Peter Kazanzides
`
`
`
`PERSONAL DATA
`Birth date
`August 14, 1961
`Birth place
`Jersey City, New Jersey
`Citizenship
`USA
`Family
`Married, two children
`
`Professional Address Department of Computer Science
`
`The Johns Hopkins University
`
`Baltimore, Maryland 21218
`
`Office phone
`Fax
`Email
`EDUCATION
`
`410-516-5590
`410-516-4410
`pkaz@jhu.edu
`
` Ph.D. Electrical Engineering – Brown University, May 1988
`Thesis: Design and construction of a real-time multiprocessor system (SIERA), which was
`applied to two different robots. Development and implementation of a compliant control strategy
`which enables a robot to interact with an imprecisely known environment.
` Sc.M. Applied Mathematics – Brown University, May 1987
` Sc.M. Electrical Engineering – Brown University, May 1985
`Thesis: Modeling of a hydraulic actuator and design of digital control laws. Analyzed the effects
`of non-linearities in the model and the control laws and presented experimental results to verify
`the theory.
` Sc.B. Electrical Engineering (Honors, Magna Cum Laude) – Brown University, May 1983
` A.B. Computer Science – Brown University, May 1983
`RESEARCH SUMMARY
`My research activities are in computer-assisted surgery and space telerobotics, which share the
`common themes of human/machine interfaces to keep the human in the loop, real-time sensing to
`account for uncertainty, and system engineering to enable deployment in the real world. Surgical
`robotics requires a partnership between man and machine that must operate in an unstructured
`environment with constraints on visibility, accessibility, and sterility. My research has focused on the
`integration of information from various sources, such as preoperative and intraoperative imaging and
`force sensing, to address these challenges. I have also applied these techniques to space robots;
`specifically, for a telerobotic system for satellite servicing, which is subject to time delays of 2-7
`seconds.
`
`In 1989, while developing a robot for orthopaedic surgery, I pioneered the use of force-controlled
`guidance as a surgical robot interface. More recently, I have been applying virtual fixtures as
`guidance and safety constraints and have performed research in augmented reality interfaces for both
`medical and space applications. My current research interests include the integration of real-time
`sensor feedback, including model-based and data-driven (machine learning) approaches, to enable
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`robotic assistance in more challenging environments. I am also exploring the use of sensor fusion,
`incorporating different tracking technologies such as electromagnetic, optical, and inertial, to improve
`the robustness of tracking technology for applications in robotics, surgical navigation, and augmented
`reality.
`
`These applications have also motivated me to define and develop enabling systems and architectures.
`A surgical robot, with associated information sources, generally requires concurrent processing, with
`low-latency exchange of information. My research involves the application of component-based
`software engineering concepts to provide a uniform programming model that spans from multi-
`threaded systems to multi-process and multi-processor systems. This research is embodied in the
`open-source cisst libraries and Surgical Assistant Workstation (SAW) software. As a service to the
`research community, I have disseminated the hardware and software to control research da Vinci
`Systems at more than forty institutions worldwide, with additional sites in process.
`WORK HISTORY
`
`July 2014 – present
`Sept. 2008 – June 2014
`Dec. 2002 – Sept. 2008
`
`Research Professor, Dept. of Computer Science
`Associate Research Professor, Dept. of Computer Science
`Assistant Research Professor, Dept. of Computer Science
`Chief Systems and Robotics Engineer, Center for Computer-Integrated
`Surgical Systems and Technology, Johns Hopkins Univ., Baltimore, MD
`Leading development of open source CISST/SAW software package, custom hardware, and open
`source da Vinci Research Kit (dVRK). Managing several projects, including development of robot
`systems for neurosurgery, prostate brachytherapy, orthopaedics, and satellite servicing and research in
`augmented reality head-mounted displays.
`
`Co-founder and Director of Robotics and Software, Integrated Surgical
`Systems, Davis, CA
`Formed ISS to develop and commercialize the ROBODOC Surgical Assistant for human use.
`Designed and implemented the electronics and software, achieving major improvements in the user
`interface, safety systems, accuracy, maintainability and cost. Worked with robot manufacturer to
`customize industrial robot for medical use. Assisted with development of engineering processes
`appropriate for a medical device manufacturer, including production of standard operating
`procedures, written specifications, formal design reviews, manufacturing procedures, and
`configuration management and change control. Participated in ISO9001 certification and CE
`marking, including EMC certification for emissions and immunity. Obtained 510(K) clearance from
`FDA for ORTHODOC planning system. Program Manager for $4 million NIST ATP joint venture
`(ISS, IBM and Johns Hopkins Univ.) investigating the application of robotics to total hip revision
`surgery. Assisted with the acquisition of IMMI in Lyon, France to increase technology portfolio and
`enter neurosurgery business. Extensive experience in field service and customer support including
`installation of systems at clinical trial sites, training of personnel, support during surgical procedures,
`and system maintenance. Managed inter-disciplinary group of 3-7 engineers.
