23.C. Rucker, J. Childs, P. Molaei, and H. B. Gilbert, "Transverse Anisotropy Stabilizes Concentric Tube Robots", IEEE Robotics and Automation Letters, Early Access/In Press. To be presented at ICRA '22. doi: 10.1109/LRA.2022.3140441
22.S. Ahmed and H. B. Gilbert, "Kinestatic Modeling of a Spatial Screw-Driven Continuum Robots", IEEE Robotics and Automation Letters, Early Access/In Press. To be presented at ICRA '22. doi: 10.1109/LRA.2022.3143896
21.H. B. Gilbert, "On the Mathematical Modeling of Slender Biomedical Continuum Robots", Frontiers in Robotics and AI, vol. 8, pp. 317, 2021. doi: 10.3389/frobt.2021.732643
20.W. Wang, G. Gardi, P. Malgaretti, V. Kishore, L. Koens, D. Son, H. B. Gilbert, Z. Wu, P. Harwani, E. Lauga, C. Holm, and M. Sitti, "Order and Information in the patterns of spinning magnetic micro-disks at the air-water interface", Science Advances, In Press.
19.T. L. Bruns, A. Remirez, M. Emerson, R. A. Lathrop, A. W. Mahoney, H. B. Gilbert, C. Liu, P. Russell, R. Labadie, K. Weaver, and R. J. Webster III, "A Modular, Multi-Arm Concentric Tube Robot System with Application to Transnasal Surgery for Orbital Tumors", International Journal of Robotics Research, vol. 40, no. 2-3, pp. 521-533, 2021. doi: 10.1177/02783649211000074
18.K. Incetan, I. O. Celik, A. Obeid, G. I. Gokceler, K. B. Ozyoruk, Y. Almalioglu, R. J. Chen, F. Mahmood, H. Gilbert, N. J. Durr, and M. Turan, "VR-Caps: A Virtual Environment for Capsule Endoscopy", Medical Image Analysis, vol. 70, pp. 101990, 2021. doi: 10.1016/j.media.2021.101990
17.K. L. Kozielski, A. Jahanshahi, H. B. Gilbert, Y. Yu, O. Erin, D. Francisco, F. Alosaimi, Y. Temel, and M. Sitti, "Nonresonant Powering of Injectable Nanoelectrodes Enables Deep Brain Stimulation in Freely Moving Mice", Science Advances, vol. 7, no. 3, eabc4189, 2021. doi: 10.1126/sciadv.abc4189
16.K. B. Ozyoruk, G. I. Gokceler, T. L. Bobrow, G. Coskun, K. Incetan, Y. Almalioglu, F. Mahmood, E. Curto, L. Perdigoto, M. Oliveira, H. Sahin, H. Araujo, H. Alexandrino, N. J. Durr, H. B. Gilbert, and M. Turan, "EndoSLAM Dataset and An Unsupervised Monocular Visual Odometry and DepthEstimation Approach for Endoscopic Videos", Medical Image Analysis, vol. 71, Paper no. 102058, 2021. doi: 10.1016/j.media.2021.102058
15.D. Son, H. B. Gilbert, and M. Sitti, "Magnetically Actuated Soft Capsule Endoscope for Fine-Needle Biopsy", Soft Robotics, vol. 7, no. 1, pp. 10-21, 2020. doi: 10.1089/soro.2018.0171
14.O. Erin, H. B. Gilbert, A. F. Tabak, and M. Sitti, “Elevation and Azimuth Rotational Actuation of an Untethered Millirobot by MRI Gradient Coils”, IEEE Transactions on Robotics, vol. 35, no. 6, pp. 1323-1337, 2019. doi:10.1109/Tro.2019.2934712
13.M. Turan, Y. Almalioglu, H. B. Gilbert, F. Mahmood, N. J. Durr, H. Araujo, A. E. Sari, A. Ajay, and M. Sitti, “Learning to Navigate Endoscopic Capsule Robots”, IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 3075-3082, 2019. doi: 10.1109/Lra.2019.2924846
12.D. B. Comber, E. B. Pitt, H. B. Gilbert, M. W. Powelson, E. Matijevich, J. S. Neimat, R. J. Webster, III, and E. J. Barth, “Optimization of Curvilinear Needle Trajectories for Transforamenal Hippocampotomy”, Operative Neurosurgery, vol. 13, no. 1, pp. 15-22, 2017. doi: 10.1227/NEU.0000000000001361
