basile, R.H. Taylor, L.L. Whitcomb, W.N. Sharpe, and L.R. Kavoussi.  "A novel mechanical transmission applied to percutaneous renal access" in 1997 ASME Winter Annual Meeting. 1997.
  44. Stoianovici, D., J.A. Cadeddu, R.D. Demaree, S.A. Basile, R.H. Taylor, L. Whitcomb, L.,, W.N. Sharpe, and L.R. Kavoussi.  "An efficient needle injection technique and radiological guidance method for percutaneous procedures" in First Joint Conference: CRVMed II & MRCAS III, March. 1997. Grenoble, France.
  45. Vaillant, M., C. Davatzikos, R.H. Taylor, and R.N. Bryan.  "A Path-Planning Algorithm for Image Guided Neurosurgery" in Proc. First Joint Conference of CVRMed and MRCAS. 1997. Grenoble, France, March: Springer.
  46. Goradia, T.M., R.H. Taylor, and L.M. Auer.  "Robot-assisted minimally invasive neurosurgical procedures: first experimental experience" in Proc. First Joint Conference of CVRMed and MRCAS. 1997. Grenoble, France: Springer.
  47. Taylor, R.H.  "Robots as Surgical Assistants: Where we are, wither we are tending and how to get there" in 6th Conference Artificial Intellignece in Medicine, Europe (AIME 97). 1997. Grenoble, France: Springer.
  48. Schreiner, S., J. Anderson, R. Taylor, J. Funda, A. Bzostek, and A. Barnes.  "A system for percutaneous delivery of treatment with a fluoroscopically-guided robot" in Joint Conf. of Computer Vision, Virtual Reality, and Robotics in Medicine and Medical Robotics and Computer Surgery. 1997. Grenoble.
  49. Poulose, B., M. Kutka, M.M. Sagaon, A. Barnes, C. Yang, R. Taylor, and M. Talamini.  "Human Versus Robotic Organ Retraction During Laparoscopic Nissen Fundoplication" in Medical Image Computing and Computer-Assisted Interventions (MICCAI-98). 1998. Cambridge, Mass: Springer Lecture Notes in Computer Science, pp197-206
  50. Stoianovici, D., L. Whitcomb, J. Anderson, R. Taylor, and L. Kavoussi.  "A Modular Surgical Robotic System for Image-Guided Percutaneous Procedures" in Medical Image Computing and Computer-Assisted Interventions (MICCAI-98). 1998. Cambridge, Mass: Springer Lecture Notes in Computer Science Vol 1496: pp 404-410.
  51. R. H. Taylor, " Robots as Surgical Assistants: Where We Are, Wither We are Tending, and How to Get There", Proc. ISR, Birmingham, England, April 30, 1998.
  52. Kumar, R., T. Goradia, A. Barnes, P. Jensen, L. Whitcomb, D. Stoianovici. L. Auer, R. Taylor, "Performance of Robotic Augmentation in Microsurgery-Scale Motions", in 2nd Int. Symposium on Medical Image Computing and Computer-Assisted Surgery. 1999. Cambridge, England: Springer.
  53. Kumar, R., P. Jensen, and R.H. Taylor. "Experiments with a Steady Hand Robot in Constrained Compliant Motion and Path Following", in 8th IEEE International Workshop on Robot and Human Interaction (RO-MAN). 1999. Pisa, Italy
  54. Taylor, R., P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. deJuan, L. Kavoussi. "A Steady-Hand Robotic System for Microsurgical Augmentation", in Medical Image Computing and Computer-Assisted Interventions (MICCAI). 1999. Cambridge, England: Springer
  55. Bzostek, A., A.C. Barnes, R. Kumar, J.H. Anderson, and R.H. Taylor. "A Testbed System for Robotically Assisted Percutaneous Pattern Therapy", in Medical Image Computing and Computer-Assisted Surgery. 1999. Cambridge, England: Springer.
  56. Yao, J., R.H. Taylor, R.P. Goldberg, R. Kumar, A. Bzostek, R. VanVorhis, P. Kazanzides, A. Gueziec, J. Funda. "A Progressive Cut Refinement Scheme for Revision Total Hip Replacement Surgery Using C-arm Fluoroscopy", in Medical Image Computing and Computer-Assisted Interventions (MICCAI-99). 1999. Cambridge, England: Springer.
  57. Susil, R.C., J.H. Anderson, and R.H. Taylor. "A Single Image Registration Method for CT Guided Interventions", in 2nd Int Symposium on Medical Image Computing and Computer-Assisted Interventions (MICCAI99). 1999. Cambridge, England: Springer.
  58. Masamune, K., A. Patriciu, D. Stoianovici, R. Susil, G. Fichtinger, L. Kavoussi, J. Anderson, R. Taylor, I. Sakuma, T. Dohi. "Development of CT-PAKY frame system - CT image guided needle puncturing manipulator and a single slice registration for urological surgery", in Proc. 8th annual meeting of JSCAS. 1999. Kyoto.
  59. Kumar, R., P. Berkelman, P. Gupta, A. Barnes, P. Jensen, L. Whitcomb, R.H. Taylor. "Preliminary Experiments in Cooperative Human/Robot Force Control for Robot Assisted Microsurgical Manipulation", in IEEE Conference on Robotics and Automation. 2000. San Francisco.
  60. Kumar, R., G.D. Hager, A. Barnes, P. Jensen, and R.H. Taylor. "An Augmentation System for Fine Manipulation", in Medical Image Computing and Computer-Assisted Interventions (MICCAI). 2000. Pittsburgh: Springer October 11-14:, p. 956-964.
  61. Taylor, R. "Computer-Integrated Surgery: Coupling Information to Action in 21st Century Medicine", in HiCare 2000. 2000. Dusseldorf Feb 25
  62. Loser, M., N. Navab, B. Bascle, and R. Taylor. "Visual servoing for automatic and uncalibrated percutaneous procedures", in Proc. SPIE Medical Imaging. 2000 p. 270-281.
  63. Berkelman, P.J., L.L. Whitcomb, R.H. Taylor, and P. Jensen. "A miniature Instrument Tip Force Sensor for Robot/Human Cooperative Microsurgical Manipulation with Enhanced Force Feedback", in Medical Image Computing and Computer-Assisted Interventions. 2000. Pittsburgh: Springer October 11-14:, p. 897-906.
  64. Graham, S., R. Taylor, and M. Vannier. "Needs Assessment for Computer-Integrated Surgery Systems", in Medical Image Computing and Computer-Assisted Interventions. 2000. Pittsburgh: Springer October 11-14, p. 931-939.
  65. Bzostek, A., R. Kumar, N. Hata, O. Schorr, R. Kikinis, R. Taylor. "Distributed Modular Computer-Integrated Robotic Systems: Implementation using modular software and networked systems", in Medical Image Computing and Computer-Assisted Interventions. 2000. Pittsburgh: Springer October 11-14:, p. 969-978.
  66. Schorr, O., N. Hata, A. Bzostek, R. Kumar, C. Burghart, R. Taylor, R. Kikinis. "Distributed Modular Computer-Integrated Robotic Systems: Architecture for Intelligent Object Distribution", in Medical Image Computing and Computer-Assisted Interventions. 2000. Pittsburgh: Springer October 11-14:, p. 979-987.
  67. Patriciu, A., D. Stoianovici, L. Whitcomb, T. Jarrett, D. Mazilu, A. Stanimir, I. Iordachita, J. Anderson, R. Taylor, L. Kavoussi. "Motion-based robotic instrument targeting under c-arm fluoroscopy", in Medical Image Computing and Computer-Assisted Interventions. 2000. Pittsburgh: Springer October 11-14, p. 988-998.
  68. Yao, J. and R. Taylor. "Tetrahedral Mesh Modeling of Density Data for Anatomical Atlases and Intensity-Based Registration", in Medical Image Computing and Computer-Assisted Interventions (MICCAI 2000). 2000. Pittsburgh October 11-14: p. 531-540
  69. Yao, J. and R.H. Taylor. "Reconstructing Hierarchical Tetrahedral Mesh Density Models of Bony Anatomy". in Medical Meets Virtual Reality 2001. 2001. Newport Beach, CA: IOS Press p. pp 587-593.
  70. Yao, J. and R. Taylor. "Construction and Simplification of Bone Density Models". in SPIE Medical Imaging 2001. 2001. San Diago, CA
  71. Berkelmann, P.J., D.L. Rothbaum, J. Roy, Sam Lang, L.L. Whitcomb, G. Hager, P.S. Jensen, R.H. Taylor, and J. Niparko. "Performance Evaluation of a Cooperative Manipulation Microsurgical Assistant Robot Applied to Stapedotomy". in Medical Image Computing and Computer-Assisted Interventions (MICCAI 2001). 2001. Utrecht: Springer October p. 1426-1429.
  72. Goldberg, R.P., M. Dumitru, R.H. Taylor, and D. Stoianovici. "A modular robotic system for ultrasound image acquisition". in Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001. 2001. Utrecht: Springer Octoberp. 1430-1434.
  73. Kumar, R., A. Barnes, G. Hager, P. Jensen, and R. Taylor. "Applications of Task-Level Augmentation for Cooperative Fine Manipulation Tasks in Surgery". in Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001. 2001. Utrecht: Springer October p. 1417-1418.
  74. Brzeczko, A., R. Goldberg, R. Taylor, and P. Evans. "Smart Alignment Tool for Knee Mosaicplasty Surgery". in Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001. 2001. Utrecht: Springer October. P. 599-605.
  75. Bhargava, A., C.S. Hundtofte, M. Thober, A. Bzostek, and R.H. Taylor. "Software Framework for a Surgical Guidance System using Magnetic Markers" in Medicine Meets Virtual Reality 2001. 2001. Newport Beach 24-27 January.
  76. Fichtinger, G., D. Stoianovici, and R.H. Taylor. "Surgical CAD/CAM and its application for robotically assisted local therapy" in IEEE 30th Applied Imagery Pattern Recognition Workshop (AIPR). October 2001. Washington, DC, October. P 3-8
  77. Fichtinger, G., K. Masamune, A. Patriciu, A. Tanacs, J.H. Anderson, T.L. DeWeese, R.H. Taylor, and D. Stoianovici. "Robotically Assisted Percutaneous Local Therapy and Biopsy" in IEEE 10th International Conference of Advance Robotics. 2001: ISBN 963-7154-043 p. 133-151.
  78. Yao, J., Russell Taylor. "Deformable registration between a statistical bone density atlas and X-ray images". Computer-Assisted Orthopaedic Surgery (2002) (Best Conference Paper.)
  79. Prasad, S., Ming Li, Nicholas Ramey, Frank Frassica, Russell Taylor. "Co-registration Techniques for Fluoroscopically-Guided Robotic Surgery" Computer-Assisted Orthopaedic Surgery. Santa Fe, New Mexico, 2002.
  80. Prasad, S., M. Li, N. Ramey, F. Frassica, R. H. Taylor. "A Minimally Invasive Approach to Pelvic Osteolysis" Computer-Assisted Orthopaedic Surgery. Santa Fe, 2002.
  81. Mohamed, A., Christos Davatzikos, and Russell Taylor. "A Combined Statistical and Biomechanical Model for Estimation of Intra-operative Prostate Deformation". Medical Image Computing and Computer Assisted Interventions (MICCAI) II (2002): 452-460.
  82. Masamune, K., Gabor Fichtinger, Anton Deguet, Daisuke Matsuka, and Russell Taylor. "An Image Overlay System with Enhanced Reality for Percutaneous Therapy Performed Inside CT Scanner ". Medical Image Computing and Computer-Assisted Interventions (MICCAI). Springer Lecture Notes in Computer Science II (2002):77-84.
