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@jhu.edu
Web Page http://ciis2.lcsr.jhu.edu/rht
(previous link)

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

AWARDS and HONORS

  1. Medical Image Computing and Computer Assisted Surgeru (MICCAI) Society Enduring Impact Award (2010)
  2. Medical Image Computing and Computer Assisted Surgery (MICCAI) Society Fellow (2009)
  3. Fellow of the Engineering School of the University of Tokyo (2009)
  4. IEEE Robotics and Automation Society Pioneer Award “for pioneering work in medical robotics and in the theory and practice of programmable automation systems” (2008)
  5. Maurice E. Mueller Award for Excellence in Computer Assisted Surgery (2000)
  6. IEEE Third Millenium Medal (2000)
  7. 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.
  8. AIBME Fellow (elected 1998)
  9. IBM Outstanding Technical Achievement Award (1993) and IBM Group Achievement Award (1991) for “Robodoc” system for Hip Replacement Surgery.
  10. IBM Outstanding Technical Achievement Award (1984) and two Outstanding Contribution Awards (1982,1987) for development and transfer into productive use of AML language.
  11. IBM Invention Awards (1983, 1991, 1992, 1994)

PROFESSIONAL ACTIVITIES

Editorial boards

Significant conference and workshop committees (very incomplete)

Other committees (incomplete list)

TEACHING

Courses Taught or Developed

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 (with Jeff Siewerdsen) 2008-2010 (JHU)
  10. Eric Meisner: Tool trackiing, visual servoing, and experiments in retinal microsurgery (with Greg Hager) 2009 (JHU)
  11. Patricio Simari: Radiation oncology “shapes” project (with Misha Kazhdan) 2009-2010 (JHU)
  12. Rogerio Richa: Microsurgery Assistant Workstation (with Greg Hager) 2010 (JHU)

Ph.D. Theses Advised

As principal advisor

As secondary advisor or reader (incomplete list)

M.S. Theses Advised

As principal advisor

PUBLICATIONS

Books

Book Chapters & Sections

<ol class="ol1"> <li>Lozano-Perez, T. and R. Taylor, "Geometric Issues in Planning Robot Tasks", in <i>Robotics Science</i>, M. Brady, Editor. 1989, MIT Press.</li> <li>Cutting, C.B., F.L. Bookstein, and R.H. Taylor, "Applications of Simulation, Morphometrics and Robotics in Craniofacial Surgery", in <i>Computer-Integrated Surgery</i>, R.H. Taylor, et al., Editors. 1996, MIT Press: Cambridge, Mass. p. 641-662.</li> <li>R. H. Taylor, "Safety". in <i>Computer-Integrated Surgery</i>, R. H. Taylor, S. Lavallee, G. Burdea, and R. Mosges, Eds. Cambridge, Mass.: MIT Press, 1996, pp. 283-286.</li> <li>Taylor, R. H. (1999). "Medical Robotics". <i>Handbook of Industrial Robotics</i>, Second Edition. S. Y. Nof. New York, Wiley: 1213-1230.</li> <li>Taylor, R. H., "Robotics in Orthopaedic Surgery", <i>Computer-Assisted Orthopaedic Surgery</i>, Nolte &amp; Ganz, eds. Seattle, Hogrefe &amp; Huber, pp 35-41.</li> <li>Taylor, R. H. and L. Joskowicz, "Computer-Integrated Surgery and Medical Robotics", in <i>Standard Handbook of Biomedical Engineering and Design</i>, M. Kutz, Editor. 2002, McGraw Hill.</li> <li>R. H. Taylor, "Robotic Systems for Orthopaedic Surgery," in <i>Computer and Robotic Assisted Knee and Hip Surgery</i>, A. DiGioia, B. Jaramaz, F. Picard, and L. P. Nolte, Eds., Oxford Press, 2004, pp. 67-78.</li> <li>R. H. Taylor, "Medical Robotics," in <i>Computer and Robotic Assisted Knee and Hip Surgery,</i> A. DiGioia, B. Jaramaz, F. Picard, and L. P. Nolte, Eds., Oxford Press, 2004, pp. 54-59.</li> <li>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 <i>Surgical Robotics – History, Present and Future Applications</i>, R. Faust, Ed.: Nova Science Publishing, 2007, pp. 223-242.</li> <li>Li, M., A. Kapoor, R.H. Taylor. "Telerobot Control by Virtual Fixtures for Surgical Applications." Chapter in: <i>Advances in Telerobotics Human Interfaces, Bilateral Control and Applications</i>. Manuel Ferre, Martin Buss, Rafael Aracil, Claudio Melchiorri and Carlos Balaguer (Eds.) Springer Verlag, 2007, pp 381-401.</li> <li>Taylor, R.H., P. Kazanzides."Medical Robotics and Computer-Integrated Interventional Medicine." In <i>Biomedical Information Technology. </i>Academic Press, 2007, pp. 393-416.</li> <li>R. Taylor, A. Menciassi, G. Fichtinger, and P. Dario, "Medical Robotics and Systems", <i>Handbook on Robotics: Springer</i>, 2008, pp. 1199-1222.</li> <li>R. H. Taylor and P. Kazanzides, "Medical Robotics and Computer-Integrated Interventional Medicine," in <i>Advances in Computers</i>. vol. 73, M. Zelkowitz, Ed.: Elsevier, 2008, pp. 217-258.</li> </ol>