`Mar. 1990 – Nov. 1990
`Visiting Associate Research Engineer, University Of California, Davis, CA
`Continued work on hip replacement robot that was started as joint project between IBM and UC
`Davis. Brought robot into veterinary operating room, where it was used for 26 canine surgeries, all
`successful. Refined system based on clinical feedback.
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`Nov. 1990 – June 2002
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`Mar. 1989 – Mar. 1990
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`Post-Doctoral Researcher, IBM T.J. Watson Research Center, Yorktown
`Heights, NY
`Performed research on medical applications of robotics. Developed compliant control strategies and
`robot software for total hip replacement surgery. Integrated force sensor, pitch axis, and signal
`processor with IBM robot.
`PROFESSIONAL ACTIVITIES
`Editorial Boards
`Editorial Board, International Journal of Medical Robotics and Computer Assisted Surgery, Wiley,
`2019
`Associate Editor, IEEE International Conference on Robotics and Automation (ICRA), 2011-2018
`Associate Editor, IEEE International Conference on Intelligent Robots and Systems (IROS), 2011
`
`Conference and Workshop Committees
`Co-organizer of Tutorials on Medical Robotics at MICCAI 2005, MICCAI 2006, and ICRA 2007.
`Co-organizer of Workshop on Medical Robotics at MICCAI 2006, Copenhagen, Denmark, Oct 5, 2006
`Working Group member, High Confidence Medical Device Software and Systems workshop,
`Philadelphia, PA, June, 2005
`Program Committee, 1st Intl. Conf. on Complex Medical Engineering (CME) 2005, Takamatsu, Japan
`Program Committee, 2nd Intl. Conf. on Complex Medical Engineering (CME) 2007, Beijing, China
`Program Committee, Medical Image Computing and Computer Assisted Interventions (MICCAI) 2008,
`New York, NY
`Co-organizer of Workshop on Systems and Architectures for Computer Assisted Interventions at
`MICCAI 2008-2013
`Area Chair, 1st Intl. Conf. on Information Processing in Computer-Assisted Interventions (IPCAI)
`2010, Geneva, Switzerland
`Breakout Session Lead, Medical Robotics, NSF 2014 National Workshop on Research Frontiers in
`Medical Cyber-Physical Systems, Feb. 2014.
`Co-organizer of Workshop on Community Consensus Benchmarks for Clinical Translation of Medical
`Robots at IROS 2014, Chicago, IL, Sept. 2014
`Co-organizer of Workshop on Shared Frameworks for Medical Robotics Research at ICRA 2015,
`Seattle, WA, May 2015
`Organizer of Workshop on Shared Platforms for Medical Robotics Research at IROS 2017, Vancouver,
`Canada, Sept. 2017.
`Co-organizer of Workshop on Supervised Autonomy in Surgical Robotics at ICRA 2018, Brisbane,
`Australia, May 2018.
`Organizer of Tutorial on Collaborative Robotics Toolkit (CRTK) and Open Platforms for Medical
`Robotics Research at IROS 2018, Madrid, Spain, Oct. 2018.
`Organizer of Workshop on Data-Driven Methods for Robotic Minimally-Invasive Surgery at
`International Symposium on Medical Robotics (ISMR), Atlanta, Georgia, Apr. 2019.
`Organizer of Workshop on Open Platforms for Medical Robotics Research at International Symposium
`on Medical Robotics (ISMR), Atlanta, Georgia, Nov. 2021.
`Organizer of Raven/dVRK Surgical Robotics Research Symposium, Online, March 2021, July 2021.
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`Program Committee of Hamlyn Symposium, London, UK, June 2017-2022
`Program Committee, IEEE International Conference on Robotic Computing, 2017-2022
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`Other Committees
`ASTM working group F04.05 developing standards for Computer Assisted Orthopaedic Surgery
`(CAOS) Systems, 2004-2010
`Engineering Faculty Academic Advisory Committee (EFAAC), Johns Hopkins University, Whiting
`School of Engineering, (aka WSE Faculty Senate), elected 2021.
