Index Catalog // Digital WPI

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

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 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

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

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

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

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

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

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

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

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

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

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

Rat Model of Pre-Motor Parkinson's Disease: Behavioral and MRI Characterization.

Keyword:: aversion, resting state connectivity, MRI, Parkinson's disease, animal model, and cognition
Creator:: Rane, Pallavi S.
Advisor:: Pins, George D, King, Jean A., and Sotak, Christopher H.
Publisher:: Worcester Polytechnic Institute
Date Created:: 2011-04-14
Resource Type:: Dissertation
Degree:: PhD
Unit (Department):: Biomedical Engineering

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Modular MRI Guided Device Development System: Development, Validation and Applications

MRI Compatible Piezoelectric Actuator Development and Towards Application Based Simulation

Development of a Lower Limb Exoskeleton and Application of Learning from Demonstrations for Controllers

A Surgical Planning Toolkit for Robotic Stereotactic Neurosurgery

Advancing Technologies for Interventional MRI Robotics with Clinical Applications

A Modular Robotic AFO for detecting phase changes during Walking Gait

A Walking Controller for Humanoid Robots using Virtual Force

An Asynchronous Simulation Framework for Multi-User Interactive Collaboration: Application to Robot-Assisted Surgery

Utilizing Compliance To Address Modern Challenges in Robotics

Perspectives in control of conditionally controllable problems

Modeling & Analysis of Design Parameters for Portable Hand Orthoses to Assist Upper Motor Neuron Syndrome Impairments and Prototype Design

Towards Closed-loop, Robot Assisted Percutaneous Interventions under MRI Guidance

Towards Hands-On Cooperative Control for Closed-Loop MRI-Guided Targeted Prostate Biopsy

Magnetic Resonance Image segmentation using Pulse Coupled Neural Networks

Towards Model Based Conformal Ablation using Robotically Driven Interstitial Ultrasound

Robotic System Development for Precision MRI-Guided Needle-Based Interventions

Teleoperation of MRI-Compatible Robots with Hybrid Actuation and Haptic Feedback

Force Sensing and Teleoperation of Continuum Robot for MRI-Guided Surgery

Analytical Workspace, Kinematics, and Foot Force Based Stability of Hexapod Walking Robots

Rat Model of Pre-Motor Parkinson's Disease: Behavioral and MRI Characterization.

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