Author Publications

2013

Jahya, Alex and Herink, Mark and Misra, Sarthak (2013) A framework for predicting three-dimensional prostate deformation in real time. The International Journal of Medical Robotics and Computer Assisted Surgery . ISSN 1478-596X

Peerdeman, Bart and Stramigioli, Stefano and Hekman, Edsko E.G. and Brouwer, Dannis M. and Misra, Sarthak (2013) Development of underactuated prosthetic fingers with joint locking and electromyographic control. Mechanical engineering research, 3 (1). pp. 130-142. ISSN 1927-0607

Reilink, Rob and Kappers, Astrid M.L. and Stramigioli, Stefano and Misra, Sarthak (2013) Evaluation of robotically controlled advanced endoscopic instruments. The International Journal of Medical Robotics and Computer Assisted Surgery . ISSN 1478-596X

2012

Abayazid, M. and Buijs op den, J. and Korte de, C.L. and Misra, S. (2012) Effect of skin thickness on target motion during needle insertion into soft-tissue phantoms. In: Fourth IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, 24-27 June 2012, Rome, Italy.

Abayazid, Momen and Roesthuis, Roy J. and Reilink, Rob and Misra, Sarthak (2012) Integrating deflection models and image feedback for real-time flexible needle steering. IEEE transactions on robotics, online pre-publicati . pp. 1-12. ISSN 1552-3098

Assaad, Wissam and Misra, Sarthak (2012) Combining ultrasound-based elasticity estimation and FE models to predict 3D target displacement. Medical engineering and physics, online pre-publicati . pp. 1-6. ISSN 1350-4533

Franken, Michel and Misra, Sarthak and Stramigioli, Stefano (2012) Improved transparency in energy-based bilateral telemanipulation. Mechatronics, 22 (1). pp. 45-54. ISSN 0957-4158

Jahya, Alex and Heijden van der, Ferdinand and Misra, Sarthak (2012) Observations of three-dimensional needle deflection during insertion into soft tissue. In: Fourth IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics 2012, 24-27 June 2012, Roma, Italy.

Jahya, Alex and Schouten, Martijn G. and Fütterer, Jurgen J. and Misra, Sarthak (2012) On the importance of modelling organ geometry and boundary conditions for predicting three-dimensional prostate deformation. Computer Methods in Biomechanics and Biomedical Engineering . ISSN 1025-5842

Khalil, I.S.M. and Keuning, J.D. and Abelmann, L. and Misra, S. (2012) Wireless magnetic-based control of paramagnetic microparticles. In: Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, NioRob 2012, 24-27 June 2012, Rome, Italy .

Khalil, I.S.M. and Pichel, M.P. and Zondervan, L. and Abelmann, L. and Misra, S. (2012) Characterization and Control of Biological Microrobots. In: 13th international symposium on experimental robotics, June 2012, Quebec, Canada.

Khalil, I.S.M. and Sabanovic, Asif and Misra, Sarthak (2012) An Energy-Based State Observer for Dynamical Subsystems with Inaccessible State Variables. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, 7-11 October 2012, Vilamoura, Portugal.

Khalil, I.S.M. and Metz, R.M.P. and Abelmann, L. and Misra, S. (2012) Interaction Force Estimation During Manipulation of Microparticles. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, 7-11 October 2012, Vilamoura, Portugal.

Peerdeman, Bart and Fabrizi, Ugo and Palli, Gianluca and Melchiorri, Claudio and Stramigioli, Stefano and Misra, Sarthak (2012) Development of prosthesis grasp control systems on a robotic testbed. In: 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, 24-27 June 2012, Rome, Italy.

Peerdeman, Bart and Pieterse, Gert Jan and Stramigioli, Stefano and Rietman, Hans and Hekman, Edsko and Brouwer, Dannis and Misra, Sarthak (2012) Design of joint locks for underactuated fingers. In: 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, 24-27 June 2012, Rome, Italy.

Peerdeman, Bart and Smit, Gerwin and Stramigioli, Stefano and Plettenburg, Dick and Misra, Sarthak (2012) Evaluation of pneumatic cylinder actuators for hand prostheses. In: 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, 24-27 June 2012, Rome, Italy.

Reilink, Rob and Stramigioli, Stefano and Misra, Sarthak (2012) Pose Reconstruction of Flexible Instruments from Endoscopic Images using Markers. In: Proceedings of International Conference on Robotics and Automation (ICRA), 14-18 May, 2012, St. Paul, USA.

