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Jessica Burgner-Kahrs

Jessica Burgner

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affiliation: University of Hanover, Germany

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Books and Theses

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2010
[b1]
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Jessica Burgner-Kahrs:
Robot Assisted Laser Osteotomy. Karlsruhe University, Germany, 2010

Journal Articles

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2024
[j33]
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Reinhard M. Grassmann, Chengnan Shentu, Taqi Hamoda, Puspita Triana Dewi, Jessica Burgner-Kahrs:
Open continuum robotics-one actuation module to create them all. Frontiers Robotics AI 11 (2024)
[j32]
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Chengnan Shentu, Enxu Li, Chaojun Chen, Puspita Triana Dewi, David B. Lindell, Jessica Burgner-Kahrs:
MoSS: Monocular Shape Sensing for Continuum Robots. IEEE Robotics Autom. Lett. 9(2): 1524-1531 (2024)
[j31]
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Priyanka Rao, Oren Salzman, Jessica Burgner-Kahrs:
Towards Contact-Aided Motion Planning for Tendon-Driven Continuum Robots. IEEE Robotics Autom. Lett. 9(5): 4687-4694 (2024)
[j30]
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Quentin Peyron, Jessica Burgner-Kahrs:
Stability Analysis of Tendon Driven Continuum Robots and Application to Active Softening. IEEE Trans. Robotics 40: 85-100 (2024)
[j29]
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Sven Lilge, Kathrin Nuelle, Jake A. Childs, Kefei Wen, D. Caleb Rucker, Jessica Burgner-Kahrs:
Parallel-Continuum Robots: A Survey. IEEE Trans. Robotics 40: 3252-3270 (2024)
2023
[j28]
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Sébastien Briot, Jessica Burgner-Kahrs:
Editorial: New frontiers in parallel robotics. Frontiers Robotics AI 10 (2023)
[j27]
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Priyanka Rao, Chloe Pogue, Quentin Peyron, Eric D. Diller, Jessica Burgner-Kahrs:
Modeling and Analysis of Tendon-Driven Continuum Robots for Rod-Based Locking. IEEE Robotics Autom. Lett. 8(6): 3126-3133 (2023)
[j26]
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Hanna Jiamei Zhang, Matthew Giamou, Filip Maric, Jonathan Kelly, Jessica Burgner-Kahrs:
CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots. IEEE Robotics Autom. Lett. 8(11): 7679-7686 (2023)
[j25]
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Sven Lilge, Jessica Burgner-Kahrs:
Kinetostatic Modeling of Tendon-Driven Parallel Continuum Robots. IEEE Trans. Robotics 39(2): 1563-1579 (2023)
2022
[j24]
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Reinhard M. Grassmann, Priyanka Rao, Quentin Peyron, Jessica Burgner-Kahrs:
FAS - A Fully Actuated Segment for Tendon-Driven Continuum Robots. Frontiers Robotics AI 9: 873446 (2022)
[j23]
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Sven Lilge, Kefei Wen, Jessica Burgner-Kahrs:
Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links. Frontiers Robotics AI 9 (2022)
[j22]
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Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs:
Continuum robot state estimation using Gaussian process regression on SE(3). Int. J. Robotics Res. 41(13-14): 1099-1120 (2022)
[j21]
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Priyanka Rao, Quentin Peyron, Jessica Burgner-Kahrs:
Shape Representation and Modeling of Tendon-Driven Continuum Robots Using Euler Arc Splines. IEEE Robotics Autom. Lett. 7(3): 8114-8121 (2022)
2021
[j20]
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Ernar Amanov, Thien-Dang Nguyen, Jessica Burgner-Kahrs:
Tendon-driven continuum robots with extensible sections - A model-based evaluation of path-following motions. Int. J. Robotics Res. 40(1) (2021)
[j19]
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Georg Böttcher, Sven Lilge, Jessica Burgner-Kahrs:
Design of a Reconfigurable Parallel Continuum Robot With Tendon-Actuated Kinematic Chains. IEEE Robotics Autom. Lett. 6(2): 1272-1279 (2021)
2020
[j18]
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Priyanka Rao, Quentin Peyron, Sven Lilge, Jessica Burgner-Kahrs:
How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance. Frontiers Robotics AI 7: 630245 (2020)
[j17]
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Vincent Modes, Jessica Burgner-Kahrs:
Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes. IEEE Robotics Autom. Lett. 5(1): 103-110 (2020)