  83. Boctor, E. M., Ameet Jain, Michael A. Choti, Russell H. Taylor, and Gabor Fichtinger. "A Rapid Calibration Method for Registration and 3D Tracking of Ultrasound Images Using Spatial Localizer", in Proc. SPIE, Medical Imaging 2003: Ultrasonic Imaging and Signal Processing, vol. 5035, p. 521-532; William F. Walker, Michael F. Insana, Eds. San Diego, 2003.  (Best Young Investigator Award).
  84. Boctor, E., G. Fichtinger, R. H. Taylor, and M. A. Choti, "Tracked 3D ultrasound in radio-frequency liver ablation," in Medical Imaging 2003: Ultrasound Imaging and Signal Processingy, vol. 5035. San Diego: SPIE, 2003, pp. 174-182.
  85. Boctor, E., G. Fichtinger, R. H. Taylor, and M. A. Choti, "Robotically assisted intraoperative ultrasound with application to ablative therapy of liver cancer," in Medical Imaging 2003: Visualization, Image Guided Procedures, and Display, vol. 5029. San Diego: SPIE, 2003, pp. 281-291.
  86. Kapoor, A., R. Kumar, and R. Taylor, "Simple Biomanipulation Tasks with a "Steady Hand" Cooperative Manipulator," in Proceedings of the Sixth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2003, vol. I, Lecture Notes in Computer Science (Vol. 2878). Montreal: Springer, 2003, pp. 141-148.
  87. Kumar, R., A. Kapoor, and R. H. Taylor, "Preliminary experiments in robot/human microinjections," in IROS, vol. 4. Las Vegas, 2003, pp. 3186-3191.
  88. Li, M. and R. Taylor, "Optimum Robot Control for 3D Virtual Fixture in Contrained ENT Surgery," in Proceedings of the Sixth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2003, vol. I, Lecture Notes in Computer Science (Vol. 2878). Montreal: Springer, 2003, pp. 165-172.
  89. Prasad, S., M. Kitagawa, G. S. Fischer, J. Zand, M. A. Talamini, R. H. Taylor, and A. M. Okamura, "A Modular 2-DOF Force-Sensing Instrument for Laparoscopic Surgery," in Proceedings of the Sixth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2003, vol. I, Lecture Notes in Computer Science (Vol. 2878). Montreal: Springer, 2003, pp. 279-286.
  90. Wu, X. and R. H. Taylor, "A Framework for Calibration of Electromagnetic Surgical Navigation Systems," in IROS, vol. 1. Las Vegas, 2003, pp. 547-552.
  91. Wu, X. and R. TaylorTaylor, "A Direction Space Interpolation Technique for Calibration of Electromagnetic Surgical Navigation Systems," in Proceedings of the Sixth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2003, vol. II, Lecture Notes in Computer Science (Vol. 2879). Montreal: Springer, 2003, pp. 215-222.
  92. Yao, J. and R. H. Taylor, "Assessing Accuracy Factors in Deformable 2D/3D Medical Image Registration Using a Statistical Pelvis Model," in Ninth Int. Conference on Computer Vision. Nice, 2003, pp. 1329-1334.
  93. Yao, J. and R. H. Taylor, "A Multiple-Layer Flexible Mesh Template Matching Method for Non-rigid Registration between a Pelvis Model and CT Images," in SPIE Medical Imaging. San Diego, 2003, pp. 1117-1124
  94. Boctor, E., G. Fischer, M. Choti, G. Fichtinger, and R. Taylor, "Dual-Armed Robotic System for Intraoperative Ultrasound Guided Hepatic Ablative Therapy: A Prospective Study," in IEEE 2004 International Conference on Robotics and Automation. New Orleans,LA, 2004, pp. 2517-2522.
  95. Boctor, E., A. Viswanathan, S. Pieper, M. Choti, R. Taylor, R. Kikinis, and G. Fichtinger, "CISUS: An integrated 3D ultrasound system for IGT using a modular tracking API," in Proc. SPIE, Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display, vol. 5367, p. 247-256; Robert L. Galloway, Jr., Ed. San Diego, CA, 2004.
  96. Boctor, E., A. Viswanathan, M. Choti, R. Taylor, G. Fichtinger, and G. Hager, "A Novel Closed Form Solution For Ultrasound Calibration," in International Symposium on Biomedical Imaging. Arlington, VA, 2004.
  97. Boctor, E., G. Fichtinger, A. Yeung, M. Awad, R. H. Taylor, and M. Choti, "Robotic Strain Imaging for Monitoring Thermal Ablation of Liver," in MICCAI, vol. 2, C. B. D. R. H. P. Hellier, Ed. Saint-Malo, France, 2004, pp. 81-88.
  98. Burschka, D., M. Li, R. Taylor, and G. D. Hager, "Scale-Invariant Registration of Monocular Endoscopic Images to CT-Scans for Sinus Surgery," in Int. Symp. on Medical Image Computing and Computer-Assisted Interventions (MICCAI), vol. 2. St. Malo, France: Springer, 2004, pp. 413-421.
  99. Burschka, D., M. Li, R. Taylor, and G. D. Hager, "Scale-Invariant Registration of Monocular Stereo Images to 3D Surface Models," in IEEE Int. Conf. on Robots and Systems (IROS), 2004, pp. 2581-2586.
  100. Fichtinger, G., A. Degeut, K. Masamune, E. Balogh, G. S. Fischer, H. Matthieu, R. H. Taylor, L. M. Fayad, and S. J. Zinreich, "Needle Insertion in CT Scanner with Image Overlay- Cadaver Studies," in MICCAI, vol. 2, pp. 795-803, Saint-Malo, France, 2004.
  101. Jain,A. and R. H. Taylor , "Understanding Bone Responses in B-mode Ultrasound Images and Automatic Bone Surface Extraction using a Bayesian Probabilistic Framework," in SPIE Medical Imaging. San Diego, CA, 2004.
  102. Li,M. and R. H. Taylor, "Spatial Motion Contraints in Medical Robot Using Virtual Fixtures Generated by Anatomy," in IEEE Conf. on Robotics and Automation. New Orleans, 2004, pp. 1270-1275.
  103. Ramey, N. A., M. Li, S. K. Prasad, F. J. Frassica, and R. H. Taylor, "Evaluation of Registration Techniques in a robotic approach to pelvic osteolysis," in International Proceedings of Computer Assisted Orthopaedic Surgery. Chicago, 2004, pp. 26-27.
  104. Simaan, N., R. Taylor, and P. Flint, "A Dexterous System for Laryngeal Surgery - Multi-Backbone Bending Snake-like Slaves for Teleoperated Dexterous Surgical Tool Manipulation," in IEEE Conf. on Robotics and Automation. New Orleans, 2004.
  105. Simaan, N., R. Taylor, and P. Flint, "High Dexterity Snake-like Robotic Slaves for Minimally Invasive Telesurgery of the Throat," in Int. Symp. on Medical Image Computing and Computer-Assisted Interventions, vol. 2: Springer, 2004, pp. 17-24.
  106. Zhan, Y., D. Shen, and R. H. Taylor, "Deformable Registration of Male Pelvises in CT Images," in IEEE International Symposium on Biomedical Imaging. Arlington, Va, 2004, pp. 1463-1466.
  107. Viswanathan, A., E. M. Boctor, R. H. Taylor, G. D. Hager, and G. Fichtinger, "Immediate Ultrasound Calibration with Three Poses and Minimal Image Processing," in MICCAI 2004, vol. 2, Saint-Malo, France, 2004, pp. 446-454.
  108. Xu, S., G. Fichtinger, R. H. Taylor, and K. Cleary, "3D Motion Tracking of Pulmonary Lesions Using CT Fluoroscopy Images for Robotically Assisted Lung Biopsy," in SPIE International Society of Optical Engineering, vol. 5367, 2004, pp. 394-402.
  109. DeOliviera, M., A. Degeut, G. Fischer, E. Balogh, R. H. Taylor , L. M. Fayad, S. J. Zinreich, and G. Fichtinger, "Image Overlay for CT-guided Hepatic Needle Insertions--Cadaver Studies," Annual Congress of the Society of American Gastrointestinal Endoscopic Surgeons, 2005.
  110. Fischer, G., J. Zand, M. Talamini, M. Marohn, T. Akinbiyi, K. Kanev, J. Kuo, P. Kazandzides, and R. H. Taylor "Intra-Operative Ischemia Sensing Surgical Instruments," International Conference on Complex Medical Engineering, Takamatsu, Japan, 2005.
  111. Fischer, G. S. and R. H. Taylor "Electromagnetic Tracker Measurement Error Simulation and Tool Design," MICCAI, Palm Springs, CA, p. 73-80, 2005.
  112. Fischer, G., S. Saha, J. Horwat, J. Yu, J. Zand, M. Marohn, M. Talamini, and R. H. Taylor "An Intra-Operative System for Relating Ischemic Damage to Retraction Forces," BMES, Baltimore,MD, 2005.
  113. Kapoor, A., M. Li, and R. H. Taylor "Spatial Motion Constraints for Robot Assisted Suturing using Virtual Fixtures," MICCAI, Palm Springs, CA, p. 89-96, 2005.
  114. Kapoor, A., N. Simaan, and R. H. Taylor "Suturing in Confined Spaces: Constrained Motion Control of a Hybrid 8-DOF Robot," International Conference on Advanced Robotics, Seattle, WA, 2005.
  115. Leven, J., D. Burschka, R. Kumar, G. Zhang, S. J. Blumenkranz, X. Dai, M. Awad, G. Hager, M. Marohn, M. Choti, C. Hasser, and R. H. Taylor "DaVinci Canvas: A Telerobotic Surgical System with Integrated, Robot-Assisted, Laparoscopic Ultrasound Capability," Medical Image Computing and Computer-Assisted Interventions, Palm Springs, CA, p. 811-818, 2005.
  116. Li, M. and R. H. Taylor, "Performance of Surgical Robots with automatically generated spatial virtual fixtures," IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp 217-222, 2005.
  117. Li, M., A. Kapoor, and R. H. Taylor "A Constrained Optimization Approach to Virtual Fixtures," IROS, Edmonton, Alberta, Canada, 2005.
  118. Sadowsky, O., J. Cohen, and R. H. Taylor "Rendering Tetrahedral Meshes with Higher-Order Attenuation Functions for Digital Radiograph Reconstruction," IEEE Visualization, Minneapolis, MN, 2005.
  119. Scepanovic, D., J. Kirshtein, A. Jain, and R. H. Taylor, "Fast Algorithm for Probabilistic Bone Edge Detection (FAPBED)," SPIE International Symposium on Medical Imaging, San Diego, CA, 2005.
  120. Xu, S., R. H. Taylor, G. Fichtinger, and K. Cleary, "Lung Deformation Estimation and Four-dimensional CT Lung Reconstruction," MICCAI, Palm Springs, CA, p. 312-319, 2005.
  121. Xu, S., G. Fichtinger, R. H. Taylor , and K. Cleary, "Validation of 3D Motion Tracking of Pulmonary Lesions for Image-Guided Lung Biopsy," SPIE Medical Imaging, San Diego, CA, 2005.
  122. Boctor, E., M. DeOliviera, M. Awad, R. Taylor, G. Fichtinger, and C. Ma, "Robot-Assisted 3D Strain Imaging for Monitoring Thermal Ablation of Liver," Annual Congress of the Society of American Gastrointestinal Endoscopic Surgeons (SAGES), 2005.
  123. Kon, R., J. Leven, K. Kothapalli, E. Boctor, G. Fichtinger, G. Hager, and R.H. Taylor, "CIS-UltraCal: An Open Source Ultrasound Calibration Toolkit," SPIE: Medical Imaging – Ultrasound Imaging and Signal Processing, 2005.
  124. Sadowsky, O., K. Ramamurthi, J.L. Prince, and R.H. Taylor, "Using Anatomical Models and Fast Rendering Algorithms for C-Arm Pose Recovery and Cone-Beam Tomographic Reconstruction of Bone Anatomy," Computer Assisted Orthopaedic Surgery, Helsinki, 2005.