Published Refereed Reviews

Refereed Journal Articles

<ol class="ol1"> <li>Grossman, D.D. and R.H. Taylor, "<a href="1975/Interactive%20Generation.pdf"><span class="s6">The Interactive Generation of Object Models with a Manipulator</span></a>." <i>IEEE Trans. on Systems, Man, and Cybernetics</i>, 1978, SMC-8 (9): p. 667-679.</li> <li>Taylor, R.H., "<a href="1979/Straight%20Line%20Manipulator%20Trajectories.pdf"><span class="s6">The Planning and Execution of Straight Line Manipulator Trajectories</span></a>." <i>IBM Journal of Research and Development</i>, 1979, 23(4): p. 424-436.</li> <li>Taylor, R.H., P.D. Summers, and J.M. Meyer, "<a href="1982/AML.pdf"><span class="s6">AML, A Manufacturing Language</span></a>." <i>Int. Journal. of Robotics Research</i>, 1982, 1(3): p. 19-41.</li> <li>Taylor, R.H. and D.D. Grossman, "<a href="1983/Integrated%20Robot%20System.pdf"><span class="s6">An Integrated Robot Systems Architecture</span></a>." <i>IEEE Proceedings</i>, 1983, 71(7): p. 842-857.</li> <li>Lozano-Perez, T., M.T. Mason, and R.H. Taylor, "<a href="1984:Automatic%20Synthesis.pdf"><span class="s6">Automatic Synthesis of Fine-Motion Strategies for Robots</span></a>" <i>Int. J. Robotics Res</i>, 1984, 3(1): p. 3-24.</li> <li>Nackman, L.R. and R.H. Taylor, "<a href="1984:Hierarchical%20Exception.pdf"><span class="s6">An Hierarchical Exception Handler Binding Mechanism."</span></a> <i>Software Practice and Experience</i>, 1984, 14(10): p. 999-1003.</li> <li>Taylor, R.H., R.L. Hollis, and M.A. Lavin, "<a href="1985/Precise%20Manipulation%20with%20Endpoint%20Sensing.pdf"><span class="s6">Precise Manipulation with Endpoint Sensing</span></a>." I<i>BM Journal of Research and Development</i>, 1985, 29(5): p. 363-377.</li> <li>Funda, J., R.H. Taylor, and R.P. Paul, "<a href="1990/On%20Homogeneous%20Transforms,%20Quaternions,%20and%20Computational%20Efficiency.pdf"><span class="s6">On Homogeneous Transforms, Quaternions, and Computational Efficiency</span></a>." <i>IEEE Transactions on Robotics and Automation</i>, 1990, 6(3 (June)): p. 382-387.</li> <li>Taylor, R.H., R.P. Paul, B.D. Mittelstadt, et al, "<a href="1990:Image-directed%20Robotic%20Hip.pdf"><span class="s6">An Image-Based Robotic System for Hip Replacement Surgery</span></a>," <i>J. Robotics Society of Japan</i>, 1990, 8(5): p. 111-116.</li> <li>H. Paul, W. Bargar, B. Mittelstadt, B. Musits, R. Taylor, P. Kazanzides, and e. al., "Development of a Surgical Robot for Cementless Total Hip Arthroplasty", <i>Clinical Orthopaedics and Related Research</i>, vol. 285-, pp. 57-66, Dec 1992</li> <li>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, "<a href="1992:Augmention%20Human%20Precision.pdf"><span class="s6">Augmentation of Human Precision in Computer-Integrated Surgery</span></a>." <i>Innovation et Technologie en Biologie et Medicine</i>, 1992, 13(4 (special issue on computer assisted surgery)): p. 450-468.</li> <li>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, "<a href="1994/An%20Image-Directed%20Robotic%20System%20for%20Precise%20Orthopaedic%20Surgery.pdf"><span class="s6">An Image-directed Robotic System for Precise Orthopaedic Surgery</span></a>." <i>IEEE Transactions on Robotics and Automation</i>, 1994, 10(3): p. 261-275.</li> <li>Taylor, R.H., J. Funda, B. Eldridge, K. Gruben, D. LaRose, S. Gomory, M. Talamini MD, L. Kavoussi MD, and J. Anderson, "<a href="1995/A%20Telerobotic%20Assistant%20for%20Laparoscopic%20Surgery.pdf"><span class="s6">A Telerobotic Assistant for Laparoscopic Surgery</span></a>." <i>IEEE EMBS Magazine</i>, 1995, 14(3): p. 279-291.</li> <li>J. Anderson, R. Taylor, S. Schreiner, M. Choti, E. Fishman, and G. Anderson, &quot;Image-Guided Percutaneous Robotic Assisted Therapy&quot;, <em>Annals of Biomedical Engineering</em>, vol. 24- Supp 1, pp. S-71, October 1996</li> <li>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." <i>Robotica</i>, 1996, 14(1): p. 103-109.</li> <li>Kalvin, A.D. and R.H. Taylor, "<a href="1996/Superfaces%20-%20Polygonal%20Mesh%20Simplification%20with%20Bounded%20Error.pdf"><span class="s6">Superfaces: Polygonal Mesh Simplification with Bounded Error</span></a>." <i>IEEE Computer Graphics and Applications</i>, 1996, 16(3): p. 64-77.</li> <li>Joskowicz, L. and R.H. Taylor, "<a href="1996:Interference%20Free%20Insertion.pdf"><span class="s6">Interference-Free Insertion of a Solid Body into a Cavity: An Algorithm and a Medical Application</span></a>." <i>Int Journal of Robotics Research,</i> 1996, 15(3): p. 211-229.</li> <li>Taylor, R.H., J. Funda, L. Joskowicz, A. Kalvin, S. Gomory, A. Gueziec, and L. Brown, "<a href="1996/Watson%20Research%20Center.pdf"><span class="s6">An Overview of Computer-Integrated Surgery Research at the IBM T. J. Watson Research Center</span></a>." <i>IBM Journal of Research and Development</i>, 1996, 40(2): p.163-183.</li> <li>Funda, J., R. Taylor, B. Eldridge, S. Gomory, and K. Gruben, "<a href="1996/Constrained%20Cartesian%20Motion%20Control%20for%20Teleoperated%20Surgical%20Robots.pdf"><span class="s6">Constrained Cartesian motion control for teleoperated surgical robots</span></a>." <i>IEEE Transactions on Robotics and Automation</i>, 1996, 12(3), p. 453-466.</li> <li>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." <i>Urology</i>, 1997, 158(4): p. 1589-1593.</li> <li>Gueziec, A., P. Kazanzides, B. Williamson, and R. Taylor, "<a href="1998/Anatomy-Based%20Registration%20of%20CT-Scan%20and%20Intraoperative%20X-Ray%20Images%20for%20Guiding%20a%20Surgical%20Robot.pdf"><span class="s6">Anatomy-Based Registration of CT-Scan and Intraoperative X-Ray Images for Guiding a Surgical Robot</span></a>."<i> IEEE Transactions on Medical Imaging</i>, 1998, 17(5): p. 715-728. PMID: 9874295.</li> <li>Taylor, R.H., L. Joskowicz, B. Williamson, et al., "<a href="1999/Computer-integrated%20revision%20total%20hip%20replacement%20surgery-concept%20and%20preliminary%20results.pdf"><span class="s6">Computer-Integrated Revision Total Hip Replacement Surgery: Concept and Preliminary Results</span></a>." <i>Medical Image Analysis</i>, 1999, 3(3): p. 301-319.</li> <li>Poulose, B., M. Kutka, M.M. Sagaon, et al., "<a href="1999/Human%20vs%20Robotic%20Organ.pdf"><span class="s6">Human Versus Robotic Organ Retraction During Laparoscopic Nissen Fundoplication</span></a>." <i>Surgical Endoscopy</i>, 1999, 13: p. 461-465.</li> <li>Sadegh, P., F. Mourtada, R. Taylor, and J. Anderson, "<a href="1999/Brachytherapy.pdf"><span class="s6">Brachytherapy Optimal Planning with application to Intravascular Radiation Therapy</span></a>." <i>Medical Image Analysis</i>, 1999, 3(3): p. 223-236.</li> <li>Taylor, R., P. Jensen, L. Whitcomb, et al., "<a href="1999:Steady-Hand%20Robotic%20System.pdf"><span class="s6">A Steady-Hand Robotic System for Microsurgical Augmentation</span></a>". <i>International Journal of Robotics Research,</i> 1999. 18(12): p. 1201-1210 (Invited Paper).</li> <li>Taylor, R.H., G. Fichtinger, P. Jensen, and C. Riviere, "<a href="2000:Medical%20Robotics%2021st%20Century.pdf"><span class="s6">Medical Robotics and Computer-Integrated Surgery: Information-driven Systems for 21st Century Operating Rooms</span></a>." <i>Japanese Journal of Computer-Assisted Surgery</i>, 2000, 2(2): p. 47-53 (Invited Paper).</li> <li>Yao, J., R.H. Taylor, R.P. Goldberg, et al., "<a href="2000:Progessive%20Cut%20Refinement.pdf"><span class="s6">A c-arm fluoroscopy-guided progressive cut refinement strategy using a surgical robot</span></a>." <i>J. Computer Aided Surgery</i>, 2000. 5(6): p. 373-390. PMID: 11295851,</li> <li>Liao, R., J. Williams, L. Myers, S. Li, R.H. Taylor, C. Davatzikos, "<a href="2000/Optimization.pdf"><span class="s6">Optimization of Multiple Isocenter Treatment Planning for Linac-Based Stereotactic Radiosurgery</span></a>." <i>Computer Aided Surgery</i>, 2000, 5(4): p. 220-233.</li> <li>Joskowicz, L. and R. Taylor, "<a href="2001:Computers%20in%20Imaging%20and%20Guided%20Surgery.pdf"><span class="s6">Computers in Imaging and Guided Surgery</span></a>." Computing in Science and Engineering, 2001. 3(5): p. 65-72.</li> <li>K. Masamune, G.F., A. Patriciu, R. Susil, R. Taylor, L. Kavoussi, J. Anderson, I. Sakuma, T. Dohi, D. Stoianovici, "<a href="2001:System%20for%20Robotically%20Assisted.pdf"><span class="s6">Guidance System for Robotically Assisted Percutaneous Procedures with Computed Tomography</span></a>". <i>Computer Aided Surgery</i>, 2001, 6(6): p. 370-383.</li> <li>G. Fichtinger, T. L DeWeese, A. Patriciu, A. Tanacs, D. Mazilu, J. H. Anderson, K. Masamune, R H. Taylor, and D. Stoianovici, "<a href="2002:System%20for%20Robotically%20Assisted.pdf"><span class="s6">System For Robotically Assisted Prostate Biopsy And Therapy With Intra-Operative CT Guidance</span></a>." <i>Journal of Academic Radiology</i>, 2002, 9(1): p. 60-74. PMID: 11918360.</li> <li>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", <i>Radiology</i>. 225 (2002): 277-282.</li> <li>D. L. Rothbaum, J. Roy, P. Berkelman, G. Hager, D. Stoianovici, R. H. Taylor, L. L. Whitcomb, M. Howard Francis, and J. K. Niparko, "<a href="2002/Stapedotomy.pdf"><span class="s6">Robot-assisted stapedotomy: micropick fenestration of the stapes footplate</span></a>," <i>Otolaryngology - Head and Neck Surgery</i>, 2002,127(5): p. 417-426.</li> <li>R. Taylor, D. Stoianovici. "<a href="2003:Medical%20Robotic.pdf"><span class="s6">Medical Robotic Systems in Computer-Integrated Surgery</span></a>". <i>Problems in General Surgery</i>, 2003, 20(2): p. 1-9. </li> <li>R. Taylor, D. Stoianovici, "<a href="2003/Medical%20Robotics%20in%20Computer-Integrated%20Surgery.pdf"><span class="s6">Medical Robotics in Computer-Integrated Surgery</span></a>." <i>IEEE Transactions on Robotics and Automation</i>, 2003, 19(5), p. 765-781.