11. P. J. Swaney, P. A. York, H. B. Gilbert, J. Burgner-Kahrs, and R. J. Webster, III, “Design, Fabrication, and Testing of a Needle-sized Wrist for Surgical Instruments”, ASME Journal of Medical Devices, vol. 11, no. 1, pp. 014501-9, 2016. doi: 10.1115/1.4034575
10.H. B. Gilbert and R. J. Webster III, “Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots”, IEEE Robotics and Automation Letters, vol. 1, no. 1, pp. 98–105, 2016. doi: 10.1109/LRA.2015.2507706
9.H. B. Gilbert, R. J. Hendrick, and R. J. Webster III, “Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test”, IEEE Transactions on Robotics, vol. 32, no. 1, pp. 20–35, 2016. doi: 10.1109/TRO.2015.2500422
8.H. B. Gilbert, J. Neimat, and R. J. Webster III, “Concentric Tube Robots as Steerable Needles: Achieving Follow-The-Leader Deployment”, IEEE Transactions on Robotics, vol. 31, no. 2, pp. 264–258, 2015. doi: 10.1109/Tro.2015.2394331
7.P. J. Swaney, H. B. Gilbert, R. J. Webster III, P. T. Russell III, and K. D. Weaver, “Endonasal Skull Base Tumor Removal Using Concentric Tube Continuum Robots: A Phantom Study”, Journal of Neurological Surgery Part B: Skull Base, vol. 76, no. 2, pp. 145–149, 2015. doi: 10.1055/s-0034-1390401
6.R. Wirz, L. Torres, P. J. Swaney, H. B. Gilbert, R. Alterovitz, R. J. Webster III, K. D. Weaver, and P. T. Russell III, “An experimental feasibility study on robotic endonasal telesurgery”, Neurosurgery, vol. 76, no. 4, pp. 479–484, 2015. doi: 10.1227/NEU.0000000000000623
5.J Burgner, D. C. Rucker, H. B. Gilbert, P. J. Swaney, P. T. Russell III, K. D. Weaver, and R. J. Webster III, “A Telerobotic System for Transnasal Surgery”, IEEE/ASME Transactions on Mechatronics, vol. 19, no. 3, pp. 996–1006, 2013. doi: 10.1109/TMECH.2013.2265804
4.H. B. Gilbert, R. J. Hendrick, A. A. Remirez, and R. J. Webster III, “A Robot for Transnasal Surgery Featuring Needle-Sized Tentacle-Like Arms”, Expert Review of Medical Devices, vol. 11, pp. 5–7, 2014. doi: 10.1586/17434440.2013.854702
3.O. Celik, H. B. Gilbert, and M. K. O'Malley, "Dynamic Displacement Sensing, System Identification, and Control of a Speaker-Based Tendon Vibrator via Accelerometers," IEEE/ASME Transactions on Mechatronics, vol. 18, no. 2, pp. 812-807, 2013. doi: 10.1109/Tmech.2012.2195326
2.D. C. Rucker, J. Das, H. B. Gilbert, P. J. Swaney, M. I. Miga, N. Sarkar, and R. J. Webster III, “Sliding Mode Control of Steerable Needles”, IEEE Transactions on Robotics, vol. 29, pp. 1289–1299, 2013. doi: 10.1109/TRO.2013.2271098
1.P. J. Swaney, J. Burgner, H. B. Gilbert, and R. J. Webster III, “A Flexure-Based Steerable Needle: High Curvature with Reduced Tissue Damage”, IEEE Transactions on Biomedical Engineering, vol. 60, pp. 906–909, 2013. doi: 10.1109/TBME.2012.2230001
3.R. Wirz, L. Torres, P. Swaney, H. Gilbert, R. Alterovitz, R. Webster III, K. Weaver, and P. Russell III, "Teleoperation of Concentric Tube Robots for Skull Base Applications: Pituitary Surgery at a Distance?," Journal of Neurological Surgery Part B: Skull Base, vol. 76, no. S 01, pp. A151, 2015.
