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Keith L. Obstein

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2023
[j24]
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  - journals/mia/LiMCOVSV23
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Liang Li, Evangelos B. Mazomenos, James Henry Chandler, Keith L. Obstein, Pietro Valdastri, Danail Stoyanov, Francisco Vasconcelos:
Robust endoscopic image mosaicking via fusion of multimodal estimation. Medical Image Anal. 84: 102709 (2023)
[j23]
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Yilan Xu, Boyang Xiao, Lohit Balakumar, Keith L. Obstein, Xiaoguang Dong:
Wireless Millimeter-Size Soft Climbing Robots With Omnidirectional Steerability on Tissue Surfaces. IEEE Robotics Autom. Lett. 8(9): 5720-5726 (2023)
2022
[j22]
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  - journals/firai/BarducciSMOV22
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Lavinia Barducci, Bruno Scaglioni, James W. Martin, Keith L. Obstein, Pietro Valdastri:
Active Stabilization of Interventional Tasks Utilizing a Magnetically Manipulated Endoscope. Frontiers Robotics AI 9: 854081 (2022)
2021
[j21]
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  - journals/firai/OnaizahKWSJAOV21
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Onaizah Onaizah, Zaneta Koszowska, Conchubhair Winters, Venkatamaran Subramanian, David G. Jayne, Alberto Arezzo, Keith L. Obstein, Pietro Valdastri:
Guidelines for Robotic Flexible Endoscopy at the Time of COVID-19. Frontiers Robotics AI 8: 612852 (2021)
[j20]
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  - journals/firai/ChauhanCJSOV21
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Manish Chauhan, James Henry Chandler, Animesh Jha, Venkataraman Subramaniam, Keith L. Obstein, Pietro Valdastri:
An Origami-Based Soft Robotic Actuator for Upper Gastrointestinal Endoscopic Applications. Frontiers Robotics AI 8: 664720 (2021)
[j19]
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  - journals/ijrr/CampisanoCRCOWV21
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Federico Campisano, Simone Caló, Andria A. Remirez, James Henry Chandler, Keith L. Obstein, Robert J. Webster III, Pietro Valdastri:
Closed-loop control of soft continuum manipulators under tip follower actuation. Int. J. Robotics Res. 40(6-7) (2021)
2020
[j18]
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  - journals/firai/ChandlerCGOV20
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James Henry Chandler, Manish Chauhan, Nicolo Garbin, Keith L. Obstein, Pietro Valdastri:
Parallel Helix Actuators for Soft Robotic Applications. Frontiers Robotics AI 7: 119 (2020)
[j17]
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  - journals/natmi/MartinSNSAOV20
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James W. Martin, Bruno Scaglioni, Joseph C. Norton, Venkataraman Subramanian, Alberto Arezzo, Keith L. Obstein, Pietro Valdastri:
Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation. Nat. Mach. Intell. 2(10): 595-606 (2020)
[j16]
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Federico Campisano, Andria A. Remirez, Simone Caló, James Henry Chandler, Keith L. Obstein, Robert J. Webster III, Pietro Valdastri:
Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators. IEEE Robotics Autom. Lett. 5(2): 2642-2649 (2020)
[j15]
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Federico Campisano, Andria A. Remirez, Claire A. Landewee, Simone Caló, Keith L. Obstein, Robert J. Webster III, Pietro Valdastri:
Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy. IEEE Robotics Autom. Lett. 5(4): 6427-6434 (2020)
2019
[j14]
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  - journals/ral/ScaglioniPMNOV19
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Bruno Scaglioni, Luca Previtera, James W. Martin, Joseph C. Norton, Keith L. Obstein, Pietro Valdastri:
Explicit Model Predictive Control of a Magnetic Flexible Endoscope. IEEE Robotics Autom. Lett. 4(2): 716-723 (2019)
[j13]
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  - journals/ral/PittiglioBMNAOV19
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Giovanni Pittiglio, Lavinia Barducci, James W. Martin, Joseph C. Norton, Carlo Alberto Avizzano, Keith L. Obstein, Pietro Valdastri:
Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach. IEEE Robotics Autom. Lett. 4(2): 1224-1231 (2019)
[j12]
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Piotr R. Slawinski, Nabil Simaan, Keith L. Obstein, Pietro Valdastri:
Sensorless Estimation of the Planar Distal Shape of a Tip-Actuated Endoscope. IEEE Robotics Autom. Lett. 4(4): 3371-3377 (2019)
[j11]
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Lavinia Barducci, Giovanni Pittiglio, Joseph C. Norton, Keith L. Obstein, Pietro Valdastri:
Adaptive Dynamic Control for Magnetically Actuated Medical Robots. IEEE Robotics Autom. Lett. 4(4): 3633-3640 (2019)
[j10]
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  - journals/scirobotics/NortonSLMCCDCOC19
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Joseph C. Norton, Piotr R. Slawinski, Holly S. Lay, James W. Martin, Benjamin F. Cox, Gerard Cummins, Marc P. Y. Desmulliez, Richard Eddie Clutton, Keith L. Obstein, Sandy Cochran, Pietro Valdastri:
Intelligent magnetic manipulation for gastrointestinal ultrasound. Sci. Robotics 4(31) (2019)
[j9]
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  - journals/tbe/GarbinWCOSV19
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Nicolo Garbin, Long Wang, James Henry Chandler, Keith L. Obstein, Nabil Simaan, Pietro Valdastri:
Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy. IEEE Trans. Biomed. Eng. 66(7): 1963-1974 (2019)
[j8]
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Piotr R. Slawinski, Nabil Simaan, Addisu Z. Taddese, Keith L. Obstein, Pietro Valdastri:
Sensitivity Ellipsoids for Force Control of Magnetic Robots With Localization Uncertainty. IEEE Trans. Robotics 35(5): 1123-1135 (2019)
2018
[j7]
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  - journals/ijrr/TaddeseSPMOV18
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Addisu Z. Taddese, Piotr R. Slawinski, Marco Pirotta, Elena De Momi, Keith L. Obstein, Pietro Valdastri:
Enhanced real-time pose estimation for closed-loop robotic manipulation of magnetically actuated capsule endoscopes. Int. J. Robotics Res. 37(8): 890-911 (2018)
2017
[j6]
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  - journals/ral/SlawinskiTMOV17
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Piotr R. Slawinski, Addisu Z. Taddese, Kyle B. Musto, Keith L. Obstein, Pietro Valdastri:
Autonomous Retroflexion of a Magnetic Flexible Endoscope. IEEE Robotics Autom. Lett. 2(3): 1352-1359 (2017)
[j5]
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  - journals/ram/CampisanoGDLIMM17
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Federico Campisano, Francesco Gramuglia, Imro R. Dawson, Christopher T. Lyne, Michelle L. Izmaylov, Sarthak Misra, Elena De Momi, Douglas R. Morgan, Keith L. Obstein, Pietro Valdastri:
Gastric Cancer Screening in Low?-Income Countries: System Design, Fabrication, and Analysis for an Ultralow-Cost Endoscopy Procedure. IEEE Robotics Autom. Mag. 24(2): 73-81 (2017)
2016
[j4]
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  - journals/jmrr/BeccaniNVO16
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Marco Beccani, Christian Di Natali, Pietro Valdastri, Keith L. Obstein:
Restoring Haptic Feedback in NOTES Procedures with a Novel Wireless Tissue Stiffness Probe. J. Medical Robotics Res. 1(2): 1650002:1-1650002:6 (2016)
2015
[j3]
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Robert Caprara, Keith L. Obstein, Gabriel Scozzarro, Christian Di Natali, Marco Beccani, Douglas R. Morgan, Pietro Valdastri:
A Platform for Gastric Cancer Screening in Low- and Middle-Income Countries. IEEE Trans. Biomed. Eng. 62(5): 1324-1332 (2015)
2013
[j2]
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  - journals/artmed/BellOV13
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Charreau S. Bell, Keith Obstein, Pietro Valdastri:
Image partitioning and illumination in image-based pose detection for teleoperated flexible endoscopes. Artif. Intell. Medicine 59(3): 185-196 (2013)
[j1]
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  - journals/tbe/GorlewiczBSCGMOVW13
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Jenna L. Gorlewicz, Santina Battaglia, Byron F. Smith, Gastone Ciuti, Jason Gerding, Arianna Menciassi, Keith Obstein, Pietro Valdastri, Robert J. Webster III:
Wireless Insufflation of the Gastrointestinal Tract. IEEE Trans. Biomed. Eng. 60(5): 1225-1233 (2013)