</li> <li>P. J. Berkelman, L. Whitcomb, R. Taylor, and P. Jensen, "<a href="2003/Miniature.pdf"><span class="s6">A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation</span></a>." <i>IEEE Trans. Robotics and Automation</i>, 2003, 19(5), p. 917-922.</li> <li>D. Rothbaum, J. Roy, G. Hager, R. Taylor, and L. Whitcomb, "<a href="2003:Task%20Performance.pdf"><span class="s6">Task Performance in stapedotomy: Comparison between surgeons of different experience levels</span></a>," <i>Otolaryngology - Head and Neck Surgery</i>, 2003, 128(1): p. 71-77.</li> <li>Yao, J. and R. H. Taylor, "<a href="2003/Mesh%20Template%20Matching.pdf"><span class="s6">Non-Rigid Registration and Correspondence in Medical Image Analysis Using Multiple-Layer Flexible Mesh Template Matching</span></a>." <i>International Journal of Pattern Recognition and Artificial Intelligence (IJPRAI)</i>, 2003, 17(7): p. 1145-1165.</li> <li>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," <i>APL Technical Digest</i>, vol. 25, pp. 242-252, 2004.</li> <li>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, "<a href="2005/Precision%20Placement.pdf"><span class="s6">Precision placement of instruments for minimally invasive procedures using a "needle driver" robot</span></a>." <i>International Journal of Medical Robotics and Computer Assisted Surgery,</i> 2005, 1(2): p. 1-9.</li> <li>G. Fichtinger, A. Degeut, M. K., G. S. Fischer, E. Balogh, H. Matthieu, R. H. Taylor, S. J. Zinreich, and L. M. Fayad, "<a href="2005/Image%20Overlay.pdf"><span class="s6">Image Overlay Guidance for Needle Insertions in CT Scanner</span></a>." <i>IEEE Transactions on Biomedical Engineering</i>, 2005, 52 (8): p. 1415-1424.</li> <li>Burschka, D., M. Li, R. Taylor, G.D. Hager, and M. Ishii, "<a href="2005/Scale-invariant.pdf"><span class="s6">Scale-invariant registration of monocular endoscopic images to CT-scans for Sinus</span></a>." <i>Medical Image Analysis,</i> 2005, 9(1): p. 413-426. <span class="s7">PMID: 16009593.</span></li> <li>G. S. Fischer, A. Degeut, D. Schlattman, R. H. Taylor , L. Fayad, S. J. Zinreich, and G. Fichtinger, "<a href="2005:MRI%20Image%20Overlay.pdf"><span class="s6">MRI Image Overlay: Applications to Arthrography needle insertion</span></a>." <i>Stud. Health. Technol. Inform</i>., 2005, 119: p. 150-155.</li> <li>Herman, B. C., E. Hanly, N. Schenkman, R. Taylor, M. Talamini, and M. Marohn, "Telerobotic Surgery Creates Opportunity for Augmented Reality Surgery."<i> Telemedicine Journal and e-Health</i>, 2005, 11(2): p. 203.</li> <li>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."<i> Journal of Computer Aided Surgery</i>, 2005, 10, p. 241-255.</li> <li>Sadowsky, O., J. Cohen, and R.H. Taylor, "<a href="2006/Projected%20Tetrahedra%20Revisited.pdf">Projected Tetrahedra Revisited: A Barycentric Formulation Applied to Digital Radiograph Reconstruction Using Higher-Order Attenuation Functions</span></a>." <i>IEEE Transactions On Visualization and Computer Graphics</i>, 2006: p. 231-236.</li> <li>Xu, S., K. Cleary, et al., "<a href="2006/Lung%20Deformation.pdf"><span class="s6">Lung Deformation Estimation and Four-Dimensional CT Lung Reconstruction</span></a>." Academic Radiology, 2006, 13(9): p. 1082-1092.</li> <li>Taylor, R.H., "<a href="2006/Perspective%20on%20Medical%20Robotics.pdf"><span class="s6">A Perspective on Medical Robotics</span></a>." <i>IEEE Proceedings</i>, 2006, 94: p. 1652-1664. (<b>invited paper)</b></li> <li>Li, M., M. Ishii, and R.H. Taylor, "<a href="2006/Spatial%20Motion%20Constraints.pdf"><span class="s6">Spatial Motion Constraints in Medical Robot Using Virtual Fixtures Generated by Anatomy</span></a>." <i>IEEE Transactions on Robotics</i> 2007, (23)1, pp4-19.</li> <li>Armiger, R., Armand, M., Lepisto, J., Minhas, D., Tallroth, K., Mears, S., Waites, M., Taylor, R.H., "<a href="2007/evaluation.pdf"><span class="s6">Evaluation of a Computerized Measurement Technique for Joint Alignment Before and During Periacetabular Osteotomy</span></a>." <i>Computer Aided Surgery</i>, 2007, 12(4): p. 215-224.</li> <li>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." <i>Neuroimage</i>, 2007, 37 Suppl 1: p. S144-51.</li> <li>A. T. Hillel, A. Kapoor, N. Simaan, R. H. Taylor, and P. Flint, " Applications of Robotics for Laryngeal Surgery", <i>Otolaryngologic Clinics of North America</i>, vol. 41- 4, pp. 781-791, August 2008</li> <li>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]," <i>Robotics &amp; Automation Magazine, IEEE, </i>vol. 15, pp. 122-130, 2008.</li> <li>G. Fichtinger, P. Kazanzides, A. M. Okamura, G. D. Hager, L. L. Whitcomb, and R. H. Taylor, "Surgical and Interventional Robotics - Part II [Tutorial]," <i>Robotics &amp; Automation Magazine, IEEE, </i>vol. 15, pp. 94-102, September 2008.</li> <li>G. D. Hager, A. M. Okamura, P. Kazanzides, L. L. Whitcomb, G. Fichtinger, and R. H. Taylor, "Surgical and Interventional Robotics - Part III [Tutorial]," <i>Robotics &amp; Automation Magazine, IEEE, </i>vol. 15, pp. 84-93, December 2008.</li> <li>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", <i>Urology</i>, vol. 73- 4, pp. 896-900, Apr 2009 . PMID: 1919340.</li> <li>N. Simaan, K. Xu, A. Kapoor, W. Wei, P. Kazanzides, P. Flint, and R. Taylor, "<a href="2009/IJRR_09_Simaan_Published_file.pdf">A System for Minimally Invasive Surgery in the Throat and Upper Airways</a>", <i>Int. J. Robotics Research</i> (special issue on medical robotics), vol. 28- 9, pp. 1134-1153, June 2009.http://ijr.sagepub.com/cgi/content/abstract/28/9/1134 10.1177/0278364908104278; NIH MSID 114080.</li> <li>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," <i>Int J Computer Assisted Radiology and Surgery</i>, vol. 4, pp. 383-390, 2009.</li> <li>L. M. Ellingsen, G. Chintalapani, R. H. Taylor, and J. L. Prince, "Robust deformable image registration using prior shape information for atlas to patient registration", <i>Computer Medical Imaging and Graphics</i>, vol. 34, pp. 79-90, 2009.<span class="Apple-converted-space"> </span>http://dx.doi.org/10.1016/j.compmedimag.2009.05.003. PMID: 18051096</li> <li>B. Wu, F. Ricchetti, G. Sanguineti, M. Kazhdan, P. Simari, M. Chuang, R. Taylor, R. Jacques, and T. McNutt, "<a href="2009/2009 - Medical Physics - Patient geometry-driven information retrieval for IMRT treatment plan quality control (as appeared).pdf">Patient geometry-driven information retrieval for IMRT treatment plan quality control</a>", <i>Med. Phys</i>., vol. 36- 12, pp. 5497-5505, December 2009 PMID Number: pending.</li> <li>R. Jacques, R. Taylor, J. Wong, and T. McNutt, "<a href="2009/2009 - CompMethProgBiomed - Jacques - GPU.pdf">Towards Real-Time Radiation Therapy: GPU Accelerated Superposition/Convolution</a>", <i>Computer Methods and Programs in Biomedicine</i>, vol. 98, Issue 3, p. 285-292, Elec pub Aug 18, 2009, paper pub June 2010, .http://www.cse.buffalo.edu/hpmiccai/ PMID: 19695731.</li> </ol> <h2><b>Refereed Conference Papers</b></h2> <ol class="ol1"> <li>Taylor, R., J. Low, and J. Feldman. "Recent Developments in SAIL, an Algol-based Language for Artificial Intelligence" in <i>Fall Joint Computer Conference</i>. 1972. Anaheim: ACM</li> <li>Finkel, R., R. Taylor, R. Bolles, R. Paul, and J. Feldman. "<a href="1975/AL.pdf"><span class="s6">AL, a programming system for automation</span></a>" in <i>Fourth Int. Joint Conf. on Artificial Intelligence</i>. 1975. Tblisi.</li> <li>Taylor, R.H. and D.D. Grossman. "The Architecture of an Integrated Robot System" in <i>First Int. Conf. on Advanced Robotics (ICAR)</i>. 1983. Tokyo.</li> <li>Lozano-Perez, T., M. Mason, and R. Taylor. "Automatic Synthesis of Fine Motion Strategies" in <i>First Int. Symposium on Robotics Research</i>. 1983. Mount Washington: MIT Press.</li> <li>Taylor, R., R. Hollis, and M. Lavin. "Precise Manipulation with Endpoint Sensing" in <i>Second Int. Symposium on Robotics Research</i>. 1984. Kyoto: MIT Press.</li> <li>Taylor, R., J. Korein, G. Maier, and L. Durfee. "A General Purpose Architecture for Programmable Automation Research" in <i>Third Int. Symposium on Robotics Research</i>. 1985. Chantilly: MIT Press.</li> <li>Hollis, R., R. Taylor, M. Johnson, A. Levas, and A. Brennemann. "Robotic Circuit Board Testing Using Fine Positioners with Fiber-Optic Sensing" in <i>Int'l Symposium on Industrial Robots</i>. 1985. Tokyo.</li> <li>Korein, J., G. Maier, R. Taylor, and L. Durfee. "<a href="1986/Configurable%20System%20for%20Automation.pdf"><span class="s6">A Configurable System for Automation Programming and Control</span></a>" in <i>IEEE Conf. on Robotics and Automation</i>. 1986. San Francisco: IEEE Press.</li> <li>Maier, G., R. Taylor, and J. Korein. "A Dynamically Configurable General Purpose Automation Controller" in <i>SOCOCO</i>. 1986. Graz, Austria: IEEE Press.</li> <li>Nackman, L.R., M.A. Lavin, R.H. Taylor, W.C.J. Dietrich, and D.D. Grossman. "<a href="1986/AMLX.pdf"><span class="s6">AML/X: A Programming Language for Manufacturing and Design</span></a>" in <i>Fall Joint Computer Conference</i>. 1986. Dallas.</li> <li>Taylor, R., J. Korein, L. Durfee, and G. Maier. "A Computational Architecture for Programmable Automation Research" in <i>SPIE Conference</i>. 1986. Cambridge, Mass.</li> <li>Taylor, R., M. Mason, and K. Goldberg. "Sensor-based Manipulation Planning as a Game with Nature" in <i>Fourth Int. Symposium on Robotics Research</i>. 1987. Santa Cruz, Calif.: MIT Press.</li> <li>Taylor, R.H. and V.T. Rajan. "<a href="1988/Efficient%20Compuation%20for%20Uncertainty.pdf"><span class="s6">The Efficient Computation of Uncertainty Spaces for Sensor-Based Robot Planning</span></a>" in <i>IEEE Workshop on Intelligent Robots and Systems (IROS)</i>. 