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Fischer, Gregory S.
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A Remote Teleoperation of the da Vinci Surgical System for Hand Disabled
Keyword:
motion capture
,
robotic surgical system
,
ROS
,
signal processing
,
remote teleoperation
, and
electromyography
Creator:
Yang, Kehan
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-05-28
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
MRI Compatible Piezoelectric Actuator Development and Towards Application Based Simulation
Creator:
Zhao, Zhanyue Jimmy
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-08-13
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Development of a Lower Limb Exoskeleton and Application of Learning from Demonstrations for Controllers
Keyword:
Open source
,
Lower Limb Exoskeletons
,
Cooperative Controllers
,
Learning from Demonstration
, and
Motion Capture
Creator:
Goldfarb, Nathaniel
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-03-17
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
A New Stator Design and Validation of Hollow Cylindrical Piezoelectric Motor
Keyword:
FEM Simulation
and
Piezoelectric Actuator
Creator:
Wang, Yang
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-05-04
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
A Surgical Planning Toolkit for Robotic Stereotactic Neurosurgery
Keyword:
3D Slicer
,
Surgical Planning Toolkit
,
Neuronavigation
, and
Neurosurgery Robot
Creator:
Kool Rajamani, Dhruv
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-07-12
Resource Type:
Dissertation
Degree:
MS
Unit (Department):
Robotics Engineering
Towards Model Based Conformal Ablation using Robotically Driven Interstitial Ultrasound
Keyword:
Reinforcement Learning
,
Cancer Treatment
,
Robotics
,
Interstitial Ultrasound
,
Conformal Thermal Ablation
, and
MRI Surgical Robotics
Creator:
Gandomi, Katie Y.
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-04-20
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Development of a Customizable Bio-Mechanical Actuated Knee Orthosis for Exoskeletons Thesis
Keyword:
Rehabiliatation
,
Exoskeleton
,
Knee Orthosis
,
Medical Robotics
, and
Paraplegia
Creator:
Tacescu, Alex C.
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-04-29
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Novel Bidirectional Elastic Nonlinear Element (BENE) for Robotic Antagonistic Actuation
Creator:
Florez-Castillo, Juan-Diego
Advisor:
Popovic, Marko B.
Publisher:
Worcester Polytechnic Institute
Date Created:
2020-08-13
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Advancing Technologies for Interventional MRI Robotics with Clinical Applications
Keyword:
MRI Compatible Actuation
,
Piezoelectric Actuators
,
Real-Time Functional MRI
,
Magnetic Resonance Imaging
,
MRI for Closed Loop Rehabilitation
, and
Surgical Robotics
Creator:
Carvalho, Paulo A.
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2020-03-25
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
A Modular Robotic AFO for detecting phase changes during Walking Gait
Keyword:
Ankle Foot
Creator:
Michaels, Nathaniel I.
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2020-05-15
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Towards Automated Suturing of Soft Tissue: Automating Suturing Hand-off Task for da Vinci Research Kit Arm using Reinforcement Learning
Keyword:
Automated Suturing
,
Reinforcement Learning
,
Medical and Surgical Applications
,
Machine Learning and Adaptation
,
Cooperation and Collaboration in Human-Robot Teams
, and
da Vinci Research Kit
Creator:
Varier, Vignesh Manoj
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2020-05-14
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Compact and Low-Cost Acoustic-Resolution Photoacoustic Microscopy Based on Delta Configuration Actuator
Keyword:
Medical Robotics
,
Medical Imaging
,
Photoacoustic Imaging
, and
Delta Actuation
Creator:
Gao, Shang
Advisor:
Zhang, Haichong
Publisher:
Worcester Polytechnic Institute
Date Created:
2020-05-15
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Design, Development and Characterization of a Wrap Spring Clutch/Brake Mechanism as a Knee Joint for a Hybrid Exoskeleton
Keyword:
Trade Study Approach
,
Testing and Open Sourced
,
Biomechanics
,
Exoskeleton Knee Joint
,
Analytical Based Design
, and
Wrap Spring Clutch/Brake Mechanism
Creator:
Subra Mani, Vishnu Aishwaryan
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2020-05-16
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Mechanical Engineering
A mixed reality framework for surgical navigation: approach and preliminary results
Keyword:
Mixed Reality
,
Minimally Invasive Surgery
, and
Image Guidance
Creator:
Murlidaran, Shravan
Advisor:
Fichera, Loris
and
Korkin, Dmitry
Publisher:
Worcester Polytechnic Institute
Date Created:
2019-04-25
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Mechanical Redesign and Implementation of Intuitive User Input Methods for a Hand Exoskeleton Informed by User Studies on Individuals with Chronic Upper Limb Impairments
Keyword:
electromyography
,
user studies
,
voice control
,
extension
,
hand exoskeleton
, and
assistive device
Creator:
Meier, Tess Bisbee
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2019-04-24
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Robot-Enhanced ABA Therapy: Exploring Emerging Artificial Intelligence Embedded Systems in Socially Assistive Robots for the Treatment of Autism
Keyword:
Socially Assistive Robots
,
Autism Spectrum Disorder
,
Robot-enhanced Framework
,
Embedded Systems
,
Deep Learning
, and
Applied Behavior Analysis
Creator:
Calle Ortiz, Eduardo R
Advisor:
Fischer, Gregory S.