2.K. D. Weaver, R. J. Webster III, P. J. Swaney, J. Burgner, P. T. Russell III, H. B. Gilbert, J. Bekeny, and R. J. Hendrick, "The Use of Teleoperated Concentric Tube Robots for Transsphenoidal Parasellar Surgery.", Journal of Neurological Surgery Part B, vol. 74-A123, 2013.
1.P. Swaney, H. Gilbert, R. Webster, P. Russell, and K. Weaver, "Resection of Pituitary Lesions in a Phantom Model using Concentric Tube Robots with Endoscopic Visualization," Journal of Neurological Surgery Part B: Skull Base, vol. 76, no. S 01, pp. A149, 2015. doi: 10.1055/s-0035-1546613
22.S. Ahmed and H. B. Gilbert, "Multi-Scale Motion of Soft Continuum Robots using Tendons, Eccentric Rods, and a Cam," in IEEE International Conference on Soft Robotics, 2021, pp. 184-190. doi: 10.1109/RoboSoft51838.2021.9479231
21.S. Ahmed and H. B. Gilbert, "Characterization of a screw-based bending actuator for continuum robots," in International Symposium on Medical Robotics, 2020, pp. 89-95. doi: 10.1109/ismr48331.2020.9312936
20.K. S. McFall, K. Huang, H. B. Gilbert, M. K. Jouaneh, H. Bai, and D. M. Auslander, "Mechatronics and Robotics Education: Standardizing Foundational Key Concepts", in Conference of the American Society for Engineering Education, 2020, pp. 30250-1-30250-13. doi:10.18260/1-2--34966
19.H. B. Gilbert and I. S. Godage, "Validation of an Extensible Rod Model for Soft Continuum Manipulators," in IEEE International Conference on Soft Robotics (RoboSoft), 2019, pp. 711-716. Finalist, Best Paper Award doi:10.1109/ROBOSOFT.2019.8722721
18.M. Dechenaud, D. Laidig, T. Seel, H. B. Gilbert, and N. Kuznetsov, "Development of Adapted Guitar to Improve Motor Function After Stroke: Feasibility Study in Young Adults," in International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2019, pp. 5488-5493. doi: 10.1109/EMBC.2019.8856651
17.M. Turan, Y. Almalioglu, H. Gilbert, A. E. Sari, U. Soylu, and M. Sitti, “Endo-VMFuseNet: A Deep Visual-Magnetic Sensor Fusion Approach for Endoscopic Capsule Robots, ” in IEEE International Conference on Robotics and Automation, 2018.
16.M. Turan, Y. Almalioglu, H. Gilbert, H. Araujo, T. Cemgil, and M. Sitti, “EndoSensorFusion: Particle Filtering-Based Multi-sensory Data Fusion with Switching State-Space Model for Endoscopic Capsule Robots,” in IEEE International Conference on Robotics and Automation, 2018.
15.E. Pitt, P. Swaney, H. Gilbert, Y. Chen, R. Webster III, and E. Barth, "Enabling Helical Needle Trajectories with Minimal Actuation: A Screw-Based Approach to Concentric Tube Needle Deployment," in Hamlyn Symposium on Medical Robotics, 2016, pp. 56-57.
14.R. J. Hendrick, H. B. Gilbert, and R. J. Webster III, “Designing snap-free concentric tube robots: A local bifurcation approach”, in IEEE International Conference on Robotics and Automation, 2015, pp. 2256–2263.
13.P. J. Swaney, H. B. Gilbert, R. J. Hendrick, O. Commichau, R. Alterovitz, and R. J. Webster III, “Transoral Steerable Needles in The Lung: How Non-Annular Concentric Tube Robots Can Improve Targeting”, in Hamlyn Symposium on Medical Robotics, 2015.