1988. Tokyo.</li> <li>Mason, M., K. Goldberg, and R. Taylor. "Planning Sequences of Squeeze-Grasps to Orient and Grasp Polygonal Objects" in <i>Seventh CISM-IFTOMM Symposium on Theory and Practice of Robots and Manipulators</i>. 1988. Udine, Italy.</li> <li>Boneschanger, N., H. van der Drift, S. Buckley, and R. Taylor. "Subassembly Stability" in <i>AAAI</i>. 1988. St. Paul, Minn.</li> <li>Taylor, R., H.A. Paul, B. Mittelstadt, and e. al. "<a href="1989/Cementless%20Hip%20Replacement%20dogs.pdf"><span class="s6">A Robotic System for Cementless Total Hip Replacement Surgery in Dogs</span></a>" in <i>Second Workshop on Medical and Healthcare Robotics</i>. 1989. Newcastle-on-Tyne.</li> <li>Taylor, R., H.A. Paul, B. Mittelstadt, and e. al. "<a href="1989/Robotic%20Total%20Hip%20Replacement.pdf"><span class="s6">Robotic Hip Replacement Surgery in Dogs</span></a>" in <i>Eleventh Annual Conference on Engineering in Medicine and Biology</i>. 1989. Seattle: IEEE Press.</li> <li>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 <i>Annual Meeting of American Acadamy of Orthopaedic Surgeons</i>. 1990. New Orleans.</li> <li>Taylor, R., H. Paul, B. Mittelstadt, et al. "An Image-Based Robotic System for Precise Orthopaedic Surgery" in <i>12th Annual Conference on Engineering in Medicine and Biology</i>. 1990. Philadelphia: IEEE.</li> <li>Taylor, R., P. Kazanzides, B. Mittelstadt, and H. Paul. "<a href="1990/Redundant%20Consistency%20Checking.pdf"><span class="s6">Redundant Consistency Checking in a Precise Surgical Robot</span></a>" in <i>12th Annual Conference on Engineering in Medicine and Biology</i>. 1990. Philadelphia: IEEE Press.</li> <li>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 <i>Proc. IV Biannual Meeting of the International Society of Cranio-Maxillofacial Surgery</i>. 1991. Santiago de Campostella.</li> <li>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 <i>Proc. 1991 Int. Symposium on Experimental Robotics</i>. 1991. Toulouse, France: Springer-Verlag.</li> <li>Taylor, R., H. Paul, P. Kazanzides, and e. al. "<a href="1991/Taming%20the%20Bull.pdf"><span class="s6">Taming the Bull: Safety in a Precise Surgical Robot</span></a>" in <i>Intl. Conf. on Advanced Robotics (ICAR)</i>. 1991. Pisa, Italy.</li> <li>Cutting, C., R. Taylor, R. Bookstein, D. Khorramabadi, B. Haddad, A. Kalvin, H. Kim, and M. Nox. "<a href="1992/Computer%20Aided%20Planning%20and%20Execution.pdf"><span class="s6">Computer Aided Planning and Execution of Craniofacial Surgical Procedures</span></a>" in <i>Proc. IEEE Engineering in Medicine and Biology Conference</i>. 1992. Paris, France.</li> <li>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 <i>Proc. Orthopaedic Research Society</i>. 1992. Washington D.C.</li> <li>Paul, H., B. Mittelstadt, W. Bargar, B. Musits, R. Taylor, P. Kazanzides, J. Zuhars, B. Williamson, and W. Hanson. "<a href="1992/Surgical%20Robot%20for%20Total%20Hip.pdf"><span class="s6">A Surgical Robot for Total Hip Replacement Surgery</span></a>" in <i>Int. Conference on Robotics and Automation</i>. 1992. Nice, France: IEEE Press.</li> <li>Kazanzides, P., B. Mittelstadt, J. Zuhars, and R. Taylor. "<a href="1992/Force%20Sensing%20and%20Control.pdf"><span class="s6">Force Sensing and Control for a Surgical Robot</span></a>" in <i>Int. Conference on Robotics and Automation</i>. 1992. Nice, France: IEEE Press.</li> <li>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 <i>First Int. Workshop on Mechatronics in Medicine</i>. 1992. Malaga, Spain.</li> <li>Taylor, R., J. Funda, D. LaRose, and M. Treat. "<a href="1992/Telerobotic%20System%20for%20Augmentation.pdf"><span class="s6">A Telerobotic System for Augmentation of Endoscopic Surgery</span></a>" in <i>IEEE Conference on Engineering in Medicne and Biology</i>. 1992. Paris: IEEE Press.</li> <li>Taylor, R., J. Funda, D. LaRose, and M. Treat. "An Experimental System for Computer Assisted Endoscopic Surgery" in <i>IEEE Satellite Symposium on Neuroscience and Technoloy</i>. 1992. Lyons: IEEE Press.</li> <li>Funda, J., R. Taylor, K. Gruben, and D. LaRose. "Optimal Motion Control for Teleoperated Surgical Robots" in <i>1993 SPIE Intl. Symp. on Optical Tools for Manuf. &amp; adv. Autom.</i> 1993. Boston.</li> <li>Joskowicz, L. and R.H. Taylor. "<a href="1993/Hip%20Implant%20Insertability.pdf"><span class="s6">Hip Implant Insertability Analysis: A Medical Instance of the Peg-in-Hole Problem</span></a>" in <i>Int. Conf. on Robotics and Automation</i>. 1993. Atlanta: IEEE Press.</li> <li>Taylor, R.H. "An Overview of Computer Assisted Surgery Research at IBM T. J. Watson Research Center" in <i>Sixth Int. Symposium on Robotics Research</i>. 1993. Hidden Valley, Pa.: MIT Press.</li> <li>Funda, J., R. Taylor, S. Gomory, B. Eldridge, K. Gruben, and M. Talamini, Mark. "An experimental user interface for an interactive surgical robot" in <i>1st International Symposium on Medical Robotics and Computer Assisted Surgery</i>. 1994. Pittsburgh.</li> <li>Funda, J., B. Eldridge, K. Gruben, S. Gomory, and R. Taylor. "<a href="1994/Comparison%20of%20two%20Manipulator%20Designs.pdf"><span class="s6">Comparison of two manipulator designs for laparoscopic surgery</span></a>" in <i>1994 SPIE Int's Symposium on Optical Tools for Manufacturing and Advanced Automation</i>. 1994. Boston: October.</li> <li>Funda, J., R. Taylor, B. Eldridge, K. Gruben, D. LaRose, and S. Gomory. "Image Guided Command and Control of a Surgical Robot" in <i>Proc. Medicine Meets Virtual Reality II</i>. 1994. San Diego.</li> <li>Joskowicz, L. and R.H. Taylor. "<a href="1994/Preoperative%20Insertability%20Analysis.pdf"><span class="s6">Preoperative Insertability Analysis and Visualization of Custom Hip Implants</span></a>" in <i>1st International Symposium on Medical Robotics and Computer Assisted Surgery</i>. 1994. Pittsburgh.</li> <li>Kalvin, A. and R. Taylor. "Superfaces: Hierarchical Polyhedral Approximation with Bounded Error" in <i>Proc. Medical Imaging 1994L Image Capture, Formatting, and Display (SPIE 2164)</i>. 1994. Newport Beach, Ca.: SPIE.</li> <li>Cutting, C., R. Taylor, D. Khorramabadi, and B. Haddad. "Optical Tracking of Bone Fragments During Craniofacial Surgery" in <i>Proc. 2nd Int. Symp. on Medical Robotics and Computer Assisted Surgery</i>. 1995. Baltimore, Md.: MRCAS '95 Symposium, C/O Center for Orthop Res, Shadyside Hospital, Pittsburgh, Pa.</li> <li>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 <i>Proc. 2nd Int. Symp. on Medical Robotics and Computer Assisted Surgery</i>. 1995. Baltimore, Md.: MRCAS '95 Symposium, C/O Center for Orthop Res, Shadyside Hospital, Pittsburgh, Pa.</li> <li>Funda, J., K. Gruben, B. Eldridge, S. Gomory, and R. Taylor. "<a href="1995/Control%20and%20Evaluation%20of%207-Axis.pdf"><span class="s6">Control and evaluation of a 7-axis surgical robot for laparoscopy</span></a>" in <i>Proc 1995 IEEE Int. Conf. on Robotics and Automation</i>. 1995. Nagoya, Japan: IEEE Press.</li> <li>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 <i>Proc. First Joint Conference of CVRMed and MRCAS</i>. 1997. Grenoble, France: Springer.</li> <li>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 href="1997/Novel%20Mechanical%20Transmission.pdf"><span class="s6">A novel mechanical transmission applied to percutaneous renal access</span></a>" in <i>1997 ASME Winter Annual Meeting</i>. 1997.</li> <li>Stoianovici, D., J.A. Cadeddu, R.D. Demaree, S.A. Basile, R.H. Taylor, L. Whitcomb, L.,, W.N. Sharpe, and L.R. Kavoussi. "<a href="1997/Efficient%20Needle%20Injection.pdf"><span class="s6">An efficient needle injection technique and radiological guidance method for percutaneous procedures</span></a>" in <i>First Joint Conference: CRVMed II &amp; MRCAS III, March</i>. 1997. Grenoble, France.</li> <li>Vaillant, M., C. Davatzikos, R.H. Taylor, and R.N. Bryan. "<a href="1997/Path%20Planning%20Algorithm.pdf"><span class="s6">A Path-Planning Algorithm for Image Guided Neurosurgery</span></a>" in <i>Proc. First Joint Conference of CVRMed and MRCAS</i>. 1997. Grenoble, France, March: Springer.</li> <li>Goradia, T.M., R.H. Taylor, and L.M. Auer. "Robot-assisted minimally invasive neurosurgical procedures: first experimental experience" in <i>Proc. First Joint Conference of CVRMed and MRCAS</i>. 1997. Grenoble, France: Springer.</li> <li>Taylor, R.H. "Robots as Surgical Assistants: Where we are, wither we are tending and how to get there" in <i>6th Conference Artificial Intellignece in Medicine, Europe (AIME 97)</i>. 1997. Grenoble, France: Springer.</li> <li>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 <i>Joint Conf. of Computer Vision, Virtual Reality, and Robotics in Medicine and Medical Robotics and Computer Surgery</i>. 1997. Grenoble.</li> <li>Poulose, B., M. Kutka, M.M. Sagaon, A. Barnes, C. Yang, R. Taylor, and M. Talamini. "<a href="1998/Human%20Versus%20Robotic%20Organ%20Retraction.pdf"><span class="s6">Human Versus Robotic Organ Retraction During Laparoscopic Nissen Fundoplication</span></a>" in <i>Medical Image Computing and Computer-Assisted Interventions (MICCAI-98)</i>. 1998. Cambridge, Mass: Springer Lecture Notes in Computer Science, pp197-206</li> <li>Stoianovici, D., L. Whitcomb, J. Anderson, R. Taylor, and L. Kavoussi. "<a href="1998/Modular%20Surgical%20Robotic%20System.pdf"><span class="s6">A Modular Surgical Robotic System for Image-Guided Percutaneous Procedures</span></a>" in <i>Medical Image Computing and Computer-Assisted Interventions (MICCAI-98)</i>. 1998. Cambridge, Mass: Springer Lecture Notes in Computer Science Vol 1496: pp 404-410.