  125. Kazanzides, P., A. Deguet, A. Kapoor, O Sadowsky, A. LaMora, and R. Taylor, "Development of Open Source Software for Computer-Assisted Intervention Systems," ISC/NAMIC/MICCAI Workshop on Open Source Software, Palm Springs, CA, 2005.
  126. Fischer, G., T. Akinbiyi, S. Saha, J. Zand, M. Talamini, M.M., and T. RH, "Ischemia and Force Sensing Surgical Instruments for Augmenting Available Surgeon Information", IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2006, Pisa, Italy, 2006.
  127. Fischer, G. S., A. Degeut, C. Csoma, R. H. Taylor, L. Fayad, S. J. Zinreich, and G. Fichtinger, "MRI Image Overlay: Joint Arthrography Porcine Trials," International Society for Magnetic Resonance in Medicine, 14th Scientific Meeting, Seattle, Washington, 2006.
  128. Fischer, G., A. Degeut, et al. (2006). Image Overlay for MRI-Guided Joint Arthrography. MRI Symposium, Leipzig.
  129. Fischer, G. S., A. Deguet, L.M. Fayad, S.J. Zinreich, R.H. Taylor, and G. Fichtinger, "Musculoskeletal Needle Placement with MRI Image Overlay Guidance," Annual Meeting of the International Society for Computer Assisted Surgery, Montreal, Canada, 2006.
  130. Kapoor, A., M. Li, and R.H. Taylor, "Constrained Control for Surgical Assistant Robots," IEEE International Conference on Robotics and Automation (ICRA), Orlando, FL, p. 231-236, 2006.
  131. M. Armand, R. Armiger, M. Waites, S. Mears, J. Lepisto, D. Minhas, and R. Taylor, "A Guidance System for Intraoperatively Updating Surgical-Plans during Periacetabular Osteotomy: Development and Cadaver Tests," in Computer Assisted Orthopaedic Surgery, Montreal, Canada, 2006.
  132. Luo, B., R. Yang, P. Ying, M. Awad, M. Choti, and R. Taylor, "Elasticity and Echogenicity Analysis of Agarose Phantoms Mimicking Liver Tumors," Northeast Bioengineering Conference, Easton, PA, 2006.
  133. Sadowsky, O., K. Ramamurthi, L.M. Ellignsen, G. Chintalapani, J.L. Prince, and R.H. Taylor, "Atlas-Assisted Tomography: Registration of a Deformable Atlas to Compensate for Limited-Angle Cone-Beam Trajectory," ISBI, Arlington, VA, 2006.
  134. Xu, S., G. Fichtinger, R.H. Taylor, F. Banovac, and K. Cleary, "CT Fluoroscopy-Guided Robotically-Assisted Lung Biopsy," SPIE Medical Imaging: Visualization, Image-Guided Procedures, and Display, 2006.
  135. Kazanzides, P., S. DiMaio, K. Cleary, G. Fichtinger, and R. Taylor, "System Architecture and Toolkits for Image-Guided Intervention Systems," Medicine Meets Virtual Reality 14, Long Beach, CA, 2006.
  136. Kapoor, A., N. Simaan, and R.H. Taylor, "Telemanipulation of Snake-Like Robots for Minimally Invasive Surgery of the Upper Airway, " MICCAI Workshop on Medical Robotics, Copenhagen, pp 17-25, 2006.
  137. Iordachita, I., A. Kapoor, B. Mitchell, P. Kazanzides, G. Hager, J. Handa, and R. Taylor, "Steady-Hand Manipulator for Retinal Surgery,"MICCAI Workshop on Medical Robotics, Copenhagen, p. 66-73, 2006.
  138. Xu, S., G. Fichtinger, R.H. Taylor, F. Banovac, and K. Cleary, "CT Fluoroscopy-Guided Robotically-Assisted Lung Biopsy", SPIE Medical Imaging: Visualization, Image-Guided Procedures and Display, 2006.
  139. Boctor, E., M. de Oliveira, M. Choti, R. Ghanem, R.H. Taylor, G.D. Hager, G. Fichtinger, "Ultrasound Monitoring of Tissue Ablation Via Deformation Model and Shape Priors," MICCAI (2): p. 405-412, 2006.
  140. Mitchell, B., J. Koo, I. Iordachita, P. Kazanzides, A. Kapoor, J. Handa, G. Hager, R. Taylor, "Development and Application of a New Steady-Hand Manipulator for Retinal Surgery." IEEE Int. Conf on Robots and Automation (ICRA), Rome, Italy, p. 623-629, 2007.
  141. Matinfar, M., O. Gray, I. Iordachita, C. Kennedy, E. Ford, J. Wong, R. Taylor, P. Kazanzides, "Small Animal Radiation Research Platform: Imaging, Mechanics, Control and Calibration," Medical Image Computing and Computer-Assisted Interveention (MICCAI), Brisbane, Australia, 2007
  142. Chintalapani, G., L. M. Ellingsen, O. Sadowsky, J.L. Prince, R.H. Taylor, "Statistical Atlases of Bone Anatomy: Construction, Iterative Improvement and Validation," Medical Image Computing and Computer-Assisted Interveention (MICCAI), Brisbane, Australia, 2007.
  143. Sadowsky, O., G. Chintalapani, R.H. Taylor, "Deformable 2D-3D Registration of the Pelvis with a Limited Field of View, Using Shape Statistics," Medical Image Computing and Computer-Assisted Interveention (MICCAI), Brisbane, Australia, 2007, pp 519-526.
  144. G. Chintalapani, A. K. Jain, and R. H. Taylor, "Statistical Characterization of C-arm Distortion with Application to Intra-Operative Distortion Correction," in SPIE Medical Imaging 2007: Visualization and Image-Guided Procedures, San Diego, 2007, pp. 65092Y-65091 - 65092Y-65098.
  145. G. Chintalapani and R. H. Taylor, "C-Arm Distortion Correction Using Patient as a Fiducial," in 4th Int Symposium on Biomedical Imaging (ISBI), 2007, pp. 1180-1183.
  146. P. Foroughi, E. Boctor, M. J. Swartz, R. H. Taylor, and G. Fichtinger, "Ultrasound Bone Segmentation Using Dynamic Programming," in IEEE Ultrasonics Symposium, 2007, pp. 2523-2526
  147. Meireles, O., E. Hanly, B. Herman, N. Schenkman, S. Shih, J. Fuentes, A. Aurora, R.H. Taylor, M. Talamini, M. Marohn, "Effects of Visual Feedback Delay on Surgical Task Performance during Telerobotic Surgery." Medicine Meets Virtual Reality 15, Long Beach, CA, 2008.
  148. N. Rivera, R. Mountain, L. Assumpcao, A. A. Williams, A. B. Cooper, D. L. Lewis, R. C. Benson, J. A. Miragliotta, M. Marohn, and R. H. Taylor, "ASSIST - Automated System for Surgical Instrument and Sponge Tracking," in IEEE International Converence on RFID, 2008, pp. 297-302.
  149. P. Foroughi, D. Song, R. Taylor, and G Fichtinger, Computer Assisted Orthopedic Surgery, 2008, " Ultrasound Based Localization of Pelvic Anatomical Coordinate System," in Computer Assisted Orthopaedic Surgery (CAOS), Hong Kong, 2008
  150. I. Fleming, M. Balicki, J. Koo, I. Iordachita, B. Mitchell, J. Handa, G. Hager, and R. Taylor, "Cooperative Robot Assistant for Retinal Microsurgery," in Medical Image Computing and Computer-Assisted Interventions (MICCAI). vol. LNCS 5242 New York: Springer Lecture Notes in Computer Science, 2008, pp. 543-551
  151. I. Fleming, S. Voros, B. Vagvolgyi, Z. Pezzementi, J. Handa, R. Taylor, and G. Hager, "Intraoperative Visualization of Anatomical Targets in Retinal Surgery," in IEEE Workshop on Applications of Computer Vision (WACV), 2008, pp. 1-9.
  152. P. Foroughi, D. Song, G. Chintalapani, R. H. Taylor, and G. Fichtinger, "Localization of Pelvic Anatomical Coordinate System Using US/Atlas Registration for Total Hip Replacement," in Medical Image Computing and Computer-Assisted Intervention - MICCAI 2008. vol. LNCS 5242 New York, 2008, pp. 871-879.
  153. P. Foroughi, D. Song, R. Taylor, and G Fichtinger, Computer Assisted Orthopedic Surgery, 2008, " Ultrasound Based Localization of Pelvic Anatomical Coordinate System," in Computer Assisted Orthopaedic Surgery (CAOS), Hong Kong,
  154. A. Kapoor and R. Taylor, "A Constrained Optimization Approach to Virtual Fixtures for Multi-Handed Tasks," in IEEE International Conference on Robotics and Automation (ICRA), Pasadena, 2008, pp. 3401-3406.2008.
  155. R. Jacques, R. Taylor, J. Wong, and T. McNutt, "Towards Real-Time Radiation Therapy: GPU Accelerated Superposition/Convolution," in High-Performance Medical Image Computing and Computer Aided  Intervention (HP-MICCAI), New York, 2008, p. In electronic proceedings at http://www.cse.buffalo.edu/hpmiccai/
  156. A. Deguet, R. Kumar, R. Taylor, and P. Kazanzides, "The cisst libraries for computer assisted intervention systems," in 2008 MICCAI Workshop - Systems and Architectures for Computer Assisted Interventions New York, 2008. in electronic proceedings at http://www.midasjournal.org/browse/publication/294.
  157. B. Vagvolgyi, D. Simon, A. Deguet, P. Kazanzides, R. Kumar, C. Hasser, and R. Taylor, "The Surgical Assistant Workstation," in 2008 MICCAI Workshop - Systems and Architectures for Computer Assisted Interventions New York: Kitware, 2008, p. in electronic proceedings at http://www.midasjournal.org/browse/publication/295.
  158. I. N. Fleming, H. Rivaz, K. Macura, L.-M. Su, U. Hamper, T. Lotan, G. Lagoda, A. Burnett, Russell H. Taylor, G. D. Hager, Emad M. Boctor, Medical, and V. , paper 7261-89 (2009), "Ultrasound elastography: enabling technology for image guided laparoscopic prostatectomy," in SPIE Medical Imaging 2009: Visualization, Image-guided Procedures and Modeling. Orlando, Florida, 2009.
  159. C. Kut, C. Schneider, N. Carter-Monroe, E. Boctor, L.-M. Su, and R. Taylor, "Accuracy of Localization of Prostate Lesions Using Manual Palpation and Ultrasound Elastography," in SPIE Symposium on Medical Imaging Orlando, Florida, 2009.
  160. Z. Sun, M. Balicki, J. Kang, J. Handa, R. Taylor, and I. Iordachita, "Development and Preliminary Data of Novel Integrated Optical Micro-Force Sensing Tools for Retinal Microsurgery," in 2009 IEEE International Conference on Robotics and Automation - ICRA 2009, Kobe, Japan, 2009, p. in press
  161. O. Sadowsky, J. Lee, G. Sutter, S. Wall, J. L. Prince, and R. H. Taylor, " Enhancement of mobile C-arm cone-beam reconstruction using prior anatomical models," in SPIE Medical Imaging 2009: Visualization, Image-guided Procedures and Modeling. Orlando, Florida, 2009.
  162. O. M. Ahmad, K. Ramamurthi, K. E. Wilson, K. Engelke, M. Bouxsein, and R. H. Taylor, "3D Structural Measurements of the Proximal Femur from 2D DXA Images Using a Statistical Atlas" in SPIE Medical Imaging, Orlando, Florida, 2009.
  163. D. Mirota, R. H. Taylor, M. Ishii, and G. D. Hager, "Direct Endoscopic Video Registration for Sinus Surgery," in SPIE Medical Imaging: Visualization, Image-guided Procedures and Modeling, vol. 7261, Orlando, February 2009.
  164. M. Balicki, J.-H. Han, I. Iordachita, P. Gehlbach, J. Handa, R. H. Taylor, and J. Kang, "Single Fiber Optical Coherence Tomography Microsurgical Instruments for Computer and Robot-Assisted Retinal Surgery," in Medical Image Computing and Computer Assisted Surgery (MICCAI 2009). vol. LNCS 5761, G.-Z. Y. e. al., Ed. London: Springer Verlag, 2009, pp. 108-115 (Best CAI paper).