[j16]
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Kathrin Nuelle, Tim Sterneck, Sven Lilge, Dezhu Xiong, Jessica Burgner-Kahrs, Tobias Ortmaier:
Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot. IEEE Robotics Autom. Lett. 5(4): 5811-5818 (2020)
2019
[j15]
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Josephine Granna, Arya Nabavi, Jessica Burgner-Kahrs:
Computer-assisted planning for a concentric tube robotic system in neurosurgery. Int. J. Comput. Assist. Radiol. Surg. 14(2): 335-344 (2019)
[j14]
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David Black, Sven Lilge, Carolin Fellmann, Anke V. Reinschluessel, Lars Kreuer, Arya Nabavi, Horst K. Hahn, Ron Kikinis, Jessica Burgner-Kahrs:
Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot. J. Medical Robotics Res. 4(2): 1950004:1-1950004:14 (2019)
[j13]
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Mohamed Taha Chikhaoui, Sven Lilge, Simon Kleinschmidt, Jessica Burgner-Kahrs:
Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot With Three Extensible Segments. IEEE Robotics Autom. Lett. 4(2): 989-996 (2019)
[j12]
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Reinhard Grassmann, Jessica Burgner-Kahrs:
Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space. IEEE Robotics Autom. Lett. 4(4): 4192-4199 (2019)
2018
[j11]
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Mohamed Taha Chikhaoui, Josephine Granna, Julia Starke, Jessica Burgner-Kahrs:
Toward Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots. IEEE Robotics Autom. Lett. 3(3): 1793-1800 (2018)
[j10]
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Andrey V. Kudryavtsev, Mohamed Taha Chikhaoui, Aleksandr Liadov, Patrick Rougeot, Fabien Spindler, Kanty Rabenorosoa, Jessica Burgner-Kahrs, Brahim Tamadazte, Nicolas Andreff:
Eye-in-Hand Visual Servoing of Concentric Tube Robots. IEEE Robotics Autom. Lett. 3(3): 2315-2321 (2018)
2017
[j9]
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Josephine Granna, Yi Guo, Kyle D. Weaver, Jessica Burgner-Kahrs:
Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evacuation. J. Medical Robotics Res. 2(1): 1750004:1-1750004:9 (2017)
2016
[j8]
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Rowena E. Ong, Courtenay L. Glisson, Jessica Burgner-Kahrs, Amber L. Simpson, Andrei Danilchenko, Ray A. Lathrop, S. Duke Herrell, Robert J. Webster III, Michael I. Miga, Robert L. Galloway:
A novel method for texture-mapping conoscopic surfaces for minimally invasive image-guided kidney surgery. Int. J. Comput. Assist. Radiol. Surg. 11(8): 1515-1526 (2016)
[j7]
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Josephine Granna, Isuru S. Godage, Raul Wirz, Kyle D. Weaver, Robert J. Webster III, Jessica Burgner-Kahrs:
A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation. IEEE Robotics Autom. Lett. 1(2): 876-883 (2016)
2015
[j6]
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Jessica Burgner-Kahrs, D. Caleb Rucker, Howie Choset:
Continuum Robots for Medical Applications: A Survey. IEEE Trans. Robotics 31(6): 1261-1280 (2015)
2014
[j5]
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Sachin Patil, Jessica Burgner, Robert J. Webster III, Ron Alterovitz:
Needle Steering in 3-D Via Rapid Replanning. IEEE Trans. Robotics 30(4): 853-864 (2014)
2013
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Philip J. Swaney, Jessica Burgner, Hunter B. Gilbert, Robert J. Webster III:
A Flexure-Based Steerable Needle: High Curvature With Reduced Tissue Damage. IEEE Trans. Biomed. Eng. 60(4): 906-909 (2013)
[j3]
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Amber L. Simpson, Jessica Burgner, Courtenay L. Glisson, S. Duke Herrell, Burton Ma, Thomas S. Pheiffer, Robert J. Webster III, Michael I. Miga:
Comparison Study of Intraoperative Surface Acquisition Methods for Surgical Navigation. IEEE Trans. Biomed. Eng. 60(4): 1090-1099 (2013)
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Jessica Burgner, Philip J. Swaney, Ray A. Lathrop, Kyle D. Weaver, Robert J. Webster III:
Debulking From Within: A Robotic Steerable Cannula for Intracerebral Hemorrhage Evacuation. IEEE Trans. Biomed. Eng. 60(9): 2567-2575 (2013)
2010
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Lüder Alexander Kahrs, Jessica Burgner, Thomas Klenzner, Jörg Raczkowsky, Jörg Schipper, Heinz Wörn:
Planning and simulation of microsurgical laser bone ablation. Int. J. Comput. Assist. Radiol. Surg. 5(2): 155-162 (2010)