</li> <li>R. H. Taylor, " Robots as Surgical Assistants: Where We Are, Wither We are Tending, and How to Get There", <i>Proc. ISR, </i>Birmingham, England, April 30, 1998.</li> <li>Kumar, R., T. Goradia, A. Barnes, P. Jensen, L. Whitcomb, D. Stoianovici. L. Auer, R. Taylor, "<a href="1999/Performance%20of%20Robotic%20Augmentation.pdf"><span class="s6">Performance of Robotic Augmentation in Microsurgery-Scale Motions</span></a>"<i>,</i> in <i>2nd Int. Symposium on Medical Image Computing and Computer-Assisted Surgery</i>. 1999. Cambridge, England: Springer.</li> <li>Kumar, R., P. Jensen, and R.H. Taylor. "<a href="1999/Experiments%20with%20a%20Steady%20Hand%20Robot.pdf"><span class="s6">Experiments with a Steady Hand Robot in Constrained Compliant Motion and Path Following</span></a>"<i>,</i> in <i>8th IEEE International Workshop on Robot and Human Interaction (RO-MAN)</i>. 1999. Pisa, Italy</li> <li>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"<i>,</i> in <i>Medical Image Computing and Computer-Assisted Interventions (MICCAI)</i>. 1999. Cambridge, England: Springer</li> <li>Bzostek, A., A.C. Barnes, R. Kumar, J.H. Anderson, and R.H. Taylor. "A Testbed System for Robotically Assisted Percutaneous Pattern Therapy"<i>,</i> in <i>Medical Image Computing and Computer-Assisted Surgery</i>. 1999. Cambridge, England: Springer.</li> <li>Yao, J., R.H. Taylor, R.P. Goldberg, R. Kumar, A. Bzostek, R. VanVorhis, P. Kazanzides, A. Gueziec, J. Funda. "<a href="1999/Progressive%20Cut%20Refinement.pdf"><span class="s6">A Progressive Cut Refinement Scheme for Revision Total Hip Replacement Surgery Using C-arm Fluoroscopy</span></a>"<i>,</i> in <i>Medical Image Computing and Computer-Assisted Interventions (MICCAI-99)</i>. 1999. Cambridge, England: Springer.</li> <li>Susil, R.C., J.H. Anderson, and R.H. Taylor. "<a href="1999/Single%20Image%20Registration.pdf"><span class="s6">A Single Image Registration Method for CT Guided Interventions</span></a>"<i>,</i> in <i>2nd Int Symposium on Medical Image Computing and Computer-Assisted Interventions (MICCAI99)</i>. 1999. Cambridge, England: Springer.</li> <li>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"<i>,</i> in <i>Proc. 8th annual meeting of JSCAS</i>. 1999. Kyoto.</li> <li>Kumar, R., P. Berkelman, P. Gupta, A. Barnes, P. Jensen, L. Whitcomb, R.H. Taylor. "<a href="2000/Preliminary%20Experiments%20in%20Cooperative.pdf"><span class="s6">Preliminary Experiments in Cooperative Human/Robot Force Control for Robot Assisted Microsurgical Manipulation</span></a>"<i>,</i> in <i>IEEE Conference on Robotics and Automation</i>. 2000. San Francisco.</li> <li>Kumar, R., G.D. Hager, A. Barnes, P. Jensen, and R.H. Taylor. "<a href="2000/An%20Augmentation%20Center.pdf"><span class="s6">An Augmentation System for Fine Manipulation</span></a>"<i>,</i> in <i>Medical Image Computing and Computer-Assisted Interventions (MICCAI)</i>. 2000. Pittsburgh: Springer October 11-14:, p. 956-964.</li> <li>Taylor, R. "Computer-Integrated Surgery: Coupling Information to Action in 21st Century Medicine"<i>,</i> in <i>HiCare 2000</i>. 2000. Dusseldorf Feb 25</li> <li>Loser, M., N. Navab, B. Bascle, and R. Taylor. "<a href="2000/Visual%20Servoing.pdf"><span class="s6">Visual servoing for automatic and uncalibrated percutaneous procedures</span></a>"<i>,</i> in <i>Proc. SPIE Medical Imaging</i>. 2000 p. 270-281.</li> <li>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"<i>,</i> in <i>Medical Image Computing and Computer-Assisted Interventions</i>. 2000. Pittsburgh: Springer October 11-14:, p. 897-906.</li> <li>A. Bzostek, R. Kumar, L. Diaz, M. Srivastava, James H. Anderson, and R. H. Taylor, &quot;Force vs. Deformation in soft tissue puncture&quot;, in <em>Medicine Meets Virtual Reality</em>, 2000</li> <li>Graham, S., R. Taylor, and M. Vannier. "<a href="2000/Needs%20Assessment.pdf"><span class="s6">Needs Assessment for Computer-Integrated Surgery Systems</span></a>"<i>,</i> in <i>Medical Image Computing and Computer-Assisted Interventions</i>. 2000. Pittsburgh: Springer October 11-14, p. 931-939.</li> <li>Bzostek, A., R. Kumar, N. Hata, O. Schorr, R. Kikinis, R. Taylor. "<a href="2000/Implementation%20using%20Modular%20Software.pdf"><span class="s6">Distributed Modular Computer-Integrated Robotic Systems: Implementation using modular software and networked systems</span></a>"<i>,</i> in <i>Medical Image Computing and Computer-Assisted Interventions</i>. 2000. Pittsburgh: Springer October 11-14:, p. 969-978.</li> <li>Schorr, O., N. Hata, A. Bzostek, R. Kumar, C. Burghart, R. Taylor, R. Kikinis. "<a href="2000/Architecture%20for%20Intelligent%20Object%20Distribution.pdf"><span class="s6">Distributed Modular Computer-Integrated Robotic Systems: Architecture for Intelligent Object Distribution</span></a>"<i>,</i> in <i>Medical Image Computing and Computer-Assisted Interventions</i>. 2000. Pittsburgh: Springer October 11-14:, p. 979-987.</li> <li>Patriciu, A., D. Stoianovici, L. Whitcomb, T. Jarrett, D. Mazilu, A. Stanimir, I. Iordachita, J. Anderson, R. Taylor, L. Kavoussi. "<a href="2000/Motion-based%20Robotic%20Instrument.pdf"><span class="s6">Motion-based robotic instrument targeting under c-arm fluoroscopy</span></a>"<i>,</i> in <i>Medical Image Computing and Computer-Assisted Interventions</i>. 2000. Pittsburgh: Springer October 11-14, p. 988-998.</li> <li>Yao, J. and R. Taylor. "<a href="2000/Tetrahedral%20Mesh%20Modeling.pdf"><span class="s6">Tetrahedral Mesh Modeling of Density Data for Anatomical Atlases and Intensity-Based Registration</span></a>"<i>,</i> in <i>Medical Image Computing and Computer-Assisted Interventions (MICCAI 2000)</i>. 2000. Pittsburgh October 11-14: p. 531-540</li> <li>Yao, J. and R.H. Taylor. "Reconstructing Hierarchical Tetrahedral Mesh Density Models of Bony Anatomy". in <i>Medical Meets Virtual Reality 2001</i>. 2001. Newport Beach, CA: IOS Press p. pp 587-593.</li> <li>Yao, J. and R. Taylor. "<a href="2001/Construction%20and%20Simplification.pdf"><span class="s6">Construction and Simplification of Bone Density Models</span></a>". in <i>SPIE Medical Imaging 2001</i>. 2001. San Diago, CA</li> <li>Berkelmann, P.J., D.L. Rothbaum, J. Roy, Sam Lang, L.L. Whitcomb, G. Hager, P.S. Jensen, R.H. Taylor, and J. Niparko. "<a href="2001/Performance%20Evaluation.pdf"><span class="s6">Performance Evaluation of a Cooperative Manipulation Microsurgical Assistant Robot Applied to Stapedotomy</span></a>". in <i>Medical Image Computing and Computer-Assisted Interventions (MICCAI 2001)</i>. 2001. Utrecht: Springer October p. 1426-1429.</li> <li>Goldberg, R.P., M. Dumitru, R.H. Taylor, and D. Stoianovici. "<a href="2001/Modular%20Robotic%20System.pdf"><span class="s6">A modular robotic system for ultrasound image acquisition</span></a>". in <i>Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001</i>. 2001. Utrecht: Springer Octoberp. 1430-1434.</li> <li>Kumar, R., A. Barnes, G. Hager, P. Jensen, and R. Taylor. "<a href="2001/Applications%20of%20Task%20Level%20Augmentation.pdf"><span class="s6">Applications of Task-Level Augmentation for Cooperative Fine Manipulation Tasks in Surgery</span></a>". in <i>Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001</i>. 2001. Utrecht: Springer October p. 1417-1418.</li> <li>Brzeczko, A., R. Goldberg, R. Taylor, and P. Evans. "<a href="2001/Smart%20Alignment%20Tool.pdf"><span class="s6">Smart Alignment Tool for Knee Mosaicplasty Surgery</span></a>". in <i>Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001</i>. 2001. Utrecht: Springer October. P. 599-605.</li> <li>Bhargava, A., C.S. Hundtofte, M. Thober, A. Bzostek, and R.H. Taylor. "<a href="2001/Software%20Framework.pdf"><span class="s6">Software Framework for a Surgical Guidance System using Magnetic Markers</span></a>" in <i>Medicine Meets Virtual Reality 2001</i>. 2001. Newport Beach 24-27 January.</li> <li>Fichtinger, G., D. Stoianovici, and R.H. Taylor. "<a href="2001/Surgical%20CAD%20-%20CAM.pdf"><span class="s6">Surgical CAD/CAM and its application for robotically assisted local therapy</span></a>" in <i>IEEE 30th Applied Imagery Pattern Recognition Workshop (AIPR)</i>. October 2001. Washington, DC, October. P 3-8</li> <li>Fichtinger, G., K. Masamune, A. Patriciu, A. Tanacs, J.H. Anderson, T.L. DeWeese, R.H. Taylor, and D. Stoianovici. "<a href="2001/Robotically%20Assisted%20Percutaneous.pdf"><span class="s6">Robotically Assisted Percutaneous Local Therapy and Biopsy</span></a>" in <i>IEEE 10th International Conference of Advance Robotics</i>. 2001: ISBN 963-7154-043 p. 133-151.</li> <li>Yao, J., Russell Taylor. "Deformable registration between a statistical bone density atlas and X-ray images". Computer-Assisted Orthopaedic Surgery (2002) (<b>Best Conference Paper</b>.)</li> <li>Prasad, S., Ming Li, Nicholas Ramey, Frank Frassica, Russell Taylor. "<a href="2002:Co-Registration%20Technique%20for%20Fluoroscopically-Guided%20Robotic%20Surgery.pdf"><span class="s6">Co-registration Techniques for Fluoroscopically-Guided Robotic Surgery</span></a>" <i>Computer-Assisted Orthopaedic Surgery</i>. Santa Fe, New Mexico, 2002.</li> <li>Prasad, S., M. Li, N. Ramey, F. Frassica, R. H. Taylor. "<a href="2002:Minimally%20Invasive%20Approach%20to%20Pelvic%20Osteolysis.pdf"><span class="s6">A Minimally Invasive Approach to Pelvic Osteolysis</span></a>" <i>Computer-Assisted Orthopaedic Surgery</i>. Santa Fe, 2002.</li> <li>Mohamed, A., Christos Davatzikos, and Russell Taylor. "<a href="2002/Combined%20Statistical%20and%20Biochemical%20Model.pdf"><span class="s6">A Combined Statistical and Biomechanical Model for Estimation of Intra-operative Prostate Deformation</span></a>". <i>Medical Image Computing and Computer Assisted Interventions (MICCAI) II</i> (2002): 452-460.