 

 

 

Refereed Abstracts in Proceedings or Journals (partial list)

  1. Anderson, J., R. Taylor, S. Schreiner, M. Choti, E. Fishman, and G. Anderson, "Image-Guided Percutaneous Robotic Assisted Therapy". Annals of Biomedical Engineering, 1996. 24(Supp 1): p. S-71
  2. Williams, J.P., R.H. Taylor, and L.B. Wolff.  "Augmented k-d techniques for accelerated registration and distance measurement of surfaces" in Computer Aided Surgery: Computer-Integrated Surgery of the Head and Spine. 1997. Linz, Austria.
  3. R. Kumar,T.M. Goradia, R. Taylor, and L.M. Auer, "Robot-assisted microneurosurgical procedures, comparative dexterity experiments", in Society for Minimally Invasive Therapy 9th Annual Meeting, Abstract book Vol 6, supplement 1. 1997: Tokyo, Japan.
  4. Stoianovici, D., Cadeddu, J., A., Whitcomb, L., L., Taylor, R., H., Kavoussi, L., R.,  "A Robotic System for Precise Percutaneous Needle Insertion," in Thirteenth Annual Meeting of the Society for Urology and Engineering. May 1988. San Diego pp. 4
  5. Stoianovici, D., Lee, B.R., Bishoff, J.T., Micali, S., Whitcomb, L.L., Taylor, R.H., Kavoussi, L.R. (1998), "Robotic Telemanipulation for Percutaneous Renal Access", 16th World Congress on Endourology, September 3-6, 1998, New York City, New York, USA
  6. Stoianovici, D., Lee, B.R., Bishoff, J.T., Micali, S., Whitcomb, L.L., Taylor, R.H., Kavoussi, L.R. (1998), "Robotic Telemanipulation for Percutaneous Renal Access", 16th World Congress on Endourology, September 3-6, 1998, New York City, New York, USA
  7. DeOliviera, M., Deguet, A., Fischer, G., Balogh, E., Taylor, R.H., Fayad, L.M., Zinreich, S.J., Fichtinger, G., "Image Overlay for CT-Guided Hepatic Needle Insertions – Cadaver Studies," Annual Congress of the Society of American Gastrointestinal Endoscopic Surgeons, pp 243-244, 2005
  8. Fischer, G.S., Deguet, A., Csoma, C., Taylor, R.H., Fayad, L., Zinreich, S.J., Fichtinger, G., "MRI Image Overlay: Joint Arthrography Porcine Trials", ISMRM, in proceedings pp. 1735, 2006
  9. C. Kut, C. Chen, and J. W. Taylor, "SU-GG-I-01: Improving the utility of in-room video camera systems for continuous surveillance of patient motion during radiation treatment," Med. Phys. Volume 35, Issue 6, pp. 2642-2643 (June 2008).
  10. R. Jacques, R. Taylor, J. Wong, and T. McNutt, "SU-GG-T-511: Towards  Real-Time Radiation Therapy: Superposition/Convolution at 4fps," Med. Phys., vol. 35, pp. 2842-2842, June 2008.
  11. C Kut, C Chen, J Wong, R Taylor, "Improving the utility of in-room video camera systems for continuous surveillance of patient motion during radiation treatment", Journal of Applied Clinical Medical Physics, Vol 9, No 3, June 2008
  12. R. Jacques, R. Taylor, J. Wong, and T. McNutt, "Towards Real-time Radiation Therapy:  Superposition/Convolution at Interactive Rates (Abstract)," in ASTRO 2008 Annual Meeting, 2008.