Conference and Workshop Papers

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2024
[c42]
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Puspita Triana Dewi, Priyanka Rao, Jessica Burgner-Kahrs:
A Lightweight Modular Segment Design for Tendon-Driven Continuum Robots with Pre-Programmable Stiffness. RoboSoft 2024: 531-536
2023
[c41]
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Zhiling Zou, Jessica Burgner-Kahrs, Thomas Looi, James M. Drake:
Concentric Tube Robot Optimization and Path Planning for Epilepsy Surgeries. ISMR 2023: 1-7
2022
[c40]
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Chloe Pogue, Priyanka Rao, Quentin Peyron, Jongwoo Kim, Jessica Burgner-Kahrs, Eric D. Diller:
Multiple Curvatures in a Tendon-Driven Continuum Robot Using a Novel Magnetic Locking Mechanism. IROS 2022: 472-479
[c39]
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Reinhard M. Grassmann, Ryan Zeyuan Chen, Nan Liang, Jessica Burgner-Kahrs:
A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots. IROS 2022: 9550-9557
2021
[c38]
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Nan Liang, Reinhard M. Grassmann, Sven Lilge, Jessica Burgner-Kahrs:
Learning-based Inverse Kinematics from Shape as Input for Concentric Tube Continuum Robots. ICRA 2021: 1387-1393
[c37]
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Priyanka Rao, Quentin Peyron, Jessica Burgner-Kahrs:
Using Euler Curves to Model Continuum Robots. ICRA 2021: 1402-1408
[c36]
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Yunti Xu, Quentin Peyron, Jongwoo Kim, Jessica Burgner-Kahrs:
Design of Lightweight and Extensible Tendon-Driven Continuum Robots using Origami Patterns. RoboSoft 2021: 308-314
2019
[c35]
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Reinhard Grassmann, Jessica Burgner-Kahrs:
On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3). Robotics: Science and Systems 2019
2018
[c34]
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Reinhard Grassmann, Vincent Modes, Jessica Burgner-Kahrs:
Learning the Forward and Inverse Kinematics of a 6-DOF Concentric Tube Continuum Robot in SE(3). IROS 2018: 5125-5132
2017
[c33]
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Ernar Amanov, Josephine Granna, Jessica Burgner-Kahrs:
Toward improving path following motion: Hybrid continuum robot design. ICRA 2017: 4666-4672
[c32]
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Julia Starke, Ernar Amanov, Mohamed Taha Chikhaoui, Jessica Burgner-Kahrs:
On the merits of helical tendon routing in continuum robots. IROS 2017: 6470-6476
[c31]
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Josephine Granna, Arya Nabavi, Jessica Burgner-Kahrs:
Toward Computer-Assisted Planning for Interstitial Laser Ablation of Malignant Brain Tumors Using a Tubular Continuum Robot. MICCAI (2) 2017: 557-565
2016
[c30]
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Malte Bormann, Josephine Granna, Florian Imkamp, Jessica Burgner-Kahrs:
Initial Feasibility Study for Transurethral Kidney Surgey using a Tubular Continuum Manipulator. CURAC 2016: 81-86
[c29]
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Ernar Amanov, Florian Imkamp, Jessica Burgner-Kahrs:
Initial Investigations towards a Flexible Variable Stiffness Single Port System for Partial Nephrectomy. CURAC 2016: 93-98
[c28]
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Maria Neumann, Jessica Burgner-Kahrs:
Considerations for follow-the-leader motion of extensible tendon-driven continuum robots. ICRA 2016: 917-923
[c27]
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Josephine Granna, Thomas S. Rau, Thien-Dang Nguyen, Thomas Lenarz, Omid Majdani, Jessica Burgner-Kahrs:
Toward automated cochlear implant insertion using tubular manipulators. Medical Imaging: Image-Guided Procedures 2016: 97861F
2015
[c26]
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Ernar Amanov, Jessica Burgner-Kahrs:
Generelle und anwendungsspezifische Genauigkeitsuntersuchungen für tubuläre Kontinuumsroboter. CURAC 2015: 3-8
[c25]
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Carolin Fellmann, Arya Nabavi, Jessica Burgner-Kahrs:
Anwendungsspezifische Evaluierung eines gestenbasierten Eingabegerätes für die Teleoperation von tubulären Kontinuumsrobotern. CURAC 2015: 17-22
[c24]
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Josephine Granna, Thomas S. Rau, Omid Majdani, Jessica Burgner-Kahrs:
Konzept für die Elektrodeninsertion von Cochlea-Implantaten mit tubulären Manipulatoren. CURAC 2015: 299-304
[c23]
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Carolin Fellmann, Jessica Burgner-Kahrs:
Implications of trajectory generation strategies for tubular continuum robots. IROS 2015: 202-208
[c22]
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  - conf/iros/GodageRWWBW15
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Isuru S. Godage, Andria A. Remirez, Raul Wirz, Kyle D. Weaver, Jessica Burgner-Kahrs, Robert J. Webster III:
Robotic intracerebral hemorrhage evacuation: An in-scanner approach with concentric tube robots. IROS 2015: 1447-1452
[c21]
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  - conf/iros/NguyenB15
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Thien-Dang Nguyen, Jessica Burgner-Kahrs:
A tendon-driven continuum robot with extensible sections. IROS 2015: 2130-2135
[c20]
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  - conf/miigp/AmanovNB15
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Ernar Amanov, Thien-Dang Nguyen, Jessica Burgner-Kahrs:
Additive manufacturing of patient-specific tubular continuum manipulators. Medical Imaging: Image-Guided Procedures 2015: 94151P
[c19]
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Carolin Fellmann, Daryoush Kashi, Jessica Burgner-Kahrs:
Evaluation of input devices for teleoperation of concentric tube continuum robots for surgical tasks. Medical Imaging: Image-Guided Procedures 2015: 94151O
[c18]
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  - conf/miigp/WirzLGBRW15
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Raul Wirz, Ray A. Lathrop, Isuru S. Godage, Jessica Burgner-Kahrs, Paul T. Russell III, Robert J. Webster III:
Can coffee improve image guidance? Medical Imaging: Image-Guided Procedures 2015: 941513
2014
[c17]
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Carolin Fellmann, Jessica Burgner-Kahrs:
Analyse von Bewegungsstrategien für tubuläre Kontinuumsroboter als Basis für eine sichere Pfadplanung. CURAC 2014: 53-56
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Jessica Burgner-Kahrs, Hunter B. Gilbert, Josephine Granna, Philip J. Swaney, Robert J. Webster III:
Workspace characterization for concentric tube continuum robots. IROS 2014: 1269-1275
2013
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  - conf/icra/SwaneyBLGWW13
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Philip J. Swaney, Jessica Burgner, Ray A. Lathrop, Hunter B. Gilbert, Kyle D. Weaver, Robert J. Webster III:
Minimally-invasive intracerebral hemorrhage removal using an active cannula. ICRA 2013: 219-224
[c14]
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Jessica Burgner, Hunter B. Gilbert, Robert J. Webster III:
On the computational design of concentric tube robots: Incorporating volume-based objectives. ICRA 2013: 1193-1198
[c13]
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Jessica Burgner, Philip J. Swaney, Ray A. Lathrop, Kyle D. Weaver, Robert J. Webster III:
Robot-assisted intracerebral hemorrhage evacuation: an experimental evaluation. Medical Imaging: Image-Guided Procedures 2013: 86710H
[c12]
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Dylan P. Losey, Peter A. York, Philip J. Swaney, Jessica Burgner, Robert J. Webster III:
A flexure-based wrist for needle-sized surgical robots. Medical Imaging: Image-Guided Procedures 2013: 86711G
2012
[c11]
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Jessica Burgner, Hunter B. Gilbert, Philip J. Swaney, Paul T. Russell III, Robert J. Webster III:
Kontinuumsroboter auf Basis vorgebogener Nitinolröhrchen: Evaluierung eines Prototypen für die Transnasale Schädelbasischirurgie. CURAC 2012: 143-146
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Philip J. Swaney, Jessica Burgner, Thomas S. Pheiffer, D. Caleb Rucker, Hunter B. Gilbert, Janet E. Ondrake, Amber L. Simpson, Everette Clif Burdette, Michael I. Miga, Robert J. Webster III:
Tracked 3D ultrasound targeting with an active cannula. Medical Imaging: Image-Guided Procedures 2012: 83160R
[c9]
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Amber L. Simpson, Jessica Burgner, Ishita Chen, Thomas S. Pheiffer, Kay Sun, Reid Carleton Thompson, Robert J. Webster III, Michael I. Miga:
Intraoperative brain tumor resection cavity characterization with conoscopic holography. Medical Imaging: Image-Guided Procedures 2012: 831631
2011
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Jenna L. Toennies, Jessica Burgner, Thomas J. Withrow, Robert J. Webster III:
Toward haptic/aural touchscreen display of graphical mathematics for the education of blind students. World Haptics 2011: 373-378
[c7]
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Jessica Burgner, Philip J. Swaney, D. Caleb Rucker, Hunter B. Gilbert, Scott T. Nill, Paul T. Russell III, Kyle D. Weaver, Robert J. Webster III:
A bimanual teleoperated system for endonasal skull base surgery. IROS 2011: 2517-2523
2010
[c6]
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Yaokun Zhang, Jessica Burgner, Jörg Raczkowsky, Heinz Wörn:
Optimization of Line Cut Strategy for Bone Tissue Ablation Using Short-Pulsed CO2 Laser. CURAC 2010: 3-8
[c5]
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Thorsten Brennecke, Jessica Burgner, Lüder Alexander Kahrs, Christian Günther, Tim Beyl, Jörg Raczkowsky, Steffen H. Tretbar, Thomas Klenzner, Jörg Schipper, Heinz Wörn:
Ein 3D-Ultraschallnavigationssystem für die computer-assistierte Chirurgie im Kopf-Halsbereich - Visionen und Konzepte. CURAC 2010: 203-206
2009
[c4]
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Jessica Burgner, Meiko Mueller, Jörg Raczkowsky, Heinz Wörn:
Robot assisted laser bone processing: Marking and cutting experiments. ICAR 2009: 1-6
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Jessica Burgner, Jörg Raczkowsky, Heinz Wörn:
End-effector calibration and registration procedure for robot assisted laser material processing: Tailored to the particular needs of short pulsed CO2 laser bone ablation. ICRA 2009: 3091-3096
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Jessica Burgner, Lüder Alexander Kahrs, Jörg Raczkowsky, Heinz Wörn:
Including Parameterization of the Discrete Ablation Process into a Planning and Simulation Environment for Robot-Assisted Laser Osteotomy. MMVR 2009: 43-48
2008
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Jessica Burgner, Yaokun Zhang, Jörg Raczkowsky, Heinz Wörn, Georg Eggers, Joachim Mühling:
Methods for end-effector coupling in robot assisted interventions. ICRA 2008: 3395-3400