and
Whitehill, Jacob Richard
Publisher:
Worcester Polytechnic Institute
Date Created:
2019-08-08
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Computer Science
A Walking Controller for Humanoid Robots using Virtual Force
Keyword:
dynamic walking
,
biped walking
,
humanoid robots
, and
humanoid balancing
Creator:
Jagtap, Vinayak V
Advisor:
Gennert, Michael A.
Publisher:
Worcester Polytechnic Institute
Date Created:
2019-11-23
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
An Asynchronous Simulation Framework for Multi-User Interactive Collaboration: Application to Robot-Assisted Surgery
Keyword:
Soft-body Simulation Framework
,
Real Time Collaborative Learning
,
Closed Loop Simulator
,
Asynchronous Simulation Framework
,
Multi User Input Framework
, and
Surgical Robotics Simulator
Creator:
Munawar, Adnan
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2019-12-13
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Automating endoscopic camera motion for teleoperated minimally invasive surgery using inverse reinforcement learning
Keyword:
Machine Learning
,
Virtual Reality
,
Surgical Robotics
,
endoscope
, and
automation
Creator:
Agrawal, Ankur S
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2018-12-13
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Utilizing Compliance To Address Modern Challenges in Robotics
Keyword:
legged robotics
,
Robotics
,
soft robotics
, and
Control
Creator:
Ozel, Selim
Advisor:
Fischer, Gregory S.
and
Onal, Cagdas
Publisher:
Worcester Polytechnic Institute
Date Created:
2018-12-12
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Perspectives in control of conditionally controllable problems
Keyword:
conditional controllability
,
input limitations
,
Control
, and
motion-planning
Creator:
Ghorbani Faal, Siamak
Advisor:
Onal, Cagdas
Publisher:
Worcester Polytechnic Institute
Date Created:
2018-12-11
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Cooperative Object Manipulation with Force Tracking on the da Vinci Research Kit
Keyword:
Object Manipulation
,
Cooperative Manipulators
,
Parameter Identification
,
Impedance Control
,
da Vinci Surgical System
, and
Force Control
Creator:
Gondokaryono, Radian A
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2018-08-10
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Modeling & Analysis of Design Parameters for Portable Hand Orthoses to Assist Upper Motor Neuron Syndrome Impairments and Prototype Design
Keyword:
orthoses
,
medical robotics
,
stroke
,
wearable robtoics
,
traumatic brain injury
,
hand biomechanics
,
assistive devices
,
exoskeletons
, and
grasping
Creator:
Nycz, Christopher Julius
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2018-08-10
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Towards Closed-loop, Robot Assisted Percutaneous Interventions under MRI Guidance
Keyword:
needle steering
,
MRI
,
closed-loop
,
stereotactic neurosurgery
,
robot-assisted
, and
prostate interventions
Creator:
Patel, Niravkumar Amrutlal
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2017-04-19
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Implementation of a Modular Software Architecture on a Real-Time Operating System for Generic Control over MRI Compatible Surgical Robots
Keyword:
software architecture
,
Robotics
,
Real time
, and
MRI
Creator:
Gandomi-Bernal, Katie
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2018-04-25
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Constrained Motion Planning System for MRI-Guided, Needle-Based, Robotic Interventions
Keyword:
OpenIGTLink
,
surgical
,
ROS
,
intervention
,
Workspace
,
MoveIt!