 

 


Significant Reports

 

1.     Taylor, R. H., The Synthesis of Manipulator Control Programs from Task-Level Specifications, Ph.D. Dissertation, Stanford University, 1976.  Report STAN-CS-76-560.

2.     Taylor, R.H., G.B. Bekey, and J. Funda, "Proc.of NSF Workshop on Computer Assisted Surgery", 1993: Washington D.C.

3.     Taylor, R.H. and S.D. Stulberg.  "Medical Robotics Working Group Section Report" in NSF Workshop on Medical Robotics and Computer-Assisted Medical Interventions (RCAMI). 1996. Bristol, England: Shadyside Hospital, Pittsburgh, Pa.

4.     Curley, K., T Broderick, R. Marchessault, G. Moses, R. Taylor, W. Grundfest, E. Hanley, B. Miller, A. Gallagher, and M. Marohn, "Integrated Research Team Final Report: Surgical Robotics – The Next Steps September 9-10 2004," Telemedicine & Advanced Technology Research Center (TATRC); U.S. Army Medical Research and Material Command, Fort Detrick, MD, TATRC Report 04-03, January 2005. 

 

PATENTS

 

1.     US Patent 4,485,453, Taylor R.H., "Device and method for determining the location and orientation of a drill hole," Filed March 29, 1982, Issued Nov 27, 1985.

2.     US Patent 4,544,889, Taylor R.H., F. Hendricks, "Robot Precision Probe Positioner with Guidance Optics," Filed September 12, 1983, Issued October 1, 1985.

3.     US Patent 5,086,401, Glassman, E., W. Hanson, P. Kazanzides, B. Mittelstadt, B. Musits, H. Paul, R. Taylor "Image-Directed Robotic System for Robotic Surgery Including Redundant Consistency Checking", Filed May 1990, Issued Feb 4, 1992.  US, Japan [1]

4.     US Patent 5,279,309, Taylor, R.H., Y.Y. Kim, "Signaling Device and Method for Monitoring Positions in a Surgical Operation," Filed July, 1992, Issued January 18, 1994.

5.     US Patent 5,299,288, Glassman, E., W. Hanson, P. Kanzanides, B. Mittelstadt, B. Musits, H. Paul, R.H. Taylor, "Image-directed robotic system for precise robotic surgery including redundant consistency checking," Filed September 18, 1991, Issued March 29, 1994.

6.     U. S. Patent 5,343,385, Joskowicz, L., R. Taylor, "Interference-Free Insertion of a Solid Body into A Cavity", Filed August 17, 1993, Issued August 30, 1994.

7.     US Patent 5,397,323, Taylor R., J. Funda, D. Grossman, J. Karidis, D. LaRose, "Remote center-of-motion robot for surgery," Filed October 30, 1992, Issued March 14, 1995.

8.     US Patent 5,402,801, Taylor, R., "System and method for augmentation of surgery," Filed April 28, 1994, Issued April 4, 1995.

9.     US Patent 5,408,409, Glassman E., W. Hanson, P. Kazanzides, B. Musits, H. Paul, R. Taylor, "Image-directed robotic system for precise robotic surgery including redundant consistency checking," Filed December 20, 1993, Issued April 18, 1995 (US only).

10.  US Patent 5,417,210, Funda, J., D. LaRose, R. Taylor, "System and Method for Augmentation of Endoscopic Surgery," Filed May 27, 1992, Issued May 23 1995; US.

11.  US Patent 5,445,166, Taylor, R., "System for advising a surgeon," Filed April 6, 1994, Issued August 29, 1995; (US only).

12.  US Patent 5,572,999, Funda, J., D. LaRose, R. Taylor, "Robotic System for Positioning a Surgical Instrument Relative to a Patient's Body," Filed January 26, 1995, Issued Nov 12, 1996

13.  US Patent 5,630,431, R. Taylor, "System and Method for Augmentation of Surgery," Filed October 11, 1994, Issued May 20, 1997.

14.  US Patent 5,695,500, Kim, Y., R. Taylor, "System for manipulating movement of surgical instrument with computer controlled brake," Filed April 6, 1994, Issued December 9, 1997.

15.  US Patent 5,749,362 to Funda, J., D. LaRose, R.H. Taylor, "Method of creating an image of an anatomical feature where the feature is within a patient's body," Filed 1/26/95, Issued 5/12/98.

16.  US Patent 5,887,121, Funda, J., R. Taylor, "Method of Constrained Cartesian Control of Robotic Mechanism" Filed July 17, 1997, Issued March 23, 1999.

17.  US Patent 5,950,629 to Taylor et al., "System and Method of Augmentation of Surgery," Filed April 28, 1994, Issued Sept 14, 1999 (US Only).

18.  US Patent 5,976,156, Taylor, R.H., Y.Y. Kim, "Stereotaxic Apparatus and Method for Moving an End Effector", Filed November 2, 1993, Issued April 27, 1999 (US Only).

19.  US Patent 5,951,475, Gueziec, A., P. Kazanzides; R. Taylor, "Methods and apparatus for registering CT-scan data to multiple fluoroscopic images," Filed September 25, 1997, Issued Sept 14, 1999.

20.  US Patent 6,024,695, Taylor, R., Y. Kim, "System and Method for Augmentation of Surgery", Filed May 6, 1999, Issued February 15, 2000.

21.  US Patent 6,201,984, Funda, J., D. LaRose, R. Taylor; "System and Method for Augmentation of Endoscopic Surgery," Filed Jan 26, 1995, Issued March 13, 2001.

22.  US Patent 6,226,566, Funda, J., R. Taylor, "Method of Constrained Cartesian Control of Robotic Mechanisms with Active and Passive Joints." Filed Feb 18, 1999, Issued May 1, 2001.

23.  US Patent 6,231,526, Taylor, R. and Y. Kim, "System and Method for Augmentation of Surgery," Filed December 8, 1999, Issued May 15, 2001.

24.  US Patent 6,393,340, Funda, J., R.H. Taylor, "Robotic Mechanisms with Active and Passive Joints," Filed December 28, 2000, Issued May 21, 2002.

25.  US Patent 6,400,979 B1, Stoianovici, D., L. Kavoussi, L. Whitcomb, R. Taylor, J. Cadeddu, R. Demaree, S. Basile, "Friction transmission with axial loading and a radiolucent surgical needle driver", Filed February 20, 1998, Issued June 4, 2002.

26.  US Patent 6,547,782, Taylor, R.H., "System and Method for Augmentation of Surgery," Filed August 11, 2000, Issued April 15, 2003.

27.  US Patent 7,021,173, Stoianovici, D., L. Whitcomb, D. Mazilu, R.H. Taylor, L. Kavoussi, "Remote Center of Motion Robotic System and Method." Filed February 6, 2003, Issued April 4, 2006. US.

28.  US Patent 7,225,012, Susil, R, R. Taylor, "Methods and Systems for Image-Guided Surgical Interventions." Filed September 18, 2000, Issued May 29, 2007.

 

Several other utility patents are currently in prosecution.

 

PRESENTATIONS (partial list, starting in 2001, and not complete for subsequent years)

Conferences and Workshops (excluding paper presentations)