`HONORS AND AWARDS
` Computerworld/Smithsonian Award in Medicine – awarded to ISS, Inc., June 1992
`
`IBM Graduate Predoctoral Fellowship – Brown University, academic years 1985 - 1988
` Thomas Carpenter Premium Award, recognizing top student in graduating class – Brown Univ.,
`May 1983
` Magna Cum Laude and Honors in Engineering – Brown University, May 1983
`ACADEMIC ADVISING
`
`Ph.D. Theses Advised
`
`Mohammad Matinfar, Precise Irradiation and Delivery of Complex Dose Volumes for Small Animal
`Research, Computer Science, The Johns Hopkins University, January 2011.
`
`Tian Xia, Model Driven Robotic Assistance for Human-Robot Collaboration, Computer Science, The
`Johns Hopkins University, October 2013.
`
`Min Yang Jung, State-based Safety of Component-based Medical and Surgical Robot Systems, Computer
`Science, The Johns Hopkins University, May 2015.
`
`Hasan Tutkun Sen, Robotic System and Co-manipulation Strategy for Ultrasound Guided Radiotherapy,
`Computer Science, The Johns Hopkins University, April 2016.
`
`Zihan Chen, A Scalable, High-Performance, Real-Time Control Architecture with Application to Semi-
`Autonomous Teleoperation, The Johns Hopkins University, October 2017.
`
`Bongjoon (Nathan) Cho, Forward and Inverse Treatment Planning Solutions for Small Animal Radiation
`Research, The Johns Hopkins University, October 2017.
`
`Long Qian, Augmented Reality Assistance for Surgical Interventions using Optical See-Through Head-
`Mounted Displays, The Johns Hopkins University, April 2020.
`
`Ehsan Azimi, Interactive Platform for Medical Procedures in Mixed Reality, The Johns Hopkins
`University, July 2020.
`
`Jie Ying Wu, Using High-Level Processing of Low-Level Signals to Actively Assist Surgeons with
`Intelligent Surgical Robots, The Johns Hopkins University, August 2021.
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`Revised: July 24, 2022
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`Ph.D. Theses Advised (as secondary advisor or reader)
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`Ankur Kapoor, Motion Constrained Control of Robots for Dexterous Surgical Tasks, Computer Science,
`The Johns Hopkins University, August 2007.
`
`Amen Ra Mashariki, Development of a Model Driven Architecture and Software Quality Based
`Framework for a Robust Distributed Medical Software System, Industrial Manufacturing and Information
`Engineering, Morgan State University, May 2008.
`
`Marcin Balicki, Augmentation Of Human Skill In Microsurgery, Computer Science, The Johns Hopkins
`University, February 2014.
`
`Paul Thienphrapa, A Minimally Invasive Surgical System for 3D Ultrasound Guided Robotic Retrieval of
`Foreign Bodies from a Beating Heart, Computer Science, The Johns Hopkins University, March 2014.
`
`Wen Liu, Augmented Reality and Intraoperative C-Arm Cone-Beam Computed Tomography for Image-
`Guided Robotic Surgery, Computer Science, The Johns Hopkins University, June 2014.
`
`Kevin Olds, Robotic Assistant Systems for Otolaryngology-Head and Neck Surgery, Biomedical
`Engineering, The Johns Hopkins University, March 2015.
`
`Hyun Jae Kang, Medical Ultrasound Imaging and Interventional Component (MUSiiC) Framework for
`Advanced Ultrasound Image-guided Therapy, Computer Science, The Johns Hopkins University, July
`2015.
`
`Seth Billings, Probabilistic Feature-Based Registration for Interventional Medicine, Computer Science,
`The Johns Hopkins University, Aug. 2015.
`
`Omid Mohareri, Image and Haptic Guidance for Robot-Assisted Laparoscopic Surgery, Electrical and
`Computer Engineering, University of British Columbia, Oct. 2015.
`
`Jelena Frtunikj, Safety Framework and Platform for Functions of Future Automotive E/E Systems,
`Institute for Informatics, Technical University of Munich (TUM), June 2016.
`
`Jonathan Bohren, Intent-Recognition-Based Traded Control for Telerobotic Assembly over High-Latency
`Telemetry, Dept. of Mechanical Engineering, Johns Hopkins University, Jan. 2017.
`
`Piyamate Wisanuvej, Robotic Manipulators for Single Access Surgery, Dept. of Computing, Imperial
`College (London, UK), July 2018.
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`Preetham Chalasani, Complementary Situational Awareness for an Intelligent Telerobotic Surgical
`Assistant System, Dept. of Computer Science, Johns Hopkins University, Oct. 2018.
`
`Adnan Munawar, An Asynchronous Simulation Framework for Multi-User Interactive Collaboration:
`Application to Robot-Assisted Surgery, Robotics Engineering, Worcester Polytechnic Institute, December
`2019.
