Publications

 

Journal Papers

"Estimation of Soft Tissue Mechanical Parameters from Robotic Manipulation Data." P. Boonvisut and M. C. Cavusoglu. In IEEE/ASME Transactions on Mechatronics, Vol. 18, No. 5, October 2013. doi: 10.1177/0278364910378540

"Virtual Reality Simulation: Basic Concepts and Use in Endoscopic Neurosurgery Training." A. Cohen, S. Lohani, S. Manjila, S. Natsupakpong, N. Brown, and M. C. Cavusoglu. In Child's Nervous System, 2013. doi: 10.1007/s00381-013-2139-z

"Heart Motion Prediction Based on Adaptive Estimation Algorithms for Robot Assisted Beating Heart Surgery." E. E. Tuna, T. J. Franke, O. Bebek, A. Shiose, K. Fukamachi, and M. C. Cavusoglu. In IEEE Transactions on Robotics, Vol. 29, No. 1, February 2013, pp. 261-276. doi: 10.1109/TMECH.2012.2209673

"Design of a Parallel Robot for Needle Based Interventions on Small Animals." O. Bebek, M. J. Hwang, and M. C. Cavusoglu. In IEEE/ASME Transactions on Mechatronics, Vol. 18, No. 1, February 2013, pp.62-73. doi: 10.1109/TRO.2012.2217676

"Human Arm-and-Hand Dynamics Model with Variability Analyses for a Stylus-based Haptic Interface." M. J. Fu and M. C. Cavusoglu. In IEEE Transactions on Systems, Man, Cybernetics, Part B: Cybernetics, Vol. 42, No. 6, December 2012, pp.1633-1644. doi: 10.1109/TMECH.2011.2162427

"Design of a Framework for Modeling, Integration, and Simulation of Physiological Models." E. Z. Erson and M. C. Cavusoglu. In Computer Methods and Programs in Biomedicine, Vol. 107, No.3, September 2012, pp.524-537. doi: 10.1016/j.cmpb.2011.11.010

"Effect of Visuo-Haptic Co-location on 3D Fitts; Task Performance in Physical and Virtual Environments." M. J. Fu, A. D. Hershberger, K. Sano, and M. C. Cavusoglu. In Presence, Vol. 21, No.3, Summer 2012, pp. 305-320. doi: 10.1162/PRES_a_00115

"High Fidelity Haptic Rendering of Frictional Contact with Deformable Objects in Virtual Environments using Multi-rate Simulation." P. Jacobs, M. J. Fu and M. C. Cavusoglu. In the International Journal of Robotics Research, vol. 29, no. 14, pp. 1778-1792, December 2010. doi: 10.1177/0278364910378540

"Personal Navigation via High-Resolution-Gait-Corrected Inertial Measurement Units" O. Bebek, M. A. Suster, S. Rajgopal, M. J. Fu, X. Huang, M. C. Cavusoglu, D. J. Young, M. Mehregany, A. J. van den Bogert, and C. H. Mastrangelo. In the IEEE Transactions on Instrumentation and Measurement, vol. 59, no. 11, pp. 3018-3027, November 2010. doi: 10.1109/TIM.2010.2046595

"Determination of Elasticity Parameters in Lumped Element (Mass-Spring) Models of Deformable Objects." S. Natsupakpong, and M. C. Cavusoglu. In Graphical Models, Vol. 72, No. 6, November 2010, pp. 61-73. doi: 10.1016/j.gmod.2010.10.001

"Description of Instantaneous Restriction Space of Multi-DOF Bilateral Teleoperation Systems Using Position Sensors in Unstructured Environments." K. Kim, W. K. Chung, and M. C. Cavusoglu. In IEEE Transactions on Robotics, Vol. 25, No. 5, October 2009, pp. 1150-1158. doi: 10.1109/TRO.2009.2024789

"Whisker-like Position Sensor for Measuring Physiological Motion." O. Bebek and M. C. Cavusoglu. In IEEE/ASME Transactions on Mechatronics, vol. 13, no. 5, October 2008. doi: 10.1109/TMECH.2008.2001184