,
MRI
,
Motion Planning
,
Robot
, and
3D Slicer
Creator:
Bove, Christopher
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2018-04-25
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Towards Hands-On Cooperative Control for Closed-Loop MRI-Guided Targeted Prostate Biopsy
Keyword:
Prostate cancer
,
Image-guided therapy
,
Teleoperation
,
Surgical Robotics
,
Needle-based interventions
,
Cooperative Control
, and
MRI-compatible robot
Creator:
Wartenberg, Marek
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2018-04-05
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
A Minimum-Bending-Energy Needle Model for Closed-Loop Localization During Image-Guided Insertion
Keyword:
needle insertion
,
Optimization
, and
MRI
Creator:
Schornak, Joseph George
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2018-04-25
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Force Feedback for the Patient Side Manipulator of the daVinci Research Kit
Keyword:
daVinci robot
,
PSM
, and
force feedback
Creator:
Novoseltseva, Anna
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2018-04-25
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Biomedical Engineering
Implementation of a Surgical Robot Dynamical Simulation and Motion Planning Framework
Keyword:
Motion Planning
,
CISST-ROS bridge
,
dynamic simulation
,
ROS integration
,
assistive path planning
, and
dVRK
Creator:
Munawar, Adnan
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2015-04-30
Resource Type:
Thesis
Degree:
ME
Unit (Department):
Robotics Engineering
Robotic System Development for Precision MRI-Guided Needle-Based Interventions
Keyword:
Image-guided therapy
,
MRI compatible robot
, and
Needle-based interventions
Creator:
Li, Gang
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2016-08-11
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Mechanical Engineering
Human Supervised Semi-Autonomous Approach for the DARPA Robotics Challenge Door Task
Keyword:
Atlas
,
Robot
,
Perception
,
door detection
, and
step planning
Creator:
Banerjee, Nandan
Advisor:
Padir, Taskin
Publisher:
Worcester Polytechnic Institute
Date Created:
2015-04-30
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Teleoperation of MRI-Compatible Robots with Hybrid Actuation and Haptic Feedback
Keyword:
medical robotics
,
Teleoperation
,
haptics
,
Image-guided therapy
,
force sensing
,
MRI-compatible robot
, and
multi-image registration
Creator:
Shang, Weijian
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2015-01-28
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Mechanical Engineering
Analysis and Realization of a Dual-Nacelle Tiltrotor Aerial Vehicle
Keyword:
UAV
,
Tiltrotor
, and
robot dynamics
Creator:
Heslinga, Paul
Advisor:
Nestinger, Stephen
Publisher:
Worcester Polytechnic Institute
Date Created:
2014-05-01
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Relating forearm muscle electrical activity to finger forces
Keyword:
prosthetics
,
EMG
,
proportional control
,
System Identification
,
orthotics
, and
EMG-Force model
Creator:
Keating, Jennifer
Advisor:
Clancy, Edward A.