`
`Kim Lindberg Schwaner, Autonomy for Surgical Robot Systems, University of Southern Denmark,
`September 2021.
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`Revised: July 24, 2022
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`Byeol Star Kim, Advances in Diagnosis and Surgery of Congenital Heart Disease through Novel Virtual
`Reality Systems for Design, Simulation, and Planning Methods, Dept. of Mechanical Engineering, Johns
`Hopkins University, November 2021.
`
`M.S. Theses Advised or Co-Advised:
`
`Jack Li, Design and Validation of an Image-Guided Optical Probe Insertion Robot for Small Animal
`Research, Mechanical Engineering, The Johns Hopkins University, February 2005.
`
`Karsten Seidl, Optical Measurement of Needle Insertion Depth, Ilmenau University of Technology
`(Germany), December 2006.
`
`Tamas Haidegger, Improving the Accuracy and Safety of a Robotic System for Neurosurgery, Control
`Engineering and Information Technology, Budapest University of Technology and Economics (Hungary),
`May 2008.
`
`Mitch Williams, A Modular Framework for Clinical Decision Support Systems, Computer Science, The
`Johns Hopkins University, May 2009.
`
`Fran Wu, A Modular Framework and Algorithm for Clinical Decision Support Systems, Computer
`Science, The Johns Hopkins University, October 2009.
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`Pramod Verma, Augmented Reality Based 3D UI for Medical Interventions, Computer Science, The Johns
`Hopkins University, October 2010.
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`Isha Kandaswamy, Development, analysis and modeling of forces for cutting satellite insulation in
`telerobotic servicing missions, Computer Science, The Johns Hopkins University, August 2012.
`
`Yang Wang, Robotic System with Multiplex Power Transmission for MRI-Guided Prostate Percutaneous
`Interventions, Robotics, The Johns Hopkins University, May 2016.
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`Current Graduate Students
`
`Will Pryor, Ph.D. student (since 2017)
`Keshuai Xu, Ph.D. student (since 2018)
`Dayeon Kim, Ph.D. student (since 2019)
`Nick Greene, Ph.D. student (since 2020)
`Hisashi Ishida, Ph.D. student (since 2021)
`Juan Antonio Barragan, Ph.D. student (since 2021)
`
`Advising Activities at Morgan State University (MSU)
`
`Jointly mentored undergraduate and graduate students with Dr. LeeRoy Bronner, through two research
`projects:
`1. Architecture and middleware for distributed medical devices (2003-2008): 4 MSU graduate
`students, including one co-advised Ph.D. thesis (Amen Ra Mashariki)
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`2.
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`Intelligent management and dissemination of research information (2005-2008): 2 MSU
`graduate students, 2 MSU undergraduate students
`Both of these projects also involved frequent interactions with JHU graduate and undergraduate students.
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`Other Academic Advising
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`Research Experience for Undergraduates (REU): mentored 1-2 summer students per year since 2004
`
`Mentor for several project teams for 600.446 (Computer-Integrated Surgery II)
`
`Mentor for many JHU undergraduate students. Following are some whose work received recognition:
`
` Pauline Pelletier, recipient of 2006 Michael J. Muuss Research Award, in project with Morgan
`State University.
` Praneeth Sadda, recipient of the Pistritto Undergraduate Research Fellowship for the academic
`year 2011-2012 and the Provost Undergraduate Research Award (PURA) in 2013.
` Martin Kelly, recipient of the Pistritto Undergraduate Research Fellowship for the academic year
`2012-2013.
`Junxiang (Jim) Wang, recipient of the Provost Undergraduate Research Award (PURA) in
`summer 2022.
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`
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`PUBLICATIONS
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`Book Chapters:
`
`1. Lasso, A., Kazanzides, P., “System Integration”, Handbook of Medical Image Computing and
`Computer Assisted Intervention, Academic Press, pp 861-891, 2020.
`2. Taylor, R. H., Kazanzides, P., Fischer, G. S., Simaan, N., “Medical Robotics and Computer-
`Integrated Interventional Medicine,” Biomedical Information Technology (2nd Edition) (edited by D.
`Feng), Academic Press, pp 617-672, 2020.
`3. Taylor, R.H., Kazanzides, P., “Medical Robotics and Computer-Integrated Interventional
`Medicine,” Advances in Computers (edited by M. Zelkowitz), Academic Press, Vol. 73, pp 219-
`260, 2008.
`4. Kazanzides, P. "Robots for Orthopaedic Joint Reconstruction," Robotics in Surgery: History,
`Current and Future Applications (edited by R. Faust), Nova Science Publishers, pp 61-94, 2007.