"Intelligent Control Algorithms for Robotic Assisted Beating Heart Surgery." O. Bebek, and M. C. Cavusoglu. In IEEE Transactions on Robotics, vol. 23, no. 3, pp. 468-480, June 2007. doi: 10.1109/TRO.2007.895077

"Design and Characterization of a Novel Hybrid Actuator Using Shape Memory Alloy and DC Micro-Motor for Minimally Invasive Surgery Applications." V. R. C. Kode, and M. C. Cavusoglu. In IEEE/ASME Transactions on Mechatronics, vol. 12, no. 4,  pp. 455-464, August 2007. doi: 10.1109/TMECH.2007.901940

"Quantitative Comparison of Bilateral Teleoperation Systems Using Mu-Synthesis." K. Kim, M. C. Cavusoglu, and W.K. Chung. In IEEE Transactions on Robotics, vol. 23, no. 4, pp. 776-789, August 2007. doi: 10.1109/TRO.2007.900625

"GiPSi: A Framework for Open Source/Open Architecture Software Development for Organ-Level Surgical Simulation." M. C. Cavusoglu, T. Goktekin, and F. Tendick. In IEEE Transactions on Information Technology in Biomedicine, vol. 10, no. 2, pp. 312-322, April 2006. doi: 10.1109/TITB.2006.864479

"In Touch with Robotics: Neurosurgery for the Future." N. Nathoo, M. C. Cavusoglu, M. A. Vogelbaum, and G. H. Barnett. In Nerosurgery. vol. 56, no. 3, pp. 421-433, March 2005. doi: 10.1227/01.NEU.0000153929.68024.CF

"Robotics for Telesurgery: Second Generation Berkeley/UCSF Laparoscopic Telesurgical Workstation and Looking towards the Future Applications." M. C. Cavusoglu, W. Williams, F. Tendick, and S. S. Sastry. In Industrial Robot, Special Issue on Medical Robotics, vol. 30, no. 1, pp. 22-29, January 2003. doi: 10.1108/01439910310457670

"A Critical Study of the Mechanical and Electrical Properties of the PHANToM(TM) Haptic Interface and Improvements for High Performance Control." M. C. Cavusoglu, D. Feygin, and F. Tendick. In Presence, vol. 11, no. 6, pp. 555-568, December 2002. doi: 10.1162/105474602321050695

"Design of Bilateral Teleoperation Controllers for Haptic Exploration and Telemanipulation of Soft Environments. " M. C. Cavusoglu, A. Sherman, and F. Tendick. In the IEEE Transactions on Robotics and Automation, Vol. 18, No.4, August 2002, pp 641-647. doi: 10.1109/TRA.2002.802199

"A Virtual Environment Testbed for Training Laparoscopic Surgical Skills." F. Tendick, M. Downes, T. Goktekin, M. C. Cavusoglu, D. Feygin, X. Wu, R. Eyal, M. Hegarty, and L. W. Way. In Presence, Vol. 9, No. 3, June 2000 , pp. 236-255. doi: 10.1162/105474600566772

"A Laparoscopic Telesurgical Workstation." M. C. Cavusoglu, F. Tendick, M. Cohn, and S. S. Sastry. In the IEEE Transactions on Robotics and Automation, Vol. 15, No. 4, August 1999, pp. 728-739. doi: 10.1109/70.782027

Conference Papers

"Particle Filter Based Active Localization of Target and Needle in Robotic Image-Guided Intervention Systems", M. Renfrew, Z. Bai, and M. C. Cavusoglu. In Proceedings of the 9th IEEE International Conference on Automation Science and Engineering (CASE 2013), Madison, WI, August 17-21, 2013.

"Detection and Prediction of Adverse and Anomalous Events in Medical Robots", K. Liang, F. Cao, Z. Bai, M. Renfrew, M. C. Cavusoglu, A. Podgurski, and S. Ray. In Proceedings of the 25th Conference on Innovative Applications of Artificial Intelligence (IAAI-13), Bellevue, WA, July 14–18, 2013.

"Needle Path Planning for Autonomous Robotic Surgical Suturing", R. Jackson and M. C. Cavusoglu. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013. Finalist for the best medical robotics paper award.