</li> <li>Masamune, K., Gabor Fichtinger, Anton Deguet, Daisuke Matsuka, and Russell Taylor. "<a href="2002/Image%20Overlay%20System.pdf"><span class="s6">An Image Overlay System with Enhanced Reality for Percutaneous Therapy Performed Inside CT Scanner</span></a> ". <i>Medical Image Computing and Computer-Assisted Interventions (MICCAI)</i>. Springer Lecture Notes in Computer Science II (2002):77-84.</li> <li>E. Boctor, R. Taylor, G. Fichtinger, and M. Choti, &quot;Robotically Assisted Intraoperative Ultrasound with Application to Ablative Therapy of Liver Cancer&quot;, in <em>SPIE Medical Imaging</em>, 2002, pp. 281-291 </li> <li>Boctor, E. M., Ameet Jain, Michael A. Choti, Russell H. Taylor, and Gabor Fichtinger. "<a href="2003/Rapid%20Calibration%20Method.pdf"><span class="s6">A Rapid Calibration Method for Registration and 3D Tracking of Ultrasound Images Using Spatial Localizer</span></a>", in <i>Proc. SPIE, Medical Imaging 2003: Ultrasonic Imaging and Signal Processing</i>, vol. 5035, p. 521-532; William F. Walker, Michael F. Insana, Eds. San Diego, 2003. (<b>Best Young Investigator Award).</b></li> <li>Boctor, E., G. Fichtinger, R. H. Taylor, and M. A. Choti, "<a href="2003/Tracked%203D%20Ultrasound%20in%20Radio.pdf"><span class="s6">Tracked 3D ultrasound in radio-frequency liver ablation</span></a>," in <i>Medical Imaging 2003: Ultrasound Imaging and Signal Processingy</i>, vol. 5035. San Diego: SPIE, 2003, pp. 174-182.</li> <li>Boctor, E., G. Fichtinger, R. H. Taylor, and M. A. Choti, "<a href="2003/Robotically%20Assisted%20Intraoperative%20Ultrasound.pdf"><span class="s6">Robotically assisted intraoperative ultrasound with application to ablative therapy of liver cancer</span></a>," in <i>Medical Imaging 2003: Visualization, Image Guided Procedures, and Display</i>, vol. 5029. San Diego: SPIE, 2003, pp. 281-291.</li> <li>Kapoor, A., R. Kumar, and R. Taylor, "<a href="2003/Simple%20Biomanipulation.pdf"><span class="s6">Simple Biomanipulation Tasks with a "Steady Hand" Cooperative Manipulator</span></a>," in <i>Proceedings of the Sixth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2003</i>, vol. I, <i>Lecture Notes in Computer Science (Vol. 2878)</i>. Montreal: Springer, 2003, pp. 141-148.</li> <li>Kumar, R., A. Kapoor, and R. H. Taylor, "<a href="2003/Preliminary%20Experiments.pdf"><span class="s6">Preliminary experiments in robot/human microinjections</span></a>," in <i>IROS</i>, vol. 4. Las Vegas, 2003, pp. 3186-3191.</li> <li>Li, M. and R. Taylor, "<a href="2003/Optimum%20Robot%20Control.pdf"><span class="s6">Optimum Robot Control for 3D Virtual Fixture in Contrained ENT Surgery</span></a>," in <i>Proceedings of the Sixth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2003</i>, vol. I, <i>Lecture Notes in Computer Science (Vol. 2878)</i>. Montreal: Springer, 2003, pp. 165-172.</li> <li>Prasad, S., M. Kitagawa, G. S. Fischer, J. Zand, M. A. Talamini, R. H. Taylor, and A. M. Okamura, "<a href="2003/Modular%202-DOF.pdf"><span class="s6">A Modular 2-DOF Force-Sensing Instrument for Laparoscopic Surgery</span></a>," in <i>Proceedings of the Sixth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2003</i>, vol. I, <i>Lecture Notes in Computer Science (Vol. 2878)</i>. Montreal: Springer, 2003, pp. 279-286.</li> <li>J. Wenz, I. Gurkan, D. Redfern, R. Taylor, and R. Ellis, &quot;A new CT-guided minimally invasive surgical approach for the treatment of periacetabular osteolysis – Changing the way we approach the treatment of pelvic osteolysis&quot;, in <em>Computer Assisted Orthopaedic Surgery (CAOS)</em>, Marbella, Spain, 2003</li> <li>Wu, X. and R. H. Taylor, "<a href="2003/A%20Framework%20for%20Calibration%20of%20Electromagnetic.pdf"><span class="s6">A Framework for Calibration of Electromagnetic Surgical Navigation Systems</span></a>," in <i>IROS</i>, vol. 1. Las Vegas, 2003, pp. 547-552.</li> <li>Wu, X. and R. TaylorTaylor, "<a href="2003/Direction%20Space%20Interpolation%20Technique.pdf"><span class="s6">A Direction Space Interpolation Technique for Calibration of Electromagnetic Surgical Navigation Systems</span></a>," in <i>Proceedings of the Sixth International Conference on Medical Image Computing and Computer Assisted Intervention -- MICCAI 2003</i>, vol. II, <i>Lecture Notes in Computer Science (Vol. 2879)</i>. Montreal: Springer, 2003, pp. 215-222.</li> <li>Yao, J. and R. H. Taylor, "<a href="2003/Assessing%20Accuracy%20Factors.pdf"><span class="s6">Assessing Accuracy Factors in Deformable 2D/3D Medical Image Registration Using a Statistical Pelvis Model</span></a>," in <i>Ninth Int. Conference on Computer Vision</i>. Nice, 2003, pp. 1329-1334.</li> <li style="margin: 0.0px 0.0px 0.0px 0.0px; font: 14.0px Times; color: #0009f0"><span class="s8">Yao, J. and R. H. Taylor, "<a href="2003/Multiple-Layer%20Flexible%20Mesh%20.pdf"><span class="s9">A Multiple-Layer Flexible Mesh Template Matching Method for Non-rigid Registration between a Pelvis Model and CT Images</span></a>," in <i>SPIE Medical Imaging</i>. San Diego, 2003, pp. 1117-1124</span></li> <li>Boctor, E., G. Fischer, M. Choti, G. Fichtinger, and R. Taylor, "<a href="2004/Dual-Armed%20Robotic%20System.pdf"><span class="s6">Dual-Armed Robotic System for Intraoperative Ultrasound Guided Hepatic Ablative Therapy: A Prospective Study</span></a>," in <i>IEEE 2004 International Conference on Robotics and Automation</i>. New Orleans,LA, 2004, pp. 2517-2522.</li> <li>Boctor, E., A. Viswanathan, S. Pieper, M. Choti, R. Taylor, R. Kikinis, and G. Fichtinger, "<a href="2004/CISUS.pdf"><span class="s6">CISUS: An integrated 3D ultrasound system for IGT using a modular tracking API</span></a>," in <i>Proc. SPIE, Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display</i>, vol. 5367, p. 247-256; Robert L. Galloway, Jr., Ed. San Diego, CA, 2004.</li> <li>Boctor, E., A. Viswanathan, M. Choti, R. Taylor, G. Fichtinger, and G. Hager, "<a href="2004/A%20Novel%20Closed%20Form%20Solution.pdf"><span class="s6">A Novel Closed Form Solution For Ultrasound Calibration</span></a>," in <i>International Symposium on Biomedical Imaging</i>. Arlington, VA, 2004.</li> <li>Boctor, E., G. Fichtinger, A. Yeung, M. Awad, R. H. Taylor, and M. Choti, "<a href="2004/Spatial%20Motion%20Constraints.pdf"><span class="s6">Robotic Strain Imaging for Monitoring Thermal Ablation of Liver</span></a>," in <i>MICCAI</i>, vol. 2, C. B. D. R. H. P. Hellier, Ed. Saint-Malo, France, 2004, pp. 81-88.</li> <li>Burschka, D., M. Li, R. Taylor, and G. D. Hager, "<a href="2004/Scale%20Invariant%20Registration%20of%20Monocular%20Endoscopic%20Images.pdf"><span class="s6">Scale-Invariant Registration of Monocular Endoscopic Images to CT-Scans for Sinus Surgery</span></a>," in <i>Int. Symp. on Medical Image Computing and Computer-Assisted Interventions (MICCAI)</i>, vol. 2. St. Malo, France: Springer, 2004, pp. 413-421.</li> <li>Burschka, D., M. Li, R. Taylor, and G. D. Hager, "<a href="2004/Scale%20Invariant%20Registration.pdf"><span class="s6">Scale-Invariant Registration of Monocular Stereo Images to 3D Surface Models</span></a>," in <i>IEEE Int. Conf. on Robots and Systems (IROS)</i>, 2004, pp. 2581-2586.</li> <li>Fichtinger, G., A. Degeut, K. Masamune, E. Balogh, G. S. Fischer, H. Matthieu, R. H. Taylor, L. M. Fayad, and S. J. Zinreich, "<a href="2004/Needle%20Insertion%20in%20CT%20Scanner.pdf"><span class="s6">Needle Insertion in CT Scanner with Image Overlay- Cadaver Studies</span></a>," in <i>MICCAI</i>, vol. 2, pp. 795-803, Saint-Malo, France, 2004.</li> <li>Jain,A. and R. H. Taylor , "<a href="2004/Understanding%20Bone%20Responses.pdf"><span class="s9">Understanding Bone Responses in B-mode Ultrasound Images and Automatic Bone Surface Extraction using a Bayesian Probabilistic Framework</span></a>," in <i>SPIE Medical Imaging</i>. San Diego, CA, 2004.</span></li> <li>Li,M. and R. H. Taylor, "<a href="2004/Spatial%20Motion%20Constraints.pdf"><span class="s6">Spatial Motion Contraints in Medical Robot Using Virtual Fixtures Generated by Anatomy</span></a>," in <i>IEEE Conf. on Robotics and Automation</i>. New Orleans, 2004, pp. 1270-1275.</li> <li>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 <i>International Proceedings of Computer Assisted Orthopaedic Surgery</i>. Chicago, 2004, pp. 26-27.</li> <li>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 <i>IEEE Conf. on Robotics and Automation</i>. New Orleans, 2004.</li> <li>Simaan, N., R. Taylor, and P. Flint, "<a href="2004/High%20Dexterity%20Snake-Like%20Robotic%20Slaves.pdf"><span class="s6">High Dexterity Snake-like Robotic Slaves for Minimally Invasive Telesurgery of the Throat</span></a>," in <i>Int. Symp. on Medical Image Computing and Computer-Assisted Interventions</i>, vol. 2: Springer, 2004, pp. 17-24.</li> <li>Zhan, Y., D. Shen, and R. H. Taylor, "Deformable Registration of Male Pelvises in CT Images," in <i>IEEE International Symposium on Biomedical Imaging</i>. Arlington, Va, 2004, pp. 1463-1466.</li> <li>Viswanathan, A., E. M. Boctor, R. H. Taylor, G. D. Hager, and G. Fichtinger, "<a href="2004/Immediate%20Ultrasound%20Calibration.pdf"><span class="s6">Immediate Ultrasound Calibration with Three Poses and Minimal Image Processing</span></a>," in <i>MICCAI 2004</i>, vol. 2, Saint-Malo, France, 2004, pp. 446-454.</li> <li>Xu, S., G. Fichtinger, R. H. Taylor, and K. Cleary, "<a href="2004/3D%20Motion%20Tracking%20of%20Pulmonary%20Lesions.pdf"><span class="s6">3D Motion Tracking of Pulmonary Lesions Using CT Fluoroscopy Images for Robotically Assisted Lung Biopsy</span></a>," in <i>SPIE International Society of Optical Engineering</i>, vol. 5367, 2004, pp. 394-402.