`5. Taylor, R., Kazanzides, P. "Medical Robotics and Computer-Integrated Interventional Medicine,"
`Biomedical Information Technology (edited by D. Feng), Academic Press, pp 393-416, 2007.
`6. Mittelstadt, B., Kazanzides, P., Zuhars, J., Williamson, B., Cain, P., Smith, F., Bargar, W.L., "The
`Evolution of a Surgical Robot from Prototype to Human Clinical Use," Computer Integrated
`Surgery (edited by R.H. Taylor, S. Lavallée, G.C. Burdea, R. Mösges), MIT Press, Cambridge, MA,
`1996.
`7. Taylor, R.H., Mittelstadt, B.D., Paul, H.A., Hanson, W., Kazanzides, P., Zuhars, J.F., Williamson,
`B., Musits, B.L., Glassman, E., Bargar, W.L. "An Image-Directed Robotic System for Precise
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`Orthopaedic Surgery," Computer Integrated Surgery (edited by R.H. Taylor, S. Lavallée, G.C.
`Burdea, R. Mösges), MIT Press, Cambridge, MA, 1996.
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`Journal Papers:
`
`1. Qian, L., Song, T., Unberath, M., Kazanzides, P., “AR-Loupe: Magnified augmented reality by
`combining an optical see-through head-mounted display and a loupe,” IEEE Trans. on Visualization
`and Computer Graphics, Vol. 28, No. 7, pp. 2550-2562, July 2022.
`2. Connolly, L., Deguet, A., Leonard, S., Tokuda, J., Ungi, T., Krieger, A., Kazanzides, P., Mousavi,
`P., Fichtinger, G., Taylor, R.H., “Bridging 3D Slicer and ROS2 for Image-Guided Robotic
`Interventions,” Sensors, Vol. 22, July 2022.
`3. Munawar, A., Wu, J.Y., Fischer, G.S., Taylor, R.H., Kazanzides, P., “An open simulation
`environment for learning and practice of robot-assisted surgical suturing,” IEEE Robotics and
`Automation Letters, vol. 7, no. 2, pp. 3843-3850, April 2022.
`4. Yilmaz, N., Zhang, J., Kazanzides, P., Tumerdem, U., “Transfer of learned dynamics between
`different surgical robots and operative configurations,” Intl. Journal of Computer Assisted
`Radiology and Surgery (IJCARS), vol. 17, pp. 903-910, April 2022.
`5. Xu, K., Jiang, B., Moghekar, A., Kazanzides, P., Boctor, E., “AutoIn-Focus, a new paradigm for
`ultrasound-guided spine intervention: a multiplatform validation study,” Intl. Journal of Computer
`Assisted Radiology and Surgery (IJCARS), vol. 17, pp. 911-920, March 2022.
`6. Munawar, A., Li, Z., Kunjam, P., Nagururu, N., Ding, A.S., Kazanzides, P., Looi, T., Creighton,
`F.X., Taylor, R.H., Unberath, M., “Virtual reality for synergistic surgical training and data
`generation,” Computer Methods in Biomechanics and Biomedical Engineering: Imaging &
`Visualization, 2021, presented at AE-CAI 2021.
`7. Kazanzides, P., Vagvolgyi, B.P., Pryor, W., Deguet, A., Leonard, S., Whitcomb, L.L.,
`“Teleoperation and visualization interfaces for remote intervention in space,” Frontiers in Robotics
`and AI, vol. 8, Dec. 2021.
`8. Vagvolgyi, B.P., Khrenov, M., Cope, J., Deguet, A., Kazanzides, P., Manzoor, S., Taylor, R.H.,
`Krieger, A., “Telerobotic operation of intensive care unit ventilators”, Frontiers in Robotics and AI,
`vol. 8, pp. 1-15, June 2021.
`9. Munawar, A., Wu, J.Y., Taylor, R.H., Kazanzides, P., Fischer, G.S., “A framework for
`customizable multi-user teleoperated control”, IEEE Robotics and Automation Letters, vol. 6, no. 2,
`pp. 3256-3263, April 2021.
`10. Lin, H., Gao, Q., Chu, X., Dou, Q., Deguet, A., Kazanzides, P., Au, K.S., “Learning deep nets for
`gravitational dynamics with unknown disturbance through physical knowledge distillation: Initial
`feasibility study”, IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2658-2665, April 2021.
`11. Wu, J.Y., Tamhane, A., Kazanzides, P., Unberath, M., “Cross-modal self-supervised representation
`learning for gesture and skill recognition in robotic surgery”, Intl. Journal of Computer Assisted
`Radiology and Surgery (IJCARS), vol. 16, pp. 779-787, March 2021.