  1. "Dependable Medical/Surgical Robots", invited talk to the 1st IARP/IEEE-RAS Joint Workshop on Technical Challenge for Dependable Robots in Human Environment, Seoul Korea, May 22, 2001
  2. "Computer-Integrated Surgery: Coupling Information to Action in 21st Century Medicine", plenary address to the IEEE International Conference on Robotics and Automation, Seoul Korea, May 23, 2001.  Text accompanying the speech is at http://www.icra2001.org/plenary_speech_1.pdf.
  3. "Computer-Integrated Surgery: Coupling Information to Action in 21st Century Medicine", invited address to the Annual Meeting of the Society of Urological Engineers, Anaheim, Ca. June 2, 2001
  4. Medical Robotics and Computer Integrated Surgery", invited faculty lecture to the Advanced Science Institute 2001: "New Frontiers of Intelligent Robotics" course, Tokyo, Japan, July 23-30,2001.
  5. "The role of Medical Robotics in Computer-Integrated Surgery", invited talk to the German Workshop on Computer/Robot-assisted Surgery, July 19, 2001.
  6. "Medical Robotics and Computer-Integrated Therapy Delivery: Coupling Information to Action in 21’st Century Surgery", invited talk to the Ontario Consortium on Image-Guided Therapy and Surgery Annual Symposium, October 18, 2001.
  7. "What does the future hold for medical robotics?", invited talk, Robot Industries Association Annual Meeting, Orlando, November 8, 2001.
  8. "Medical Robotics and Computer-Integrated Therapy Delivery: Coupling Information to Action in 21’st Century Surgery", invited talk to the Special Symposium of the Japan Society for Promotion of Science, December 6, 2001.
  9. "Computer-Integrated Surgery: Where we are now and wither are we tending", invited talk, CIMIT Symposium, Boston, MA, February 12, 2002.
  10. "Steady Hand Microsurgery/Deformable 2D-3D Registration", invited talks given back to back to the Ontario Consorium for Image-Guided Therapy and Surgery, Ontario, Canada, December 13, 2002.
  11. "Steady Hand Microsurgery", invited plenary talk to the NSF Annual Meeting of Engineering Research Centers, November 3, 2002.
  12. "Computer-Integrated Surgery: Coupling Information to Action in 21st Century Operating Rooms", invited talk at the European Summer Institute on Medical Robotics, Montpelier, France, September, 2003.
  13. "Medical Robotics and Computer Integrated Surgery", invited talk to the CSTAR/OCITS Joint Workshop, Ontario, Canada, October 18, 2004.
  14. "Advances in Robotics, CT, and Ultrasound Guided Surgery", invited talk to the Orthopaedic Research Society Meeting, Banff, Alberta, Canada, October 12, 2004.
  15. "Future Research and Development: Robotic Surgical Systems Integration", invited talk, Integrated Research Team on Surgical Robotics, Marina del Rey, CA, September 9, 2004. DoD/ TATRC.
  16. "Biomedical Robotics and Biomechatronics: Scientific and Technical Foundations of a New Interdisciplinary Field for Research, Medical Application, and Industry", invited talk, IEEE International Conference on Robotics and Automation workshop, New Orleans, April 27, 2004.
  17. "Robotics State-of-the-Art and Future Scenarios", invited talk, OR of the Future, Turf Valley, MD, March 18, 2004.
  18. "Computer-Integrated Surgery: Coupling Information to Action in the 21st Century", invited talk, International Symposium on Mechanical Systems Innovation, Tokyo, Japan, March 7, 2004.
  19. "Medical Robotics and Computer Integrated Surgery", invited talk, University of Maryland Medical Center, Department of Surgery Grand Rounds, Baltimore, MD, January 5, 2005.
  20. "Computer-Integrated Surgical Systems", invited talk, NSF workshop From Macro to Micro: Challenges and Opportunities in Integrative Complex Systems Engineering, Washington, D.C., March 7, 2005.
  21. "Computer-Integrated Surgery", invited talk, ICRA, Barcelona, Spain, April 19, 2005.
  22. "Computer-Integrated Surgery: Coupling Information to Action in the 21st Century", invited talk, Operating Rooms of the Future, Washington, D.C., April 22, 2005.
  23. "Computer-Integrated Surgery: Coupling Information to Action in the 21st Century", invited plenary talk, 44th Annual Conference of Japanese Society for Medical and Biological Society, Tsukuba City, Japan, April 26, 2005.
  24. "Computer-Integrated Surgery: Coupling Information to Action in the 21st Century", invited plenary talk, First Asian Symposium on Computer Aided Surgery, Tsukuba City, April 28, 2005.
  25. "Computer-Integrated Surgery: Coupling Information to Action in the 21st Century", speaker/organizer, I4M workshop, School of Medicine, Baltimore, MD, February 27, 2006.
  26. "Medical Robotics and Computer-Integrated Surgery", keynote speaker, 3rd COE workshop, Tokyo, Japan, March 3-4, 2006.
  27. seminar speaker, Radiation Oncology, Baltimore, MD, April 10, 2006.
  28. "Medical Robotics and Computer-Integrated Surgery", invited speaker, World Congress 2006, Seoul, South Korea, August 27 – September 1, 2006.
  29. "Medical Robotics and Computer-Integrated Surgery", seminar speaker, NIH, June 9, 2006.
  30. "Medical Robotics and Computer-Integrated Surgery", keynote speaker, Human Centered Robotic Systems, Munich, Germany, October 6, 2006.
  31. "Image Guidance for Surgical Robotics", invited speaker, American College of Surgeos 92nd Annual Clinical Congress, Chicago, IL, October 9, 2006.
  32. "Medical Robotics and Computer-Integrated Surgery", panel speaker,  National Center for Image Guided Therapy, Rockville, MD, October 19, 2006.
  33. "Medical Robotics and Computer-Integrated Surgery", invited speaker, Fraunhofer Workshop, Munich Germany, November 14, 2006.
  35. "Medical Robotics and Computer-Integrated Surgery", invited speaker, TK60 Symposium, Pittsburg, PA, March 9, 2007.
  36. "Medical Robotics and Computer-Integrated Surgery", keynote speaker, Design of Medical Devices Conference, Minneapolis, MN, April 17, 2007.
  37. "Robotics: The Future is Now", invited speaker, Boston Chapter of the Johns Hopkins University Alumni Association, Boston, MA, October 7, 2007.
  38. "Medical Robotics and Computer-Integrated Surgery", BioRob 2008. Scottsdale, AZ. October 18, 2008. Invited Speaker
  39. "Medical Robotics and Computer-Integrated Surgery", Compsac 2008. Turku, Finland. July 28, 2008. Keynote Speaker
  40. "Perspectives on Medical Robotics and Computer-Integrated Interventional", Medicine Medizin Innovativ 2008. NurnbergMesse, Germany. July 10, 2008. Invited Speaker
  41. "Ergonomics/Human Factors", 5th Annual Innovations in the Surgical Environment. Baltimore, MD. June 27, 2008. Panel Moderator
  42. "Future of Robotics", AAOS AICASKH. Providence, RI. May 15, 2008. Invited Speaker
  43. "Surgical Assistance: Systems to Improve Efficiency and Outcomes", Keck Institute Conference on New Frontiers in Medicine. Claremont, CA. April 23, 2008. Invited Speaker and Panelist 
  44. "Medical Robotics and Computer-Integrated Interventions: where we are, wither we are tending, and how to get there", Presidential Plenary Speaker, 4th International Congress of the Minimally-Invasiv Robotic Association, Quebec City, Quebec, Canada, January 29, 2009.
  45. "Future trends and Opportunities in Medical Robotics Research", Invited Panelist, 4th International Congress of the Minimally-Invasiv Robotic Association, Quebec City, Quebec, Canada, January 31, 2009.

 

Invited University Colloquia, Grand Rounds Presentations, and Seminars

  1. "Medical Robotics and Computer Integrated Surgery", Carnegie Mellon University, April 2001.
  2. "Medical Robotics: The Key for Computer-Integrated Therapy Delivery", Boston University, April 2002.
  3. "Computer-Integrated Surgery: Where We Are Now and Wither We Are Tending", Drexel University, February, 2002.
  4. "Steady Hand Microsurgery/Deformable 2D-3D Registration", MERITS Seminar, Carnegie Mellon University, November 25, 2002.
  5. "Computer-Integrated Surgery: Coupling Information to Action in 21st Century Operating Rooms", Yale University, March, 2004..
  6. "Medical Robotics and Computer-Integrated Surgery", Columbia University, December, 2004.
  7. "Medical Robotics and Computer-Integrated Surgery", University of Maryland Medical Center Grand Rounds, January 5, 2005.
  8. "Medical Robotics and Computer-Integrated Surgery", University of Calgary, Calgary, Canada, October 30, 2006.
  9. "Medical Robotics and Computer-Integrated Surgery", George Washington University, Washington D.C., March 24, 2006.
  10. "Computer-Integrated Surgery",Emerging Technology and Best Industry Practices Seminar, Boston University, March 31, 2006.
  11. "Medical Robotics and Computer-Integrated Surgery",  McMaster School of Biomedical Engineering, McMaster University,
  12. "Medical Robotics and Computer-Integrated Surgery",Surgical Grand Rounds Hospital for Sick Children, Toronto, Canada, February 9, 2007.
  13. "Medical Robotics and Computer-Integrated Surgery", NIH STEPS Symposium, May 10, 2007.

  14. "Medical Robotics and Computer-Integrated Surgery",USC/Intuitive, California, June 19, 2007.
  15. "Medical Robotics and Computer-Integrated Surgery",Fraunhofer Institute, Munich, Germany, July 16, 2007.
  16. "Medical Robotics and Computer-Integrated Surgery", 3rd Summer School in Surgical Robotics, Montpellier, France, September 11, 2007.
  17. "Medical Robotics and Computer-Integrated Surgery", UCLA. January 15, 2008.
  18. "Medical Robotics and Computer-Integrated Surgery". Queen's University. March 13, 2008.

  19. "Medical Robotics and Computer-Integrated Surgery". UNC/Duke/NCSU. April 07, 2008.
  20. "Medical Robotics and Computer-Integrated Surgery". Michigan State University. Jan 22, 2009.

 

Other

  1. "Computer-Integrated Surgery", talk to upper management, G.E. Medical Systems, Milwaukee, April 5, 2001.
  2. "Medical Robotics and Computer-Integrated Therapy Delivery: Coupling Information to Action in 21st Century Surgery", invited talk to the University Health Consortium, Atlanta, Sept. 11, 2001.
  3. "Medical Robotics and Computer-Integrated Therapy Delivery: Coupling Information to Action in 21st Century Surgery", invited talk to the Houston Surgical Society, Houston, September 24, 2001.
  4. "Computer-Integrated Surgery", talk at IBM T. J. Watson Research Center, October 29, 2001.
  5. "Computer-Integrated Surgery: Coupling Information to Action in the 21st Century", invited talk, Philips Research, Briarcliff, NY, May 16, 2005.
  6. "Computer-Integrated Surgery", CMU Surgery for Engineers, Pittsburgh, PA, May 3, 2006.
  7. "Medical Robotics and Computer-Integrated Surgery", Society of Engineering Alumni, Johns Hopkins University, Los Angeles, CA, November 5, 2006.
  8. "Robotics: The Future is Now", NY Chapter of the Johns Hopkins Alumni. February 10, 2008.

RESEARCH FUNDING (partial list)

 

Current

 

Title:                     Engineering Research Center for Computer-Integrated Surgical Systems and Technology. 