Roesthuis, R.J. and Abayazid, M. and Misra, S. (2012) Mechanics-Based Model for Predicting In-Plane Needle Deflection with Multiple Bends. In: Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, 24-27 June 2012, Rome, Italy.

Schouten, M.G. and Bomers, J.G.R and Yakar, D. and Huisman, H. and Rothgang, E. and Bosboom, D. and Scheenen, T.W.J. and Misra, S. and Futterer, J.J. (2012) Evaluation of a robotic technique for transrectal MRI-guided prostate biopsies. European Radiology, 22 (2). pp. 476-483. ISSN 0938-7994

Stap van der, N. and Reilink, R. and Misra, S. and Broeders, I. and Heijden van der, F. (2012) A feasibility study of optical flow-based navigation during colonoscopy. In: 26th International Congress and Exhibition on Computer Assisted Radiology and Surgery, CARS 2012, June 27-30, 2012, Pisa, Italy.

Stap van der, N. and Reilink, R. and Misra, S. and Broeders, I.A.M.J. and Heijden van der, F. (2012) The Use of the Focus of Expansion for Automated Steering of Flexible Endoscopes. In: 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, 24-27 June 2012, Rome, Italy.

Veen van, Youri R.J. and Jahya, Alex and Misra, Sarthak (2012) Macroscopic and microscopic observations of needle insertion into gels. Proceedings of the Institution of Mechanical Engineers. part H, Journal of engineering in medicine, 226 (6). pp. 441-449. ISSN 0954-4119

2011

Buijs op den, Jorn and Abayazid, Momen and Korte de, Chris L. and Misra, Sarthak (2011) Target motion predictions for pre-operative planning during needle-based interventions. In: Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC, 30 August - 3 September 2011, Boston, USA.

Buijs op den, Jorn and Hansen, Hendrik H.G. and Lopata, Richard G.P. and Korte de, Chris L. and Misra, Sarthak (2011) Predicting target displacements using ultrasound elastography and finite element modeling. IEEE Transactions on Biomedical Engineering, 58 (11). pp. 3143-3155. ISSN 0018-9294

Franken, Michel and Stramigioli, Stefano and Misra, Sarthak and Secchi, Cristian and Macchelli, Alessandro (2011) Bilateral telemanipulation With time delays: a two-layer approach combining passivity and transparency. IEEE Transactions on Robotics, 27 (4). pp. 741-756. ISSN 1552-3098

Jahya, Alex and Misra, Sarthak (2011) Microscopic observations of needle and soft-tissue simulant interactions. In: 23rd Congress of the International Society of Biomechanics, 3-7 July 2011, Brussel, Belgium.

Keuning, Jasper D. and Vries de, Jeroen and Abelmann, Leon and Misra, Sarthak (2011) Image-based magnetic control of paramagnetic microparticles in water. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, 25-30 September 2011, San Francisco, CA, USA.

Kuperij, Nicole and Reilink, Rob and Schwartz, Matthijs P. and Stramigioli, Stefano and Misra, Sarthak and Broeders, Ivo A.M.J. (2011) Design of a user interface for intuitive colonoscope control. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, 25-30 September 2011, San Francisco, CA, USA.

Peerdeman, Bart and Boere, Daphne and Witteveen, Heidi and Huis in 't Veld, Rianne and Hermens, Hermie and Stramigioli, Stefano and Rietman, Hans and Veltink, Peter and Misra, Sarthak (2011) Myoelectric forearm prostheses: State of the art from a user-centered perspective. Journal of Rehabilitation Research & Development, 48 (6). pp. 719-738. ISSN 0748-7711

Reilink, Rob and Stramigioli, Stefano and Kappers, Astrid M.L. and Misra, Sarthak (2011) Evaluation of flexible endoscope steering using haptic guidance. The International Journal of Medical Robotics and Computer Assisted Surgery . ISSN 1478-5951

Reilink, Rob and Stramigioli, Stefano and Misra, Sarthak (2011) Three-dimensional pose reconstruction of flexible instruments from endoscopic images. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, 25-30 September 2011, San Francisco, CA, USA.

Roesthuis, Roy J. and Veen van, Youri R.J. and Jahya, Alex and Misra, Sarthak (2011) Mechanics of needle-tissue interaction. In: International Conference on Intelligent Robots and Systems, IROS 2011, 25-30 September 2011, San Francisco, CA, USA.

Vries de, J. and Keuning, J. and Zondervan, L. and Misra, S. and Abelmann, L. (2011) Image-based magnetic control of self-propelling catalytic micro motors. In: 22nd Micromechanics and Microsystems Technology Europe Workshop, MME 2011, 19-22 June 2011, Tonsberg, Norway.