</li> <li>E. M. Boctor, R. J. Webster, M. A. Choti, R. H. Taylor, and G. Fichtinger,&quot;Robotically assisted ablative treatment guided by freehand 3D ultrasound&quot;, in <em>International Congress Series - CARS</em>,2004, pp. 503-508.</li> <li>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.</li> <li>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.</li> <li>Fischer, G. S. and R. H. Taylor "Electromagnetic Tracker Measurement Error Simulation and Tool Design," MICCAI, Palm Springs, CA, p. 73-80, 2005.</li> <li>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.</li> <li>Kapoor, A., M. Li, and R. H. Taylor "<a href="2005/Spatial%20Motion%20Constraints.pdf"><span class="s6">Spatial Motion Constraints for Robot Assisted Suturing using Virtual Fixtures</span></a>," MICCAI, Palm Springs, CA, p. 89-96, 2005.</li> <li>Kapoor, A., N. Simaan, and R. H. Taylor "<a href="2005/Suturing%20in%20Confined%20Spaces.pdf"><span class="s6">Suturing in Confined Spaces: Constrained Motion Control of a Hybrid 8-DOF Robot</span></a>," International Conference on Advanced Robotics, Seattle, WA, 2005.</li> <li>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 "<a href="2005/DaVinci%20Canvas%20-%20A%20Telerobotic%20Surgical%20System.pdf"><span class="s6">DaVinci Canvas: A Telerobotic Surgical System with Integrated, Robot-Assisted, Laparoscopic Ultrasound Capability</span></a>," <i>Medical Image Computing and Computer-Assisted Interventions</i>, Palm Springs, CA, p. 811-818, 2005.</li> <li>Li, M. and R. H. Taylor, "<a href="2005/Performance%20of%20Surgical%20Robots.pdf"><span class="s6">Performance of Surgical Robots with automatically generated spatial virtual fixtures</span></a>," <i>IEEE International Conference on Robotics and Automation,</i> Barcelona, Spain, pp 217-222, 2005.</li> <li>Li, M., A. Kapoor, and R. H. Taylor "<a href="2005/Constrained%20Optimization%20Approach.pdf"><span class="s6">A Constrained Optimization Approach to Virtual Fixtures</span></a>," <i>IROS</i>, Edmonton, Alberta, Canada, 2005.</li> <li>Sadowsky, O., J. Cohen, and R. H. Taylor "<a href="2005/Rendering%20Tetrahedral.pdf">Rendering Tetrahedral Meshes with Higher-Order Attenuation Functions for Digital Radiograph Reconstruction</a>," IEEE Visualization, Minneapolis, MN, 2005.</li> <li>O. Sadowsky, K. Ramamurthi, J. L. Prince, and R. H. Taylor, &quot;Using anatomical models and fast rendering algorithms for C-arm pose recovery and cone-beam tomographic reconstruction of bone anatomy&quot;, in <em>Computer Assisted Orthopaedic Surgery</em>, Helsinki, 2005</li> <li>Scepanovic, D., J. Kirshtein, A. Jain, and R. H. Taylor, "<a href="2005/FAPBED.pdf"><span class="s6">Fast Algorithm for Probabilistic Bone Edge Detection (FAPBED)</span></a>," SPIE International Symposium on Medical Imaging, San Diego, CA, 2005.</li> <li>Xu, S., R. H. Taylor, G. Fichtinger, and K. Cleary, "<a href="2005/Lung%20Deformation%20MICCAI.pdf"><span class="s6">Lung Deformation Estimation and Four-dimensional CT Lung Reconstruction</span></a>," MICCAI, Palm Springs, CA, p. 312-319, 2005.</li> <li>Xu, S., G. Fichtinger, R. H. Taylor , and K. Cleary, "<a href="2005/Validation%20of%203D%20Motion%20Tracking%20SPIE%20.pdf"><span class="s6">Validation of 3D Motion Tracking of Pulmonary Lesions for Image-Guided Lung Biopsy</span></a>," SPIE Medical Imaging, San Diego, CA, 2005.</li> <li>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.</li> <li>Kon, R., J. Leven, K. Kothapalli, E. Boctor, G. Fichtinger, G. Hager, and R.H. Taylor, "<a href="2005/CIS-UltraCal.pdf"><span class="s6">CIS-UltraCal: An Open Source Ultrasound Calibration Toolkit</span></a>," SPIE: Medical Imaging – Ultrasound Imaging and Signal Processing, 2005.</li> <li>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.</li> <li>Kazanzides, P., A. Deguet, A. Kapoor, O Sadowsky, A. LaMora, and R. Taylor, "<a href="2005/Development%20of%20Open%20Source%20Software.pdf"><span class="s6">Development of Open Source Software for Computer-Assisted Intervention Systems</span></a>," ISC/NAMIC/MICCAI Workshop on Open Source Software, Palm Springs, CA, 2005.</li> <li>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.</li> <li>Fischer, G., A. Degeut, et al. (2006). Image Overlay for MRI-Guided Joint Arthrography. <i>MRI Symposium</i>, Leipzig.</li> <li>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," <i>Annual Meeting of the International Society for Computer Assisted Surgery</i>, Montreal, Canada, 2006.</li> <li>G. S. Fischer, A. Degeut, D. Schlattman, R. H. Taylor , L. Fayad, S. J. Zinreich, and G. Fichtinger,&quot;MRI Image Overlay: Applications to arthrography needle insertion&quot;, in <em>Medicine Meets Virtual Reality 14</em>,2006, pp. 150-155. </li> <li>Kapoor, A., M. Li, and R.H. Taylor, "<a href="2006/Constrained%20Control.pdf"><span class="s6">Constrained Control for Surgical Assistant Robots</span></a>," <i>IEEE International Conference on Robotics and Automation (ICRA)</i>, Orlando, FL, p. 231-236, 2006.</li> <li>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 <i>Computer Assisted Orthopaedic Surgery</i>, Montreal, Canada, 2006.</li> <li>Luo, B., R. Yang, P. Ying, M. Awad, M. Choti, and R. Taylor, "<a href="2006/Elasticity.pdf"><span class="s6">Elasticity and Echogenicity Analysis of Agarose Phantoms Mimicking Liver Tumors</span></a>," <i>Northeast Bioengineering Conference</i>, Easton, PA, 2006.</li> <li>Sadowsky, O., K. Ramamurthi, L.M. Ellignsen, G. Chintalapani, J.L. Prince, and R.H. Taylor, "<a href="2006/Atlas%20Assisted%20Tomography.pdf"><span class="s6">Atlas-Assisted Tomography: Registration of a Deformable Atlas to Compensate for Limited-Angle Cone-Beam Trajectory</span></a>," <i>ISBI</i>, Arlington, VA, 2006.</li> <li>Xu, S., G. Fichtinger, R.H. Taylor, F. Banovac, and K. Cleary, "<a href="2006/CT%20Fluoroscopy.pdf"><span class="s6">CT Fluoroscopy-Guided Robotically-Assisted Lung Biopsy</span></a>," <i>SPIE Medical Imaging: Visualization, Image-Guided Procedures, and Display</i>, 2006.</li> <li>Kazanzides, P., S. DiMaio, K. Cleary, G. Fichtinger, and R. Taylor, "System Architecture and Toolkits for Image-Guided Intervention Systems," <i>Medicine Meets Virtual Reality</i> 14, Long Beach, CA, 2006.</li> <li>Kapoor, A., N. Simaan, and R.H. Taylor, "<a href="2006/Telemanipulation%20of%20Snake%20Like%20Robots%20MICCAI.pdf"><span class="s6">Telemanipulation of Snake-Like Robots for Minimally Invasive Surgery of the Upper Airway</span></a>, " <i>MICCAI Workshop on Medical Robotics</i>, Copenhagen, pp 17-25, 2006.</li> <li>Iordachita, I., A. Kapoor, B. Mitchell, P. Kazanzides, G. Hager, J. Handa, and R. Taylor, "<a href="2006/Steady%20Hand%20Manipulator%20for%20Retinal%20Surgery.pdf"><span class="s6">Steady-Hand Manipulator for Retinal Surgery</span></a>,"<i>MICCAI Workshop on Medical Robotics</i>, Copenhagen, p. 66-73, 2006.</li> <li>Xu, S., G. Fichtinger, R.H. Taylor, F. Banovac, and K. Cleary, "CT Fluoroscopy-Guided Robotically-Assisted Lung Biopsy", <i>SPIE Medical Imaging: Visualization, Image-Guided Procedures and Display</i>, 2006.</li> <li>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.</li> <li>Mitchell, B., J. Koo, I. Iordachita, P. Kazanzides, A. Kapoor, J. Handa, G. Hager, R. Taylor, "<a href="2007/Development.pdf"><span class="s6">Development and Application of a New Steady-Hand Manipulator for Retinal Surgery</span></a>." <i>IEEE Int. Conf on Robots and Automation (ICRA)</i>, Rome, Italy, p. 623-629, 2007.</li> <li>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," <i>Medical Image Computing and Computer-Assisted Interveention (MICCAI)</i>, Brisbane, Australia, 2007</li> <li>Chintalapani, G., L. M. Ellingsen, O. Sadowsky, J.L. Prince, R.H. Taylor, "<a href="2007/Statistical%20Atlases%20of%20Bone%20Anatomy%20%20-%20MICCAI%202007.pdf"><span class="s10">Statistical Atlases of Bone Anatomy: Construction, Iterative Improvement and Validation</span></a>," <i>Medical Image Computing and Computer-Assisted Interveention (MICCAI)</i>, Brisbane, Australia, 2007.</li> <li>Sadowsky, O., G. Chintalapani, R.H. Taylor, "<a href="2007/Deformable%202D-3D%20Registration%20with%20Limited%20Field%20of%20View%20-%20MICCAI%202007.pdf"><span class="s10">Deformable 2D-3D Registration of the Pelvis with a Limited Field of View, Using Shape Statistics</span></a>," <i>Medical Image Computing and Computer-Assisted Interveention (MICCAI)</i>, Brisbane, Australia, 2007, pp 519-526.<span class="Apple-converted-space"> </span>PMID: 18044608.</li> <li>G. Chintalapani, A. K. Jain, and R. H. Taylor, "<a href="2007/Statistical%20Characterization%20of%20C-Arm%20Distortion.pdf"><span class="s10">Statistical Characterization of C-arm Distortion with Application to Intra-Operative Distortion Correction</span></a>," in <i>SPIE Medical Imaging 2007: Visualization and Image-Guided Procedures,</i> San Diego, 2007, pp. 65092Y-65091 - 65092Y-65098.</li> <li>G. Chintalapani and R. H. Taylor, "<a href="2007/C-Arm%20Distortion%20Correction%20-%20ISBI%202007%20-%2004193502.pdf"><span class="s10">C-Arm Distortion Correction Using Patient as a Fiducial</span></a>," in<i> 4th Int Symposium on Biomedical Imaging (ISBI)</i>, 2007, pp. 1180-1183.</li> <li>P. Foroughi, E. Boctor, M. J. Swartz, R. H. Taylor, and G. Fichtinger, "<a href="2007/Ultrasound%20Bone%20Segmentation%20-%20IEEE%20US.pdf"><span class="s10">Ultrasound Bone Segmentation Using Dynamic Programming</span></a>," in <i>IEEE Ultrasonics Symposium</i>, 2007, pp. 2523-2526</li> <li>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." <i>Medicine Meets Virtual Reality 15</i>, Long Beach, CA, 2008.