Dates:                    9/1/97-12/31/2009

Grantor:                 National Science Foundation

Award Number:      EEC9731478

Amount:                $30,189,932

Summary:               The CISST ERC is a multi-institutional, multidisciplinary center whose focus is of basic science, computer-based technology, and engineered systems working cooperatively with surgeons to significantly change the way surgical procedures are carried out in the 21st century.  Significant research focuses include modeling and analysis for treatment planning and control, robotics and human interfaces and systems for minimally-invasive, image-guided percutaneous therapy and microsurgery.

Role:                      Principal Investigator and ERC Director.  In addition to my duties as ERC Director, I also participate in a variety of ERC research in medical robotics, image registration, modeling, and systems.

 

Title:                     Surgical Assistant Workstation for Telesurgical Robotics Research

Dates:                    9/1/97-12/31/2009

Grantor:                 National Science Foundation

Award Number:      Supplement to EEC9731478

Amount:                $529,277direct spending; $691,454 total

Summary:               This is a collaborative project between the NSF Engineering Research Center for Computer-Integrated Surgical Systems and Technology (CISST ERC) and Intuitive Surgical, Inc. (ISI) to develop an open-source software environment for medical robotics and computer-integrated surgery research.

Role:                      Principal Investigator

  

Title:                    Microsurgical Assistant Workstation

Dates:                    7/1/08-6/30/13

Grantor:                 National Institutes of Health

Award number:       BRP 1 R01 EB 007969-01 A1

Award amount:       $5,885,313

Summary:               This Bioengineering Research Partnership (BRP) focuses the efforts of highly qualified engineers and  scientists from JHU (lead institution), Columbia and CMU, as well as surgeons from the JHU School of Medicine, to overcome human limitations in surgical practice. This project proposes to develop novel core technology and microsurgical tools with unique capability, as well as integrate computer assist systems. The effort will generate a computer assisted human user with enhanced microsurgical ability.

Role:                      Principal Investigator

  

Title:                     Dexterous, Compact Telesurgical Robot for Throat & Airways

Dates:                    03/01/05-02/28/09

Grantor:                 National Institutes of Health

Award number:       NIH 1 R21 EB0045457-01

Award amount:       $274,999 direct; $440,500 total

Summary:               The goal of this proposal is development and initial evaluation on phantoms of a very compact, high-dexterity telesurgical robot system suitable for minimally invasive surgery of the throat & airways.

Role:                      Principal investigator

 

Title:                     Ultrasound Guidance for a Laparoscopic Surgical Robot

Dates:                    8/15/06-8/14/09

Grantor:                 National Institutes of Health

Award number:       Phase II STTR 2 R42 RR019159

Award amount:       $330,075 direct spending; $386,433 total

Summary:               The goal of this Phase II STTR with Intuitive Surgical is development of a "third hand" laparoscopic ultrasound capability for the daVinci surgical robot

Role:                      Principal investigator

 

Title:                     3D Volumetric and Biomechanical Models of the Proximal Femur from DXA Projection Images

Dates:                    10/1/05-10/1/10

Grantor:                 Hologic, Inc

Award amount:       $388,924

Summary:               This project combines development of a statistical atlas of the proximal femur with deformable 2D-3D registration to create patient-specific "virtual CT" volumetric models based on a small number of Dual-Energg X-ray (DXA) images. One potential application of this work would be biomechanical modeling to assess fracture risk of patients undergoing DXA screening.

Role:                      Principal investigator

 

Title:                     E-science Meets Radiation Oncology: Information-based closed loop interventional medicine

Dates:                    4/1/07-5/31/2009

Grantor:                 Maritz Fund

Award amount:       $232,540

Summary:               This project explores the statistical relationship between anatomic shape and treatment planning in radiation oncology

Role:                      Principal investigator

 

Title:                     Richard A. Swirnow Computer-Integrated Surgical and Inerventional Systems Mock Operating Room

Dates:                    2008-2012

Grantor:                 Swirnow Family Foundation

Award amount:       $400,000 ($80,000/year)

Summary:              This is a charitable donation from the Swirnow Foundation to Johns Hopkins University for a computer-integrated "mock operating room" for systems-integration research and education in the Computational Sciences and Engineering Building on Johns Hopkins’ Homewood Campus.

Role:                     Principal Investigator 

 

Title:                     Active Multi-Spectral Illumination for Video Microscopy and Endoscopy

Dates:                    9/1/2008-12/31/2009

Grantor:                 Equinox Corp.

Award amount:       $149,998

Summary:               This is a small project to explore active illumination schemes for endoscopy and microscopy

Role:                      Principal investigator

Title:                     Winter School on Medical Robotics and Computer-Integrated Interventional Systems (MRCIIS)

Dates:                    2008-2009

Grantor:                 IEEE Robotics and Automation Society

Award amount:       $25,000

Summary:              This was a small grant from IEEE RAS to help support the Winter School in January 2009. This was an intensive 1 week short course for post-graduate and post-doctoral students on medical obotics and computer-integrated interventional medicine. The course includes tutorial lectures and research talks by internationally recognized faculty, lab tours & demonstrations in our new facilities in the Computational Sciences and Engineering Building on the Johns Hopkins Homewood Campus, and a compressed version of Johns Hopkins' unique Surgery for Engineers course.

Role:                      Principal investigator

 

Title:                     North-American School on Medical Robotics and Computer-Integrated Interventional Systems (NAS MR/CIIS)

Dates:                    2008-2010

Grantor:                 NSF

Award amount:       $50,000

Summary:              This is a small grant from NSF to help support the Winter School in January 2009 and similar activities in the following year. The School was an intensive 1 week short course for post-graduate and post-doctoral students on medical obotics and computer-integrated interventional medicine. The course includes tutorial lectures and research talks by internationally recognized faculty, lab tours & demonstrations in our new facilities in the Computational Sciences and Engineering Building on the Johns Hopkins Homewood Campus, and a compressed version of Johns Hopkins' unique Surgery for Engineers course. For the following year the money will be used to subsidize student expenses for a similar school elsewhere.

Role:                      Co-principal investigator (with Ralph Etienne-Cummings)

 

Title:                   Computer-assisted Hip Osteotomy Surgery with Real-Time Biomechanical Guidance

Dates:                    10/01/07-9/30/10

Grantor:                National Institutes of Health

Award number:      1 R01 EB006839-01A1

Award amount:      $212,220

Summary:             Our goal is to develop and evaluate a real-time, intra-operative biomechanical guidance system that may improve the outcome of image-guided Periacetabiular osteotomy surgery

Role:                      Co-investigator (PI is M. Armand)

 

Title:                   MRI: Development of Infrastructure for Integrated Sensing, Modeling, and Manipulation with Robotic and Human-Machine Systems

Dates:                    9/1/07-8/31/10

Grantor:                National Science Foundation

Award number:      CNS Major Research Instrumentation

Award amount:      $1,994,353

Summary:             The focus of the grant is construction of two complementary robotics platforms for robotics research.  My role is essentially consulting.

Role:                     Co-investigator (PI is A. Okamura)

 

Title:                   Image-Guided Osteoporotic Bone Augmentation

Dates:                    08/01/07-07/31/10

Grantor:                National Institutes of Health

Award number:      R21 EB7747

Award amount:      $448,003

Summary:             The long-range goal of this project is to develop an image-guided workstation with biomechanical planning and intraoperative updates for surgical interventions applied to osteoporotic bone augmentation, when the risk of bone fracture becomes imminent. Specifically in this proposal, we demonstrate the feasibility of bone augmentation by developing a surgical system for femur augmentation

Role:                      Co-investigator (PI is M. Armand)

Title:                   Initiative for Innovations in Interventional Medicine

Dates:                    08/01/07-07/31/10

Grantor:                Johns Hopkins University / Fraunhofer Gesellschaft

Award amount:      891,000 for JHU portion

Summary:             This is a jointly funded collaborative project between Johns Hopkins University and Fraunhofer Institute to develop technology for computer-assisted endoscopic surgery. The funds for the JHU investigators come from JHU internal funds.

Role:                      Co-investigator (PI is E. McVeigh)

 

Completed

Title:                   Direct Video-CT Registration for High-Precision Surgical Navigation

Dates:                    04/01/06 – 03/31/09

Grantor:                National Institutes of Health

Award number:      1R21EB005201 - 01A1

Award amount:      $125,000

Summary:             The goal of this project is to demonstrate that direct registration of endoscopic video to pre-operative CT is a viable route to increasing the precision and usefulness of current surgical navigation systems. These results will set the stage for developing new approaches to high precision intra-operative navigation and visualization in anterior skull surgery

Role:                      Co-investigator (PI is G. Hager)

 

Title:                     Modeling Synthesis and Analysis of Human Machine Collaborative Systems

Dates:                    10/1/2002-9/30/2008

Grantor:                 National Science Foundation

Award number:       IIS0205318 (medium ITR)

Award amount:       $1,100,000

Summary:               Creating complete systems for different types of puncture tasks, examining and exploiting the commonalities of those tasks for single handed augmentation.

Role:                      Co-Investigator (PI is G. Hager)

 

Title:                      Prior Knowledge in 3D Reconstruction from 2D X-Rays

Dates:                    08/01/04-07/31/08

Grantor:                 NIH

Award number:       NIH1-R21 EB003616-01

Award amount:       $375,000 direct; $589,952 total

Summary:               This project will develop and validate novel algorithms for 3D CT-like reconstruction of bone images from mobile c-arm images. The novelty of the proposed methods will be their exploitation of prior knowledge in the form of prior CT scans when available and a statistical atlas when CT is not available. We use orthopaedic surgery as a focusing application.