Informal and Other Publications

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2024
[i8]
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  - journals/corr/abs-2401-13540
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Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs:
State Estimation for Continuum Multi-Robot Systems on SE(3). CoRR abs/2401.13540 (2024)
[i7]
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  - journals/corr/abs-2402-12587
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Reinhard M. Grassmann, Anastasiia Senyk, Jessica Burgner-Kahrs:
On the Disentanglement of Tube Inequalities in Concentric Tube Continuum Robots. CoRR abs/2402.12587 (2024)
[i6]
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  - journals/corr/abs-2402-14175
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Priyanka Rao, Oren Salzman, Jessica Burgner-Kahrs:
Towards Contact-Aided Motion Planning for Tendon-Driven Continuum Robots. CoRR abs/2402.14175 (2024)
2023
[i5]
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  - journals/corr/abs-2303-00891
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Chengnan Shentu, Enxu Li, Chaojun Chen, Puspita Triana Dewi, David B. Lindell, Jessica Burgner-Kahrs:
MoSS: Monocular Shape Sensing for Continuum Robots. CoRR abs/2303.00891 (2023)
[i4]
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  - journals/corr/abs-2304-11850
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  - https://dblp.org/rec/journals/corr/abs-2304-11850
Reinhard M. Grassmann, Chengnan Shentu, Taqi Hamoda, Puspita Triana Dewi, Jessica Burgner-Kahrs:
Open Continuum Robotics - One Actuation Module to Create them All. CoRR abs/2304.11850 (2023)
[i3]
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  - journals/corr/abs-2306-13617
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Hanna Jiamei Zhang, Matthew Giamou, Filip Maric, Jonathan Kelly, Jessica Burgner-Kahrs:
CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots. CoRR abs/2306.13617 (2023)
2022
[i2]
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  - journals/corr/abs-2210-14842
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  - https://dblp.org/rec/journals/corr/abs-2210-14842
Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs:
Continuum Robot State Estimation Using Gaussian Process Regression on SE(3). CoRR abs/2210.14842 (2022)
2020
[i1]
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  - journals/corr/abs-2009-08577
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Tim D. Barfoot, Jessica Burgner-Kahrs, Eric D. Diller, Animesh Garg, Andrew A. Goldenberg, Jonathan Kelly, Xinyu Liu, Hani E. Naguib, Goldie Nejat, Angela P. Schoellig, Florian Shkurti, Hallie Siegel, Yu Sun, Steven L. Waslander:
Making Sense of the Robotized Pandemic Response: A Comparison of Global and Canadian Robot Deployments and Success Factors. CoRR abs/2009.08577 (2020)

Coauthor Index

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