Maxwell Emerson — accepted AI-conference papers

2023

Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks

Margaret Rox, Daniel S. Esser, Mariana E. Smith, Tayfun Efe Ertop, Maxwell Emerson, Fabien Maldonado +3

RA-L 2023

Toward the future goal of creating a lung surgery system featuring multiple tentacle-like robots, we present a new folding concept for continuum robots that enables them to squeeze through openings smaller than the robot's nominal diameter (e.g., the narrow space between adjacent ribs). This is faci

Cited by 13 Source ↗Scholar ↗

2021

Backward Planning for a Multi-Stage Steerable Needle Lung Robot

Janine Hoelscher, Mengyu Fu, Inbar Fried, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox +4

RA-L 2021

Lung cancer is one of the deadliest types of cancer, and early diagnosis is crucial for successful treatment. Definitively diagnosing lung cancer typically requires biopsy, but current approaches either carry a high procedural risk for the patient or are incapable of reaching many sites of clinical

Cited by 30 Source ↗Scholar ↗

2021

Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume

Inbar Fried, Janine Hoelscher, Mengyu Fu, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox +5

ICRA 2021poster

Steerable needles that are able to follow curvilinear trajectories and steer around anatomical obstacles are a promising solution for many interventional procedures. In the lung, these needles can be deployed from the tip of a conventional bronchoscope to reach lung lesions for diagnosis. The reach…

Cited by 8 Source ↗Scholar ↗