Role:                     Co-Investigator

 

Title:                   Computer-assisted Hip Osteotomy Surgery with Real-Time Biomechanical Guidance

Dates:                    10/01/03-08/31/05

Grantor:                National Institutes of Health

Award number:      1R21EB002881-01

Award amount:      $75,672 (for JHU Homewood part)

Summary:             The goal of this project is integration of preoperative and on-line biomechanical analysis for periacetabular osteotomies with a CT based surgical navigation system, together with a patient study of the resulting system.

Role:                     Co-investigator

 

Title:                     Ultrasound Assistant for a Laparoscopic Surgical Robot

Dates:                    11/11/04-07/31/05

Grantor:                 NIH

Award number:       R41 RR019159

Award Amount:      $59,999

Summary:               The goal of the Phase I STTR project (with Intuitive Surgical Systems) is development of a "third hand" laparoscopic ultrasound capability for the daVinci surgical robot.

Role:                      Principal investigator

 

Title:                    Robot-assisted Needle Placement in Ultrasound-guided Liver Ablation

Dates:                    09/30/03-09/30/04

Grantor:                National Institutes of Health

Award number:      1R41CA103468

Summary:             This is a Phase I STTR with Burdette Medical Systems and JHU Medical  School to           develop an ultrasound-guided robotic system for percutaneous RF ablation of liver  tumors.

 

Title:                     Research on Applications of Localizer Technology.

Dates:                    6/2002-6/2004

Grantor:                 Northern Digital, Inc.

Amount:                Approx $150,000 total

Summary:               Industrially sponsored research aimed at characterization and novel applications of 3D navigational systems.

Role:                      Principal Investigator

 

Title:                     Scale-Invariant Skill Augmentation for Cooperative Human-Machine Micromanipulation Systems  

Dates:                    7/1/2001-6/30/2004

Grantor:                 National Science Foundation

Award number:       IIS0099770

Award Amount:      $380,000

Summary:               Human-machine cooperation for skilled manipulation tasks.  The research is on basic technology and techniques, using microsurgical tasks as a focus.

Role:                      Co-Investigator

 

Title:                     Cooperative Steady Hand Augmentation of Human Skill in Micromanipulation Tasks

Dates:                    8/30/1998-8/31/2003

Grantor:                 National Science Foundation 

Award number:       IIS 9801684

Award amount:       $242,737

Summary:               Robotic systems and novel cooperative control methods for extending human abilities to perform extremely precise manipulation tasks, using applications in microsurgery and otology as focus.  Results included demonstration of a novel "steady hand" robot system and its application in retinal vein cannulation, stapedotomy, and access to the cochlea of the inner ear.  Note: This project is the predecessor to IIS099770, and is on continuation of funding to permit wrapping up of results.

Role:                      Principal Investigator

 

Title:                      Augmented Micro-Manipulation System

Dates:                    7/1/2002-12/31/2002

Grantor:                 Foster Miller

Award number:       SUB100078 (on NSF SBIR to Foster-Miller, Inc.)

Award amount:       $30,000

Summary:               The goal of this Phase I SBIR is feasibility demonstration and preliminary evaluation of the use of steady-hand robots for cell surgery

Role:                      Principal Investigator for JHU component

 

Title:                     X-ray registration for spine surgery

Dates:                    Approx. April 2001-September 2001

Grantor:                 Orthosoft

Award number:       N/A

Award amount:       Approx $21,000

Summary:               This was a short-lived cooperative project with Orthosoft, Inc. to investigate new methods for x-ray registration in spine surgery.

Role:                      Principal Investigator for JHU component

Title:                     CISE Research Infrastructure:  A Networked Computing Environment for The Manipulation and Visualization of Geometric Data

Dates:                    8/14/1997-7/31/2003

Grantor:                 National Science Foundation

Award Number:      EIA-9703080

Award Amount:      $1,226,381

Summary:               This was a shared research infrastructure grant that provided computing equipment for a variety of research projects involving several Johns Hopkins Computer Science faculty members

Role:                      Co-investigator

 

Title:                     Image Guided Percutaneous Robotic Assisted Therapy

Dates:                    7/1/1995-6/30/1998

Grantor:                 National Science Foundation

Award number:       BES9520501

Award amount:       $762,425

Summary:               Systems and technology research on robotically-assisted delivery of percutaneous therapy under CT and x-ray guidance, using liver brachytherapy as main focusing application.  This project led to development of much of the infrastructure that was later incorporated into percutaneous therapy research within the ERC

Role:                      Co-Investigator

 

Title:                     Instrumentation for Computer Science & Engineering Research in Image Segmentation, Registration, Modeling and Interactive Model-Based Task Optimization 

Dates:                    2/15/1996-1/31/1999

Grantor:                 National Science Foundation

Award number:       CDA-9529509

Award amount:       $113,207

Summary:               Shared instrumentation grant involving 2 Johns Hopkins CS faculty members used to buy computers and other equipment for research on image processing anc computer-assisted surgery

Role:                      Principal Investigator

 

Title:                     Robotic Revision Hip Replacement Surgery    

Grantor:                 Integrated Surgical Systems/National Institute of Science and Technology

Dates:                    10/95-4/98   

Award number:       NIST ATP Cooperative Agreement No. 94-01-0228.

Award amount:       $230,239

Summary:               Development of x-ray registration and guidance methods for robotically-assisted revision hip replacement.  This was the Johns Hopkins component of a $4M NIST ATP involving IBM, Integrated Surgical Systems and (after I moved to JHU), Johns Hopkins

Role:                      Principal Investigator for JHU component; earlier was principal investigator for IBM

 

Title:                     Workshop on Surgical Robotics  

Dates:                    1993

Grantor:                 National Science Foundation

Award Number:      9222082

Award amount:       $30,000

Summary:               This was the first NSF-sponsored planning workshop on medical robotics and computer-assisted surgery

Role:                      Principal investigator and workshop co-chairman (with George Bekey)

 

 

WORK HISTORY (with summaries)

 

1995-now        Johns Hopkins Univ.          Professor of Computer Science, with joint appointments in Radiology, Surgery and Mechanical Engineering

 

Director of NSF Engineering Research Center on Computer-Integrated Surgical Systems and Technology. Current research interests include: computer-integrated planning and robotic delivery of optimized patterns of localized therapy; steady-hand augmentation of microsurgery and endoscopic surgery; image-guided orthopaedic surgery; medical imaging, modeling, and registration; and human-machine systems.

 

1990-1995       IBM Research            Manager of Computer Assisted Surgery Group

 

Technical direction and leadership for research group (5 PhD's, 1 Engineer, 1 coop student) in medical robotics and computer assisted surgery. Specific activities included orthopaedics, craniofacial surgery, image guided telerobotic systems for minimally invasive surgery, and image-based modeling and analysis.  Set strategy and research agenda, contributed key technical ideas, participated/led in implementations and negotiated relations with outside organizations.  Led successful effort to secure $2M NIST ATP support for a joint IBM/Integrated Surgical Systems project to develop system for revision hip replacement surgery, and subsequently was principal investigator for IBM’s part of the project. [2]

 

1989-1990       IBM Research            Research Staff Member/Project Leader

 

Developed "Robodoc" a robotic system for precise orthopaedic surgery, and transferred it to clinical collaborators at the University of California at Davis and, subsequently, to a startup company (Integrated Surgical Systems, Inc..) for commercial development.  This system is now marketed in Europe and is pending FDA approval in the US.  Also, established a broader research program on medical robotics and human-machine augmentation and initiated joint work on craniofacial surgery with NYU.

 

1987-1988       IBM Research                        Manager of Automation Technology

 

Department: Technical and administrative leadership for 22 researchers in robotics and vision;

liasons with key IBM manufacturing sites; continued technical research; and external professional activities with NSF, IEEE, etc. Department research themes included coarse-fine manipulation,

endpoint sensing and control, computational architectures and programming environments for robotics and vision, massively parallel computation, model-based planning, and advanced applications.

 

1982-1987       IBM Research                        Manager of Robot Systems and Technology

 

Established 3-person research group in 1982 and grew it to a 15-person, three group department covering a broad spectrum of robotics research topics (see above).  Activities included coarse-fine manipulation and endpoint sensing concepts, a multi-processor computational architecture for integrated sensing and control, and advanced applications for use inside IBM.  Collaborated on AML/X extension to AML.

 

1982                MIT AI Lab                 Visiting Scientist

 

Co-developed "LMT" paradigm for automatic synthesis of manipulator fine motion strategies from analysis of configuration space.  This paradigm has led to three generations of PhD theses on motion planning at several universities.

 

1980-1982       IBM Research                        Research Staff Member

 

Led effort that extended the RS/1 AML system to incorporate concurrent multiple arm control, vision, and a number of other features for research and advanced applications.  Collaborated in development of robot for IBM clean rooms, led implementation of distributed controller architecture, and continued to advise IBM robot product group.

 

1978-1979       IBM Boca Raton        Advisory Engineer

 

Product Architect for the IBM RS/1 and 7565 robot systems and product version of AML language. 

1976-1977       IBM Research                        Research Staff Member

 

Principal designer and implementor of AML robot language.  Other robotics research including bounded deviation straight line manipulator trajectories, application programming and sensor-based calibration techniques, and collaboration on a very sophisticated two-armed robot for testing IBM mainframes.

 

1970-1976       Stanford University  Research Assistant

 

Dissertation research on sensor-based fine motion synthesis; co-development of AL robot language and POINTY teaching system; extension of SAIL programming language.

 

 

1968-1970       Johns Hopkins Univ.            Research Assistant

 

Implementation of efficient codes for mathematical programming algorithms (mostly travelling salesman, multi-commondity network flow problems).

 

 


1.     IBM's usual practice is to list inventors alphabetically in most patent cases filed with the US Patent Office

 

[2] Later was PI for Johns Hopkins' part when the project was expanded to include Johns Hopkins after I left IBM to join JHU.