2010

Cowan, Noah J. and Goldberg, Ken and Chirikjian, Gregory S. and Fichtinger, Gabor and Alterovitz, Ron and Reed, Kyle B. and Kallem, Vinutha and Park, Wooram and Misra, Sarthak and Okamura, Allison M. (2010) Robotic needle steering: design, modeling, planning, and image guidance. In: Surgical Robotics - Systems, Applications, and Visions. Springer, pp. 557-582. ISBN 9781441911254

Franken, Michel and Misra, Sarthak and Stramigioli, Stefano (2010) Friction compensation in energy-based bilateral telemanipulation. In: Proceedings of International Conference on Intelligent Robots and Systems (IROS),, 18-22 Oct, 2010, Taipei, Taiwan.

Franken, Michel and Reilink, Rob and Misra, Sarthak and Stramigioli, Stefano (2010) Multi-dimensional passive sampled port-hamiltonian systems. In: Proceedings of International Conference on Robotics and Automation (ICRA), 3-8 May, 2010, Alaska, USA.

Fütterer, Jurgen J. and Misra, Sarthak and Macura, Katarzyna J. (2010) MRI of the prostate: potential role of robots. Imaging in Medicine, 2 (5). pp. 583-592. ISSN 1755-5191

Misra, S. and Reed, K.B. and Schafer, B.W. and Ramesh, K.T. and Okamura, A.M. (2010) Mechanics of Flexible Needles Robotically Steered through Soft Tissue. The International Journal of Robotics Research, 29 (13). pp. 1640-1660. ISSN 0278-3649

Misra, Sarthak and Ramesh, K.T. and Okamura, Allison M. (2010) Modelling of non-linear elastic tissues for surgical simulation. Computer Methods in Biomechanics and Biomedical Engineering, 13 (6). pp. 811-818. ISSN 1025-5842

Peerdeman, Bart and Boere, Daphne and Kallenberg, Laura and Stramigioli, Stefano and Misra, Sarthak (2010) A Biomechanical Model for the Development of Myoelectric Hand Prosthesis Control Systems. In: 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 31 Aug - 4 Sep 2010, Buenos Aires, Argentina.

Reilink, Rob and Bruin de, Gart and Franken, Michel and Mariani, Massimo A. and Misra, Sarthak and Stramigioli, Stefano (2010) Endoscopic Camera Control by Head Movements for Thoracic Surgery. In: 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, 26-29 Sept. 2010, Tokyo, Japan.

Reilink, Rob and Stramigioli, Stefano and Misra, Sarthak (2010) Image-Based Flexible Endoscope Steering. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010, 18-22 Oct 2010, Taipei, Taiwan.

2009

Misra, Sarthak (2009) Realistic tool-tissue interaction models for surgical simulation and planning. thesis.

Misra, Sarthak and Fuernstahl, Philipp and Ramesh, K.T. and Okamura, Allison M. and Harders, Matthias (2009) Quantifying perception of nonlinear elastic tissue models using multidimensional scaling. In: Third Joint EuroHaptics Conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009, 18-20 March 2009, Salt Lake City, USA.

Misra, Sarthak and Reed, Kyle B. and Schafer, Benjamin W. and Ramesh, K.T. and Okamura, Allison M. (2009) Observations and models for needle-tissue interactions. In: IEEE International Conference on Robotics and Automation, ICRA '09, 12-17 May 2009, Kobe, Japan.

Misra, S. and Macura, K.J. and Ramesh, K.T. and Okamura, A.M. (2009) The importance of organ geometry and boundary constraints for planning of medical interventions. Medical Engineering & Physics, 31 (2). pp. 195-206. ISSN 1350-4533

Misra, Sarthak and Reed, Kyle B. and Ramesh, K.T. and Okamura, Allison M. (2009) Observations and models for needle-tissue interactions. In: 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC, 3-6 Sept. 2009, Minneapolis, MN, USA.

2008

Misra, Sarthak and Ramesh, K.T. and Okamura, Allison M. (2008) Modeling of tool-tissue interactions for computer-based surgical simulation: a literature review. Presence: Teleoperators and Virtual Environments, 17 (5). pp. 463-491. ISSN 1054-7460

2004

Ma, Ou and Wang, Jiegao and Misra, Sarthak and Liu, Michael (2004) On the validation of SPDM task verification facility. Journal of Robotic Systems, 21 (5). pp. 219-235. ISSN 0741-2223