"Heart Motion Measurement with Three Dimensional Sonomicrometry and Acceleration Sensing", T. Horiuchi, E. E. Tuna, K. Masamune, and M. C. Cavusoglu. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Algarve, Portugal, October 7-12, 2012, pp. 4143-4149. doi: 10.1109/IROS.2012.6386095

"Modeling of Needle-Tissue Interaction Forces during Surgical Suturing", R. Jackson, and M. C. Cavusoglu. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2012), Minneapolis, MN, May 14-18, 2012, pp. 4675-4680. doi: 10.1109/ICRA.2012.6224756

"Estimation of Soft Tissue Mechanical Parameters from Robotic Manipulation Data", P. Boonvisut, R. Jackson, and M. C. Cavusoglu. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2012), Minneapolis, MN, May 14-18, 2012, pp. 4667-4674. doi: 10.1109/ICRA.2012.6225071

"Effect of Visuo-Haptic Co-location on 3D Fitts' Task Performance.", M. J. Fu, A. D. Hershberger, K. Sano, and M. C. Cavusoglu. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, September 25-30, 2011, pp. 3460-3467. doi: 10.1109/IROS.2011.6094707

"Personal Navigation via Shoe Mounted Inertial Measurement Units", O. Bebek, M. A. Suster, S. Rajgopal, M. J. Fu, X. Huang, M. C. Cavusoglu, D. J. Young, M. Mehregany, A. J. van den Bogert, and C. H. Mastrangelo, In proceedings of the IEEE/RSJ 2009 International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pp. 1052-1058, October 18-22, 2010.

"Design of a Framework for Modeling, Integration and Simulation of Physiological Models", E. Z. Erson and M. C. Cavusoglu. In Proceedings of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2010), Buenos Aires, August 21-September 4, 2010, pp. 1485-1489. doi: 10.1109/IEMBS.2010.5626848

"Restriction Space Projection Method for Position Sensor Based Force Reflection of Multi Degrees-of-Freedom Bilateral Teleoperation Systems in Unstructured Environments", K. Kim, W.K. Chung, and M.C. Cavusoglu. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, AL, USA, May 3-8, 2010, pp. 5364-5369. doi: 10.1109/ROBOT.2010.5509448

"Three-Dimensional Human Arm and Hand Dynamics and Variability Model for a Stylus-based Haptic Interface", K. Kim, W.K. Chung, and M.C. Cavusoglu. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, AL, USA, May 3-8, 2010, pp. 1339-1346. doi:10.1109/ROBOT.2010.5509927

"Kinematic Calibration of a Parallel Robot for Small Animal Biopsies", M. J. Hwang, O. Bebek, F. Liang, B. Fei, and M. C. Cavusoglu, In proceedings of the IEEE/RSJ 2009 International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, USA, pp. 4104-4109, October 11-15, 2009.

"Design of a Small Animal Biopsy Robot", O. Bebek, M. J. Hwang, B. Fei, and M. C. Cavusoglu, In Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), Vancouver, BC, Canada, pp. 5601-5604, 20-24 August, 2008.

"A Software Framework for Multiscale and Multilevel Physiological Model Integration and Simulation", E. Z. Erson, and M. C. Cavusoglu, In Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), Vancouver, BC, Canada, 20-24 August, 2008.

"Comparison of Filtering and Classification Techniques of Electroencephalography for Brain-Computer Interface", M. Renfrew, J. Daly, M. C. Cavusoglu and R. Cheng, In Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), Vancouver, BC, Canada, 20-24 August, 2008.

"Prediction of heartbeat motion with a generalized adaptive filter." T. J. Franke, O. Bebek, and M. C. Cavusoglu, In Proceedings of the International Conference on Robotics and Automation (ICRA), Pasadena, CA, USA, pp. 2916-2921, May 19-23, 2008.

"Improved Prediction of Heart Motion Using an Adaptive Filter for Robot Assisted Beating Heart Surgery." T. J. Franke, O. Bebek, and M. C. Cavusoglu, In Proceedings of the IEEE/RSJ 2007 International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, USA, pp. 509-515, October 29 - November 2, 2007.

"Ontology Based Design for Integrative Simulation of Human Physiology." E. Z. Erson, and M. C. Cavusoglu, In Proceedings of the International Symposium on Health Informatics and Bioinformatics, Antalya, Turkey, April 30 - May 2, 2007.