`12. Yasin, R., Chalasani, P., Zevallos, N., Shahbazi, M., Li, Z., Deguet, A., Kazanzides, P., Choset, H.,
`Taylor, R.H., Simaan, N., “Evaluation of hybrid control and palpation assistance for situational
`awareness in telemanipulated task execution”, IEEE Trans. on Medical Robotics and Bionics, vol.
`3, no. 1, pp. 31-43, Feb. 2021.
`13. Sefati, S., Hegeman, R., Alambeigi, F., Iordachita, I., Kazanzides, P., Khanuja, H., Taylor, R.,
`Armand, M., “A surgical robotic system for treatment of pelvic osteolysis using an FBG-equipped
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`continuum manipulator and flexible instruments”, IEEE/ASME Trans. on Mechatronics, vol. 26, no.
`1, pp. 369-380, 2020.
`14. Wu, J.Y, Kazanzides, P., Unberath, M., “Leveraging vision and kinematics data to improve realism
`of biomechanic soft tissue simulation for robotic surgery”, Intl. Journal of Computer Assisted
`Radiology and Surgery (IJCARS), vol. 15, pp. 811-818, April 2020.
`15. Qian, L., Wu, J.Y., DiMaio, S.P., Navab, N., Kazanzides, P., “A review of augmented reality in
`robotic-assisted surgery”, IEEE Transactions on Medical Robotics and Bionics, vol. 2, no. 1, pp. 1-
`16, Feb 2020.
`16. Chrysilla, G., Eusman, N., Deguet, A., Kazanzides, P., “A compliance model to improve the
`accuracy of the da Vinci Research Kit (dVRK)”, Acta Polytechnica Hungarica, Special Issue on
`Platforms for Medical Robotics Research, vol. 16, no. 8, pp. 49-60, 2019.
`17. Lin, H., Hui, C.-W. V., Wang, Y., Deguet, A., Kazanzides, P., Au, K. W. S., “A reliable gravity
`compensation control strategy for dVRK robotic arms with nonlinear disturbance forces”, IEEE
`Robotics and Automation Letters, vol. 4, no. 4, pp. 3892-3899, Oct. 2019.
`18. Huang, P., Su, L., Chen, S., Cao, K., Song, Q., Kazanzides, P., Iordachita, I., Bell, M.A.L., Wong,
`J.W., Li, D. and Ding, K., “2D ultrasound imaging based intra-fraction respiratory motion tracking
`for abdominal radiation therapy using machine learning”, Physics in Medicine & Biology, vol. 64,
`no.18, Sept. 2019.
`19. Qian, L., Plopski, A., Navab, N., Kazanzides, P., “Restoring the awareness in the occluded visual
`field for optical see-through head-mounted displays”, IEEE Trans. on Visualization and Computer
`Graphics, vol. 24, no. 11, pp. 2936-2946, Nov 2018.
`20. Qian, L., Deguet, A., Kazanzides, P., “ARssist: augmented reality on a head-mounted display for
`the first assistant in robotic surgery”, IET Healthcare Technology Letters, vol. 5, no. 5, pp. 194-200,
`Oct 2018.
`21. Vagvolgyi, B.P., Pryor, W., Reedy, R., Niu, W., Deguet, A., Whitcomb, L.L., Leonard, S.,
`Kazanzides, P., “Scene modeling and augmented virtuality interface for telerobotic satellite
`servicing”, IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 4241-4248, Oct. 2018.
`22. Cho, N., Wong, J., Kazanzides, P., “Fast inverse planning of beam directions and weights for small
`animal radiotherapy”, IEEE Trans. on Radiation and Plasma Medical Sciences, Vol. 2, No. 3, pp.
`215-222, May 2018.
`23. Cho, N., Tsiamas, P., Velarde, E., Tryggestad, E., Jacques, R., Berbeco, R., McNutt, T.,
`Kazanzides, P., Wong, J. “Validation of GPU-accelerated superposition-convolution dose
`computations for the small animal radiation research platform (SARRP)”, Medical Physics, Vol. 45,
`No. 5, pp. 2252-2265, May 2018.
`24. Wang, Z., Liu, Z., Ma, Q., Cheng, A., Liu, Y.-h., Kim, S., Deguet, A., Reiter, A., Kazanzides, P.,
`Taylor, R.H., “Vision-based calibration of dual RCM-based robot arms in human-robot
`collaborative minimally invasive surgery”, IEEE Robotics and Automation Letters, Vol. 3, No. 2,
`pp. 672-679, April 2018.