Conference and Workshop Papers

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2024
[c6]
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  - conf/iros/RichardsASYAWOS24
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Olivia K. Richards, Elan Z. Ahronovich, Neel Shihora, Ahmet Yildiz, Jumana Atoum, Jie Ying Wu, Keith L. Obstein, Nabil Simaan:
A Robotic Mediation Device for Skill Assessment and Training During Colonoscopy. IROS 2024: 4616-4623
2018
[c5]
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  - conf/cbs/MartinMNOV18
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James W. Martin, Joseph C. Norton, Keith L. Obstein, Pietro Valdastri:
Toward Autonomous Robotic Colonoscopy: Motion Strategies for Magnetic Capsule Navigation. CBS 2018: 240-244
[c4]
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  - conf/ismr/GarbinWCOSV18
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Nicolo Garbin, Long Wang, James Henry Chandler, Keith L. Obstein, Nabil Simaan, Pietro Valdastri:
A disposable continuum endoscope using piston-driven parallel bellow actuator. ISMR 2018: 1-6
2016
[c3]
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  - conf/iros/TaddeseSOV16
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Addisu Z. Taddese, Piotr R. Slawinski, Keith L. Obstein, Pietro Valdastri:
Nonholonomic closed-loop velocity control of a soft-tethered magnetic capsule endoscope. IROS 2016: 1139-1144
[c2]
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  - conf/rss/TaddeseSOV16
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Addisu Z. Taddese, Piotr R. Slawinski, Keith L. Obstein, Pietro Valdastri:
Closed Loop Control of a Tethered Magnetic Capsule Endoscope. Robotics: Science and Systems 2016
2010
[c1]
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  - conf/miar/JayenderEOPTV10
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Jagadeesan Jayender, Raúl San José Estépar, Keith Obstein, Vaibhav Patil, Christopher C. Thompson, Kirby G. Vosburgh:
Hidden Markov Model for Quantifying Clinician Expertise in Flexible Instrument Manipulation. MIAR 2010: 363-372

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