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Ryan J. Murphy

5 accepted papers

2018

FBG-Based Control of a Continuum Manipulator Interacting with Obstacles

Shahriar Sefati, Ryan J. Murphy, Farshid Alambeigi, Michael Pozin, Iulian Iordachita, Russell H. Taylor +1
IROS 2018poster

Tracking and controlling the shape of continuum dexterous manipulators (CDM) in constraint environments is a challenging task. The imposed constraints and interaction with unknown obstacles may conform the CDM's shape and therefore demands for shape sensing methods which do not rely on direct line o…

Cited by 25Source ↗Scholar ↗
2017

A Curved-Drilling Approach in Core Decompression of the Femoral Head Osteonecrosis Using a Continuum Manipulator

Farshid Alambeigi, Yu Wang, Shahriar Sefati, Cong Gao, Ryan J. Murphy, Iulian Iordachita +3
RA-L 2017

In conventional core decompression of osteonecrosis, surgeons cannot successfully reach the whole area of the femoral head due to rigidity of the instruments currently used. To address this issue, we present design and fabrication of a novel steerable drill using a continuum dexterous manipulator (C

Cited by 72Source ↗Scholar ↗
2017

Development and Experimental Evaluation of Concurrent Control of a Robotic Arm and Continuum Manipulator for Osteolytic Lesion Treatment

Paul Wilkening, Farshid Alambeigi, Ryan J. Murphy, Russell H. Taylor, Mehran Armand
RA-L 2017

This paper presents the development and evaluation of concurrent control of a robotic system for less-invasive treatment of osteolytic lesions behind an acetabular implant. This system implements safety constraints including a remote center of motion (RCM), virtual walls, and joint limits while oper

Cited by 43Source ↗Scholar ↗
2016

Design and characterization of a debriding tool in robot-assisted treatment of osteolysis

Farshid Alambeigi, Shahriar Sefati, Ryan J. Murphy, Iulian Iordachita, Mehran Armand
ICRA 2016

This paper focuses on the design and quantitative characterization of a debriding tool integrated with a robotic system to treat osteolysis (bone degradation). Osteolysis typically occurs due to wear of the polyethylene liner of the acetabular implant after total hip replacement surgery. In less inv

Cited by 30Source ↗Scholar ↗
2016

Progress toward robotic surgery of the lateral skull base: Integration of a dexterous continuum manipulator and flexible ring curette

Anzhu Gao, John P. Carey, Ryan J. Murphy, Iulian Iordachita, Russell H. Taylor, Mehran Armand
ICRA 2016

Lesions of the lateral skull base in the petrous apex present unique surgical challenges because of the proximity of critical structures, including the inner ear, carotid artery, jugular bulb, facial nerve, lower cranial nerves, dura and brain. Currently, there are few appropriate surgical devices t

Cited by 19Source ↗Scholar ↗