`25. Yang, G.-Z., Cambias, J., Cleary, K., Daimler, E., Drake, J., Dupont, P. E., Hata, N., Kazanzides,
`P., Martel, S., Patel, R. V., Santos, V. J., Taylor, R. H. “Medical robotics – regulatory, ethical, and
`legal considerations for increasing levels of autonomy”, Science Robotics, Vol. 2, No. 4, March
`2017.
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`26. Gandhi, N., Allard, M., Kim, S., Kazanzides, P., Bell, M.A.L., “Photoacoustic-based approach to
`surgical guidance performed with and without a da Vinci robot,” Journal of Biomedical Optics,
`Vol. 22, No. 12, pp. 121606:1-12, Dec. 2017.
`27. Wang, Z., Lee, S.C., Zhong, F., Navarro-Alarcon, D., Liu, Y., Deguet, A., Kazanzides, P., Taylor,
`R.H., “Image-based trajectory tracking control of 4-DoF laparoscopic instruments using a rotation
`distinguishing marker,” IEEE Robotics and Automation Letters, Vol. 2, No. 3, pp. 1586-1592, July
`2017.
`28. Qian, L., Barthel, A., Johnson, A., Osgood, G., Kazanzides, P., Navab, N., Fuerst, B., “Comparison
`of optical see-through head-mounted displays for surgical interventions with object-anchored 2D
`display,” Intl. J. of Computer Assisted Radiology and Surgery (IJCARS), Vol. 12, No. 6, pp. 901-
`910, June 2017.
`29. Wang, L., Chen, Z., Chalasani, P., Yasin, R.M., Kazanzides, P., Taylor, R.H., Simaan, N. “Force-
`controlled exploration for updating virtual fixture geometry in model-mediated telemanipulation,”
`ASME Journal of Mechanisms and Robotics, Vol. 9, No. 2, Apr 2017.
`30. Kim, S., Kazanzides, P., “Fiducial-based registration with a touchable region model,” Intl. J. of
`Computer Assisted Radiology and Surgery (IJCARS), Vol. 12, No. 2, pp. 277- 289, Feb 2017.
`31. Sen, H.T., Bell, M.A.L., Zhang, Y., Ding, K., Boctor, E., Wong, J., Iordachita, I., Kazanzides, P.,
`“System integration and preliminary in-vivo experiments of a robot for ultrasound guidance and
`monitoring during radiotherapy,” IEEE Trans. on Biomedical Engineering, 2016.
`32. Sen, H.T., Cheng, A., Ding, K., Boctor, E., Wong, J., Iordachita, I., Kazanzides, P., “Cooperative
`Control with Ultrasound Guidance for Radiation Therapy”, Frontiers in Robotics and AI, Vol. 3,
`Aug. 2016.
`33. Bell, M.A.L., Kumar, S., Kuo, L., Sen, H.T., Iordachita, I., Kazanzides, P., “Toward standardized
`acoustic radiation force-based ultrasound elasticity measurements with robotic force control”, IEEE
`Transactions on Biomedical Engineering, Nov. 2015.
`34. He, C., Kazanzides, P., Sen, H.T., Kim, S., Liu, Y., “An Inertial and Optical Sensor Fusion
`Approach for Six Degree-of-Freedom Pose Estimation”, Sensors, Vol. 15, No. 7, pp 16448-16465,
`July 2015.
`35. Bell, M.A.L, Ostrowski, A.K., Li, K., Kazanzides, P., Boctor, E.M., “Localization of transcranial
`targets for photoacoustic-guided endonasal surgeries,” Photoacoustics, Vol. 3, No. 2, pp. 78–87,
`June 2015.
`36. Billings, S., Kang, H.J., Cheng, A, Boctor, E., Kazanzides, P., Taylor, R., “Minimally invasive
`registration for computer-assisted orthopedic surgery: combining tracked ultrasound and bone
`surface points via the P-IMLOP algorithm”, Intl. Journal of Computer Assisted Radiology and
`Surgery, April 2015.
`37. Jung, M.Y., Balicki, M., Deguet, A., Taylor, R.H., Kazanzides, P., “Lessons Learned from the
`Development of Component-Based Medical Robot Systems”, Journal of Software Engineering for
`Robotics (JOSER), Vol. 5, no. 2, pp 25-41, Sept. 2014.
`38. Bell, M.A.L., Sen, H.T., Iordachita, I., Kazanzides, P., Wong, J., “In vivo reproducibility of robotic
`probe placement for a novel ultrasound-guided radiation therapy system”, Journal of Medical
`Imaging, Vol. 1, No. 2, 025001, pp 1-9, July 2014.