"A Framework for Quantitative Comparison of Bilateral Teleoperation Systems Using μ-Synthesis." K. Kim, M. C. Cavusoglu, and W. K. Chung, In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, pp. 1637-1644, April 10-14, 2007.

"High Fidelity Haptic Rendering of Stick-Slip Frictional Contact with Deformable Objects in Virtual Environments Using Multi-Rate Simulation." P. Jacobs and M. C. Cavusoglu, In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, pp. 117-123, April 10-14, 2007.

"Whisker Sensor Design for Three Dimensional Position Measurement in Robotic Assisted Beating Heart Surgery." O. Bebek and M. C. Cavusoglu, In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, pp. 225 - 231, April 10-14, 2007.

"A Detection Scheme for Frontalis and Temporalis Muscle EMG Contamination of EEG Data", M. J. Fu, J. J. Daly and M. C. Cavusoglu, In Proceedings of the 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), New York, NY, USA, August 30 - September 3, 2006.

"Model Based Control Algorithms for Robotic Assisted Beating Heart Surgery", O. Bebek and M. C. Cavusoglu, In Proceedings of the 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), New York, NY, USA, pp. 823-828, August 30 - September 3, 2006.

"Assessment of Event-related Desynchronization in Stroke Survivors Performing Shoulder-Elbow Movements", M. J. Fu, J. J. Daly and M. C. Cavusoglu, In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, USA, pp. 3158-3164, May 15-19, 2006.

"Predictive Control Algorithms Using Biological Signals for Active Relative Motion Canceling in Robotic Assisted Heart Surgery", O. Bebek and M. C. Cavusoglu, In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, USA, pp. 237-244, May 15-19, 2006.

"GiPSiNet: An Open Source/Open Architecture Network Middleware for Surgical Simulations." Q. Cai, V. Liberatore, and M. C. Cavusoglu. In Proceedings of Medicine Meets Virtual Reality XIV (MMVR), Long Beach, CA, January 24-27, 2006.

"Evaluation Methods of a Middleware for Networked Surgical Simulations." Q. Cai, V. Liberatore, M. C. Cavusoglu, and Y. Yoo. In Proceedings of Medicine Meets Virtual Reality XIV (MMVR), Long Beach, CA, January 24-27, 2006.

"Virtual Environment-Based Training Simulator for Endoscopic Third Ventriculostomy." N. Brown, S. Natsupakpong, S. Johannsen, S. Manjila, Q. Cai, V. Liberatore, A. R. Cohen, and M. C. Cavusoglu. In Proceedings of Medicine Meets Virtual Reality XIV (MMVR), Long Beach, CA, January 24-27, 2006. (In Press).

"GiPSiNet: a Middleware for Networked Surgical Simulations." V. Liberatore, M. C. Cavusoglu, and Q. Cai. In Proceedings of the IASTED Telehealth 2005, Banff, Canada, pp. 35-40, July 19-21, 2005.

"Design and Characterization of a Novel Hybrid Actuator Using Shape Memory Alloy and DC Motor for Minimally Invasive Surgery Applications." V. R. Kode, M. C. Cavusoglu, and M. Tabib-Azar. In Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA), Niagara Falls, Ontario, Canada, pp. 416-420, July 29 - August 1, 2005.

"Control Algorithms for Active Relative Motion Cancelling for Robotic Assisted Off-Pump Coronary Artery Bypass Graft Surgery." M. C. Cavusoglu, J. Rotella, W. S. Newman, S. Choi, J. Ustin, S. S. Sastry. In Proceedings of the 12th International Conference on Advanced Robotics (ICAR), Seattle, WA, USA, July 18-20, 2005.

"Virtual Reality as a Training Tool for Endoscopic Neurosurgical Procedures." S. Manjila, M. C. Cavusoglu, N. Brown, A. R. Cohen. The 33rd Annual Meeting of the AANS/CNS Section on Pediatric Neurological Surgery, San Francisco, CA, December 8-11, 2004.

"Quantitative Comparison of Bilateral Teleoperation Systems Using H_infinity Framework." K. Kim, M. C. Cavusoglu, and W. K. Chung. Submitted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan,  pp. 2229-2234, September 28 - October 2, 2004.