12.L. G. Torres, A. Kuntz, H. B. Gilbert, P. J. Swaney, R. J. Hendrick, R. J. Webster III, and R. Alterovitz, “A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation”, in IEEE International Conference on Robotics and Automation, 2015, pp. 2361–2367.
11.P. York, P. J. Swaney, H. B. Gilbert, and R. J. Webster III, “A wrist for needle-sized surgical robots”, in IEEE International Conference on Robotics and Automation, 2015, pp. 1776–1781.
10.J. Burgner, H. B. Gilbert, J Granna, P. J. Swaney, and R. J. Webster III, “Workspace Characterization for Concentric Tube Continuum Robots”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, pp. 1269-1275. Finalist, Best Application Paper
9.J. Burgner, H. B. Gilbert, and R. J. Webster III, “On the Computational Design of Concentric Tube Robots: Incorporating Volume-Based Objectives”, in IEEE International Conference on Robotics and Automation, 2013, pp. 1185–1190. Finalist, Best Medical Robotics Paper
8.H. B. Gilbert and R. J. Webster III, “Can Concentric Tube Robots Follow The Leader?”, in IEEE International Conference on Robotics and Automation, 2013, pp. 4866–4872.
7.P. J. Swaney, J. Burgner, R. A. Lathrop, H. B. Gilbert, K. D. Weaver, and R. J. Webster III, “Minimally-Invasive Intracerebral Hemorrhage Removal Using An Active Cannula”, in IEEE International Conference on Robotics and Automation, 2013, pp. 219–224.
6.J. Burgner, H. B. Gilbert, P. J. Swaney, P. T. Russell III, and R. J. Webster III, “Continuum Robots Based on Precurved Nitinol Tubes: Evaluation of a Prototype for Transnasal Skull Base Surgery”, in Annual Meeting of the German Society for Computer and Robot-assisted Surgery, 2012.
5.H. B. Gilbert, P. J. Swaney, J. Burgner, K. D. Weaver, P. T. Russell III, and R. J. Webster III, “A Feasibility Study on the use of Concentric Tube Continuum Robots for Endonasal Skull Base Tumor Removal”, in Hamlyn Symposium on Medical Robotics, 2012.
4.P. J. Swaney, J. Burgner, T. S. Pheiffer, D. C. Rucker, H. B. Gilbert, J. E. Ondrake, A. L. Simpson, E. C. Burdette, M. I. Miga, and R. J. Webster III, “Tracked 3D Ultrasound Targeting with an Active Cannula”, in SPIE Medical Imaging, 2012.
3.P. J. Swaney, J. M. Croom, J. Burgner, H. B. Gilbert, D. C. Rucker, P. T. Russell III, K. D. Weaver, and R. J. Webster III, “Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery”, in ASME Dynamic Systems and Control, 2012.
2.J. Burgner, P. J. Swaney, D. C. Rucker, H. B. Gilbert, S. T. Nill, P. T. Russell III, K. D. Weaver, and R. J. Webster III, “A Bimanual Teleoperated System for Endonasal Skull Base Surgery”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 2517–2523.
1.H. B. Gilbert, O. Celik, and M. K. O'Malley, "Long-term double integration of acceleration for position sensing and frequency domain system identification," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2020, pp. 453-458. doi: 10.1109/AIM.2010.5695927
2.A. W. Mahoney, H. B. Gilbert, and R. J. Webster, III, “A Review of Concentric Tube Robots: Modeling, Control, Design, Planning, and Sensing”, in The Encyclopedia of Medical Robotics, pp. 181-202: World Scientific, 2018.
1.H. B. Gilbert, D. C. Rucker, and R. J. Webster III, “Concentric Tube Robots: The State of the Art and Future Directions”, in Springer Tracts in Advanced Robotics, 16th ed., vol. 114, Springer International Publishing, 2016, pp. 253-269.