`39. Kouskoulas, Y., Platzer, A., Kazanzides, P., “Formal Methods for Robotic System Control
`Software,” Johns Hopkins APL Technical Digest, Vol. 32, No. 2, pp 490-498, Sept. 2013.
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`40. Kouskoulas, Y., Fu, M., Shao, Z., Kazanzides, P., “Applying Mathematical Logic to Create Zero-
`Defect Software,” Johns Hopkins APL Technical Digest, Vol. 32, No. 2, pp 490-498, Sept. 2013.
`41. Otake, Y., Armand, M., Armiger, R., Kutzer, M., Basafa, E., Kazanzides, P., Taylor, R.,
`“Intraoperative Image-based Multi-view 2D/3D Registration for Image-guided Orthopaedic
`Surgery: Incorporation of Fiducial-based C-arm Tracking and GPU-acceleration,” IEEE Trans. on
`Medical Imaging, Vol. 31, No. 4, pp 948-962, April 2012.
`42. Ren, H., Kazanzides, P., “Investigation of attitude tracking using an integrated inertial and magnetic
`navigation system for hand-held surgical instruments”, IEEE/ASME Trans. on Mechatronics, Vol.
`17, No. 2, pp 210-217, April 2012.
`43. Ren, H., Rank, D., Merdes, M., Stallkamp, J., Kazanzides, P., “Multisensor Data Fusion in an
`Integrated Tracking System for Endoscopic Surgery,” IEEE Trans. on Info. Tech. in Biomed., Vol.
`16, No. 1, pp 106-111, Jan 2012.
`44. Ren, H., Kazanzides, P., “A Paired-Orientation Alignment Problem in a Hybrid Tracking System
`for Computer Assisted Surgery”, Journal of Intelligent & Robotic Systems, Vol. 63, No. 2, pp 151-
`161, Aug. 2011.
`45. Song, D.Y., Burdette, E.C., Fiene, J., Armour, E., Kronreif, G., Deguet, A., Zhang, Z., Iordachita,
`I., Fichtinger, G., Kazanzides, P., “Robotic needle guide for prostate brachytherapy: Clinical testing
`of feasibility and performance”, Brachytherapy, Vol. 10, No. 1, pp 57-63, Jan 2011.
`46. Chang, J., Wen, B., Kazanzides, P., Zanzonico, P., Finn, R.D., Fichtinger, G., Ling, C., “A robotic
`system for 18F-FMISO PET-guided intratumoral pO2 measurements”, Medical Physics, Vol. 36, No.
`11, pp 5301-5309, Nov 2009.
`47. Simaan, N., Xu, K., Wei, W., Kapoor, A., Kazanzides, P., Flint, P., Taylor, R.H., “Design and
`Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat”, Intl. J. Robotics
`Research (special issue on medical robotics), Vol. 28, No. 9, pp. 1134-1153, Sept. 2009.
`48. Haidegger, T., Benyo, Z., Kazanzides, P., “Manufacturing the Human Body – the Era of Surgical
`Robots”, Journal of Machine Manufacturing, The Scientific Society for Mechanical Engineering,
`Hungary, Vol.49, Issue E2, pp 18-24, April 2009.
`49. Matinfar, M., Ford, E., Iordachita, I., Wong, J., Kazanzides, P., “Image-guided small animal
`radiation research platform: calibration of treatment beam alignment”, Phys. Med. Biol., Vol. 54,
`No. 4, pp 891-905, Feb 2009.
`50. Xia, T., Baird, C., Jallo, G., Hayes, K., Nakajima, N., Hata, N., Kazanzides, P., “An Integrated
`System for Planning, Navigation, and Robotic Assistance for Skull Base Surgery,” Int. J. Medical
`Robotics and Computer Assisted Surgery, Vol. 4, No. 4, pp 321–330, Dec 2008.
`51. Fichtinger, G., Fiene, J.P., Kennedy, C.W., Kronreif, G., Iordachita, I., Song, D.Y., Burdette, E.C.,
`Kazanzides, P., “Robotic Assistance for Ultrasound-Guided Prostate Brachytherapy,” Medical
`Image Analysis, Vol. 12, No. 5, pp 535-545, Oct 2008.
`52. Wong, J., Armour, E., Kazanzides, P., et al., “High-Resolution, Small Animal Radiation Research
`Platform with X-ray Tomographic Guidance Capabilities,” Int. J. Radiation Oncology Biol. Phys,
`Vol 71, No. 5, pp 1591-1599, Aug 2008.
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