"Computationally Efficient Cardiac Bioelectricity Models Toward Whole-Heart Simulation" N. A. Wedge, M. S. Branicky, and M. C. Cavusoglu. Submitted to the 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), San Francisco, CA, vol. 4, pp. 3027-3030, September 1-5, 2004.

"GiPSi: A Draft Open Source/Open Architecture Software Development Framework for Surgical Simulation," T. Goktekin, M.C. Cavusoglu, F. Tendick, and S. S. Sastry. In Proceedings of the International Symposium on Medical Simulation, Cambridge, MA, June 17-18, 2004. pp. 240-248.

"GiPSi: An Open Source/Open Architecture Software Development Framework for Surgical Simulation." M. C. Cavusoglu, T. G. Goktekin, F. Tendick, and S. S. Sastry. In Proceedings of Medicine Meets Virtual Reality XII (MMVR), Newport Beach, CA, January 14-17, 2004, pp.46-48.

"Kalman Filter Analysis for Quantitative Comparison of Sensory Schemes in Bilateral Teleoperation Systems." M. C. Cavusoglu, and F. Tendick. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Taipei, Taiwan, May 12-17, 2003, pp. 2818-2823.

Technical Reports

"GiPSi: A Draft Open Source/Open Architecture Software Development Framework for Surgical Simulation", T. Goktekin and M.C. Cavusoglu. Technical Report, Case Western Reserve University, 2004.

"Kinematics and Dynamics of Small Animal Biopsy Robot (SABiR)", M. J. Hwang, O. Bebek, and M. C. Cavusoglu. Technical Report, Case Western Reserve University, January 5, 2010.

Theses

"Predictive Tracking of Quasi Periodic Signals for Active Relative Motion Cancellation in Robotic Assisted Coronary Artery Bypass Graft Surgery", Jason Rotella, M.S. Thesis, Case Western Reserve University, January 2005.

"Analysis of Cellular Cardiac Bioelectricity Models towards Computationally Efficient Whole-Heart Simulation", Nathan Wedge, M.S. Thesis,  Case Western Reserve University, January 2005.

"Assessment of EEF Event-Related Desynchronization in Stroke Survivors Performing Shoulder-Elbow Movements", Michael Fu, M.S. Thesis, Case Western Reserve University, January 2006.

"Design and Characterization of a Novel Hybrid Actuator Using Shape Memory Alloy and D.C. Motor for Minimally Invasive Surgery Applications", Venkata Kode, M.S. Thesis, Case Western Reserve University, January 2006.

"Collision Detection and Response and Haptic Interaction in Virtual Environment Simulations with Deformable Objects", Paul Jacobs, M.S. Thesis, Case Western Reserve University, May 2006.

"A Simulation and Regression Testing Framework for Autonomous Vehicles", Christian Miller, M.S. Thesis, Case Western Reserve University, July 2007.

"Competitive Medical Image Segmentation with the Fast Marching Method", Jonathan Hearn, M.S. Thesis, Case Western Reserve University, May 2008.

OhioLINK Electronic Theses and Dissertations Center

"Robotic-Assisted Beating Heart Surgery", Ozkan Bebek, Ph.D. Dissertation, Case Western Reserve University, May 2008.

OhioLINK Electronic Theses and Dissertations Center

"Physically Based Modeling and Simulation for Virtual Environment based Surgical Training", Suriya Natsupakpong, Ph.D. Dissertation, Case Western Reserve University, January 2010.

"Development, Integration and Simulation of Multiscale Mathematical Models of Physiological Processes: A Software Engineering Perspective", E. Zeynep Erson, Ph.D. Dissertation, Case Western Reserve University, January 2011.

OhioLINK Electronic Theses and Dissertations Center

"Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System", Taoming Liu, M.S. Thesis, Case Western Reserve University, January 2011.

OhioLINK Electronic Theses and Dissertations Center

"Computational Models and Analyses of Human Motor Performance in Haptic Manipulation", Michael J. Fu, Ph.D. Dissertation, Case Western Reserve University, January 2011.

OhioLINK Electronic Theses and Dissertations Center