Publisher:
Worcester Polytechnic Institute
Date Created:
2014-04-30
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Electrical & Computer Engineering
A Soft-Body Interconnect For Self-Reconfigurable Modular Robots
Keyword:
interconnect mechanism
and
soft-body material
Creator:
Ying, Min
Advisor:
Nestinger, Stephen
Publisher:
Worcester Polytechnic Institute
Date Created:
2014-04-21
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Mechanical Engineering
The Development of a Sensitive Manipulation End Effector
Keyword:
Series Elastic Actuators
,
sensitive
,
Robotics
, and
manipulator
Creator:
Coleman, Catherine
Advisor:
Torres-Jara, Eduardo
Publisher:
Worcester Polytechnic Institute
Date Created:
2014-02-10
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Passive Resonant Coil Based Fast Registration And Tracking System For Real-Time Mri-Guided Minimally Invasive Surgery
Keyword:
Stereotactic surgery
,
MRI guided intervention
,
Image based registration and tracking
,
Passive imaging coil
, and
Minimally invasive surgery
Creator:
Ma, Yunzhao
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2013-05-30
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Biomedical Engineering
Reconfigurable Fiducial-Integrated Modular Needle Driver For MRI-Guided Percutaneous Interventions
Keyword:
Registration
,
medical robot
,
image-guided surgery
,
needle steering
, and
MRI
Creator:
Ji, Wenzhi
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2013-04-25
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Biomedical Engineering
Force Sensing and Teleoperation of Continuum Robot for MRI-Guided Surgery
Keyword:
Fabry-Perot interferometer
,
Magnetic Resonance Imaging
,
Prostate cancer
,
brachytherapy
,
continuum robot
,
haptics
,
biopsy
,
piezoelectric motor
,
image-guided intervention
,
Teleoperation
, and
Surgical Robotics
Creator:
Su, Hao
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2013-04-24
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Mechanical Engineering
Analytical Workspace, Kinematics, and Foot Force Based Stability of Hexapod Walking Robots
Keyword:
Hexapod Walking Robot
,
Stability Margin
, and
Workspace
Creator:
Agheli Hajiabadi, Mohammad Mahdi
Advisor:
Nestinger, Stephen
Publisher:
Worcester Polytechnic Institute
Date Created:
2013-04-24
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Mechanical Engineering
Modular MRI Guided Device Development System: Development, Validation and Applications
Keyword:
neurosurgery
,
intervention
,
modular
,
Robotics
,
MRI
,
Surgical Robotics
,
Robot
, and
stereotaxy
Creator:
Cole, Gregory
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2013-04-04
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
The Design and Realization of a Sensitive Walking Platform
Keyword:
legged robotics
,
tactile feedback
, and
bipedal motion
Creator:
Chernyak, Vadim
Advisor:
Torres-Jara, Eduardo
and
Nestinger, Stephen
Publisher:
Worcester Polytechnic Institute
Date Created:
2012-04-24
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Mechanical Engineering
Magnetic Resonance Image segmentation using Pulse Coupled Neural Networks
Keyword:
fibroglandular
,
adipose
,
Gaussian Mixture Models
,
GM
,
breast cropping
,
Neural Networks
,
WM
,
Expectation Maximization
,
brain cropping
,
CSF
,
PCNN
,
small mammals
,
brain segmentation
, and
Segmentation
Creator:
Swathanthira Kumar, Murali Murugavel M
Advisor:
Sullivan, John M.
Publisher:
Worcester Polytechnic Institute
Date Created:
2009-05-08
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Mechanical Engineering
Modeling and Testing of a Series Elastic Actuator with Controllable Damping
Keyword:
Compliance with Precision
and
SEA
Creator:
Iyer, Sidharth Suresh
Advisor:
Nestinger, Stephen
Publisher:
Worcester Polytechnic Institute
Date Created:
2012-01-11
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Mechanical Engineering
A Dynamic Parameter Identification Method for Migrating Control Strategies Between Heterogeneous Wheeled Mobile Robots
Keyword:
Adaptive Control
,
trajectory tracking
,
Mobile robots
, and
robot dynamics
Creator:
Laut, Jeffrey W
Advisor:
Demetriou, Michael A.
Publisher:
Worcester Polytechnic Institute
Date Created:
2011-05-27
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Mechanical Engineering
MRI-Compatible Pneumatic Actuation Control Algorithm Evaluation and Test System Development
Keyword:
MRI-compatible lock
,
sliding mode control
,
pneumatic actuator
, and
MRI-compatible robot
Creator:
Wang, Yi
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2010-09-23
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Mechanical Engineering
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Creator
Agheli Hajiabadi, Mohammad Mahdi
1
Agrawal, Ankur S
1
Banerjee, Nandan
1
Bove, Christopher
1
Calle Ortiz, Eduardo R
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Advisor
Clancy, Edward A.
1
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1
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32
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2
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3
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Biomedical Engineering
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11
Robotics Engineering
31
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Worcester Polytechnic Institute
47
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19
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