</li> <li>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, "<a href="2008/ASSIST%20-%20IEEE%20RFID.pdf"><span class="s10">ASSIST - Automated System for Surgical Instrument and Sponge Tracking</span></a>," in <i>IEEE International Converence on RFID</i>, 2008, pp. 297-302.</li> <li>P. Foroughi, D. Song, R. Taylor, and G Fichtinger, Computer Assisted Orthopedic Surgery, 2008, " <a href="2008/CAOS08-Jan21.pdf"><span class="s10">Ultrasound Based Localization of Pelvic Anatomical Coordinate System</span></a>," in <i>Computer Assisted Orthopaedic Surgery (CAOS)</i>, Hong Kong, 2008</li> <li>I. Fleming, M. Balicki, J. Koo, I. Iordachita, B. Mitchell, J. Handa, G. Hager, and R. Taylor, "<a href="2008/MICCAI%202008_Fleming.pdf"><span class="s10">Cooperative Robot Assistant for Retinal Microsurgery</span></a>," in <i>Medical Image Computing and Computer-Assisted Interventions (MICCAI)</i>. vol. LNCS 5242 New York: Springer Lecture Notes in Computer Science, 2008, pp. 543-551</li> <li>I. Fleming, S. Voros, B. Vagvolgyi, Z. Pezzementi, J. Handa, R. Taylor, and G. Hager, "<a href="2008/wacv2008_Fleming.pdf"><span class="s10">Intraoperative Visualization of Anatomical Targets in Retinal Surgery</span></a>," in <i>IEEE Workshop on Applications of Computer Vision (WACV)</i>, 2008, pp. 1-9.</li> <li>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 <i>Medical Image Computing and Computer-Assisted Intervention - MICCAI 2008</i>. vol. LNCS 5242 New York, 2008, pp. 871-879.</li> <li>P. Foroughi, D. Song, R. Taylor, and G Fichtinger, Computer Assisted Orthopedic Surgery, 2008, "<a href="2008/CAOS08-Jan21.pdf"><span class="s10">Ultrasound Based Localization of Pelvic Anatomical Coordinate System</span></a>," in <i>Computer Assisted Orthopaedic Surgery (CAOS)</i>, Hong Kong,</li> <li>A. Kapoor and R. Taylor, "<a href="2008/bimanual.pdf"><span class="s10">A Constrained Optimization Approach to Virtual Fixtures for Multi-Handed Tasks</span></a>," in <i>IEEE International Conference on Robotics and Automation (ICRA)</i>, Pasadena, 2008, pp. 3401-3406.2008.</li> <li>R. Jacques, R. Taylor, J. Wong, and T. McNutt, "<a href="2008/HPMICCAI2008-V1.pdf"><span class="s10">Towards Real-Time Radiation Therapy: GPU Accelerated Superposition/Convolution</span></a>," in <i>High-Performance Medical Image Computing and Computer Aided Intervention (HP-MICCAI)</i>, New York, 2008, p. In electronic proceedings at <a href="http://www.cse.buffalo.edu/hpmiccai/"><span class="s10">http://www.cse.buffalo.edu/hpmiccai/</span></a></li> <li>A. Deguet, R. Kumar, R. Taylor, and P. Kazanzides, "The cisst libraries for computer assisted intervention systems," in <i>2008 MICCAI Workshop - Systems and Architectures for Computer Assisted Interventions</i> New York, 2008. in electronic proceedings at <a href="http://www.midasjournal.org/browse/publication/294"><span class="s10">http://www.midasjournal.org/browse/publication/294</span></a>.</li> <li>B. Vagvolgyi, D. Simon, A. Deguet, P. Kazanzides, R. Kumar, C. Hasser, and R. Taylor, "The Surgical Assistant Workstation," in <i>2008 MICCAI Workshop - Systems and Architectures for Computer Assisted Interventions </i>New York: Kitware, 2008, p. in electronic proceedings at <a href="http://www.midasjournal.org/browse/publication/295"><span class="s10">http://www.midasjournal.org/browse/publication/295</span></a>.</li> <li>[1] B. Vagvolgyi, Li-Ming Su, R. Taylor, and G. D. Hager,&quot;Video to CT Registration for Image Overlay on Solid Organs&quot;, in <em>4th Workshop on Augmented Environments for Medical Imaging and Computer-Aided Surgery</em>, New York, September 10 2008 </li> <li>O. M. Ahmad, K. Ramamurthi, K. E. Wilson, K. Engelke, M. Bouxsein, and R. H. Taylor,"<a href="2009/SPIE2009_Ahmad_paper.pdf"><span class="s10">3D Structural Measurements of the Proximal Femur from 2D DXA Images Using a Statistical Atlas</span></a>", in <i>SPIE Medical Imaging</i>,Orlando, Florida,February 2009, pp. 726005-726005-8. 10.1117/12.811176.</li> <li>I. N. Fleming, H. Rivaz, K. Macura, L.-M. Su, U. Hamper, T. Lotan, G. Lagoda, A. Burnett, Russell H. Taylor, G. D. Hager, and E. M. Boctor,"<a href="2009/SPIE2009_Fleming_7261_89_final.pdf"><span class="s10">Ultrasound elastography: enabling technology for image guided laparoscopic prostatectomy</span></a>", in <i>SPIE Medical Imaging 2009: Visualization, Image-guided Procedures and Modeling</i>.,Orlando, Florida,Feb 2009, pp. 7261-7273.</li> <li>C. Kut, C. Schneider, N. Carter-Monroe, E. Boctor, L.-M. Su, and R. Taylor,"<a href="2009/SPIE2009_Kut.pdf"><span class="s10">Accuracy of Localization of Prostate Lesions Using Manual Palpation and Ultrasound Elastography</span></a>", in SPIE Symposium on Medical Imaging,Orlando, Florida,February 2009, pp. 726128.1-726128.9. .</li> <li>O. Sadowsky, J. Lee, G. Sutter, S. Wall, J. L. Prince, and R. H. Taylor, "<a href="2009/SPIE2009_Sadowsky.pdf"><span class="s10">Enhancement of mobile C-arm cone-beam reconstruction using prior anatomical models</span></a>," in <i>SPIE Medical Imaging 2009: Visualization, Image-guided Procedures and Modeling. </i>Orlando, Florida, 2009.</li> <li>Z. Sun, M. Balicki, J. Kang, J. Handa, R. Taylor, and I. Iordachita, "<a href="2009/ICRA2009_Sun.pdf"><span class="s10">Development and Preliminary Data of Novel Integrated Optical Micro-Force Sensing Tools for Retinal Microsurgery</span></a>", in IEEE International Conference on Robotics and Automation - ICRA 2009, Kobe, Japan, 2009, pp. 1897-1902</li> <li>D. Mirota, R. H. Taylor, M. Ishii, and G. D. Hager, "<a href="2009/SPIE2009_Mirota_paper.pdf"><span class="s10">Direct Endoscopic Video Registration for Sinus Surgery</span></a>," in <i>SPIE Medical Imagin</i>g: <i>Visualization, Image-guided Procedures and Modeling</i>, vol. 7261, Orlando, February 2009, vol 7261, pp. 72612K-1 - 72612K-8.</li> <li>J.-H. Han, M. Balicki, K. Zhang, X. Liu, J. Handa, R. Taylor, and J. U. Kang,"<a href="2009/CLEO2009_Han.pdf"><span class="s10">Common-path Fourier-domain optical coherence tomography with a fiber optic probe integrated into a surgical needle</span></a>", in <i>Conference on Lasers and Electro-Optics (CLEO)</i>,Baltimore,May 31-June 5 2009, pp. 163-166.</li> <li>Y. Otake, M. Armand, O. Sadowsky, M. Kutzner, R. Arminger, E. Basafa, P. Kazanzides, and R. Taylor,"<a href="2009/CAOS2009_Proceedings_Otake.pdf"><span class="s10">Development of a navigation system for femoral augmentation using an intraoperative C-arm reconstruction</span></a>", in <i>Computer-Assisted Orthopaedic Surgery (CAOS)</i>,Boston,June 17-20 2009, pp. 177-180.</li> <li>M. Keil, P. J. Stolka, M. Wiebel, G. Sakas, E. R. McVeigh, R. H. Taylor, and E. Boctor,"<a href="2009/ISBI2009_Keil.pdf"><span class="s10">Ultrasound and CT Registration Quality: Elastography vs. Classical B-Mode</span></a>", in <i>ISBI</i>,2009, pp. 967-970.</li> <li>G. Chintalapani and R. H. Taylor,"<a href="2009/MICCAI_PMMIA09_Chintalapani_CameraReady.pdf"><span class="s10">Integrating Statistical Models of Bone Density into Shape Based 2D-3D Registration Framework</span></a>", in <i>PMMIA: A workshop in Conjunction with MICCAI '09</i>,2009</li> <li>M. Kazhdan, P. Simari, T. McNutt, B. Wu, R. Jacques, M. Chuang, and R. Taylor,"<a href="2009/MICCAI2009_Kazhdan.pdf"><span class="s10">A Shape Relationship Descriptor for Radiation Therapy Planning</span></a> ", in <i>Medical Image Computing and Computer-Assisted Intervention - MICCAI</i>, London, September 2009, pp. 100-108. DOI 10.1007/978-3-642-04271-3_13; PMID Pending.</li> <li>D. Mirota, H. Wang, R. Taylor, M. Ishii, and H. Wang,&quot;Toward Video-Based Navigation for Endoscopic Endonasal Skull Base Surgery&quot;, in Medical Image Computing and Computer-Assisted Intervention (MICCAI),London,Sept 20-24 2009, pp. 91-99. PMID: Pending.</li> <li>M. Balicki, J.-H. Han, I. Iordachita, P. Gehlbach, J. Handa, R. H. Taylor, and J. Kang, "<a href="2009/MICCAI2009_Balicki.pdf"><span class="s10">Single Fiber Optical Coherence Tomography Microsurgical Instruments for Computer and Robot-Assisted Retinal Surgery</span></a>," in <i>Medical Image Computing and Computer Assisted Surgery (MICCAI 2009)</i>. vol. LNCS 5761, G.-Z. Y. e. al., Ed. London: Springer Verlag, 2009, pp. 108-115; PMID: Pending (<b>Best paper in Computer Assisted Intervention Systems and Medical Robotics)</b>.</li> <li>Kuo, C.-H., Taylor, R. H., Dai, J. S., and Iordachita, I., “Design of a Flexural Transmission for a Dexterous Telesurgical Robot for Throat and Upper Airway: A Preliminary Result,” Proceedings of The Hamlyn Symposium on Medical Robotics, G.-Z. Yang and A. Darzi, Eds., 25 May 2010, The Royal Society, London, United Kingdom, pp. 71-72 <strong>(Best Poster)</strong>.</li> </ol>

Refereed Conference Papers

Refereed Abstracts in Proceedings or Journals (partial list)

Significant Reports

PATENTS

PRESENTATIONS

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

Conferences and Workshops (excluding paper presentations)

Invited University Colloquia, Grand Rounds Presentations, and Seminars

Other

RESEARCH FUNDING (partial list)

Current

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 Active Multi-Spectral Illumination for Video Microscopy and Endoscopy
Dates 9/1/2008-6/30/2010
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

Completed

WORK HISTORY

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.1)
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.
1) Later was PI for Johns Hopkins' part when the project was expanded to include Johns Hopkins after I left IBM to join JHU.
rht.cv.txt · Last modified: 2019/08/07 16:01 (external edit)




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