D Caleb Rucker
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Explore the profile of D Caleb Rucker including associated specialties, affiliations and a list of published articles.
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11
Citations
255
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Recent Articles
1.
Ferguson J, Rucker D, Webster 3rd R
IEEE Trans Robot
. 2024 Oct;
40:1813-1827.
PMID: 39464302
Continuum robots navigate narrow, winding passageways while safely and compliantly interacting with their environments. Sensing the robot's shape under these conditions is often done indirectly, using a few coarsely distributed...
2.
Riojas K, Anderson P, Lathrop R, Herrell S, Rucker D, Webster Iii R
IEEE Trans Biomed Eng
. 2019 Mar;
66(11):3176-3184.
PMID: 30835205
Objective: This paper describes a surgical device that provides both wrist and elbow dexterity without motors or electronics. The device provides dexterity advantages in minimally invasive surgery typically associated with...
3.
Su H, Li G, Rucker D, Webster Iii R, Fischer G
Ann Biomed Eng
. 2016 Mar;
44(10):2863-2873.
PMID: 26983842
This paper presents the design, modeling and experimental evaluation of a magnetic resonance imaging (MRI)-compatible concentric tube continuum robotic system. This system enables MRI-guided deployment of a precurved and steerable...
4.
Orekhov A, Bryson C, Till J, Chung S, Rucker D
Annu Int Conf IEEE Eng Med Biol Soc
. 2016 Jan;
2015:5264-7.
PMID: 26737479
In this paper, we present the design, construction, and control of a six-degree-of-freedom (DOF), 12 mm diameter, parallel continuum manipulator with a 2-DOF, cable-driven grasper. This work is a proof-of-concept...
5.
Rucker D, Das J, Gilbert H, Swaney P, Miga M, Sarkar N, et al.
IEEE Trans Robot
. 2014 Nov;
29(5):1289-1299.
PMID: 25400527
Steerable needles can potentially increase the accuracy of needle-based diagnosis and therapy delivery, provided they can be adequately controlled based on medical image information. We propose a novel sliding mode...
6.
Rucker D, Webster 3rd R, Chirikjian G, Cowan N
Int J Rob Res
. 2014 Aug;
29(10):1263-1280.
PMID: 25125773
Robots consisting of several concentric, preshaped, elastic tubes can work dexterously in narrow, constrained, and/or winding spaces, as are commonly found in minimally invasive surgery. Previous models of these "active...
7.
Burgner J, Rucker D, Gilbert H, Swaney P, Russell 3rd P, Weaver K, et al.
IEEE ASME Trans Mechatron
. 2014 Aug;
19(3):996-1006.
PMID: 25089086
Mechanics-based models of concentric tube continuum robots have recently achieved a level of sophistication that makes it possible to begin to apply these robots to a variety of real-world clinical...
8.
Simpson A, Sun K, Pheiffer T, Rucker D, Sills A, Thompson R, et al.
IEEE Trans Biomed Eng
. 2014 May;
61(6):1833-43.
PMID: 24845293
Surgical navigation relies on accurately mapping the intraoperative state of the patient to models derived from preoperative images. In image-guided neurosurgery, soft tissue deformations are common and have been shown...
9.
Rucker D, Wu Y, Clements L, Ondrake J, Pheiffer T, Simpson A, et al.
IEEE Trans Med Imaging
. 2013 Oct;
33(1):147-58.
PMID: 24107926
In open abdominal image-guided liver surgery, sparse measurements of the organ surface can be taken intraoperatively via a laser-range scanning device or a tracked stylus with relatively little impact on...
10.
Burgner J, Swaney P, Bruns T, Clark M, Rucker D, Burdette E, et al.
J Med Device
. 2013 Aug;
6(4):410071-410077.
PMID: 23904905
Accessing a specific, predefined location identified in medical images is a common interventional task for biopsies and drug or therapy delivery. While conventional surgical needles provide little steerability, concentric tube...