Publications

52 entries « 1 of 2 »

2018

Bergeles, C

Towards intracorporeally navigated untethered microsurgeons Incollection

Encyclopedia of Medical Robotics, 2018.

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2017

Leibrandt, K; Bergeles, C; Yang, G -Z

Implicit active constraints for concentric tube robots based on analysis of the safe and dexterous workspace Inproceedings

IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2017.

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Bergeles, C; Dubis, A M; Davidson, B; Kasilian, M; Kalitzeos, A; Carroll, J; Dubra, A; Michaelides, M; Ourselin, S

Unsupervised identification of cone photoreceptors in non-confocal adaptive optics scanning light ophthalmoscope images Journal Article

Biomedical Optics Express, 8 (6), pp. 4244–4251, 2017.

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Dwyer, G; Chadebecq, F; Amo, M T; Bergeles, C; Maneas, E; Pawar, V; Vander Poorten, E; Deprest, J; Ourselin, S; De Coppi, P; Vercauteren, T; Stoyanov, D

A continuum robot and control interface for surgical assist in fetoscopic interventions Journal Article

IEEE Robotics and Automation Letters, pp. pre–print, 2017.

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Leibrandt, K; Bergeles, C; Yang, G -Z

Concentric tube robots: rapid, stable path-planning and guidance for surgical use Journal Article

IEEE Robotics and Automation Magazine, 24 (2), pp. 42–53, 2017.

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Vandini, A; Bergeles, C; Glocker, B; Giataganas, P; Yang, G -Z

Unified tracking and shape estimation for concentric tube robots Journal Article

IEEE Trans. Robotics, 2017.

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2016

Liu, N; Bergeles, C; Yang, G -Z

Design and analysis of a new wire-driven flexible manipulator for bronchoscopic interventions Inproceedings

IEEE Int. Conf. Robotics and Automation, pp. 4058–4063, 2016.

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Fagogenis, G; Bergeles, C; Dupont, P E

Adaptive nonparametric kinematic modeling of concentric tube robots Inproceedings

IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 4324–4329, 2016.

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Leibrandt, K; Bergeles, C; Yang, G -Z

Implicit active constraints for safe and effective guidance of unstable concentric tube robots Inproceedings

IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 1157–1163, 2016.

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Liu, N; Bergeles, C; Yang, G -Z

Design and analysis of a new wire-driven flexible manipulator for bronchoscopic interventions Inproceedings

IEEE Int. Conf. Robotics and Automation, pp. 4058–4063, 2016.

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Bergeles, C; da Cruz, L

Keep an eye on robotics: emerging vitreoretinal surgical platforms Journal Article

Optometry Today, Dec. , pp. 58–63, 2016.

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Leibrandt, K; Bergeles, C; Yang, G -Z

Implicit active constraints for safe and effective guidance of unstable concentric tube robots Inproceedings

IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 1157–1163, 2016.

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Bergeles, C

It's all about perspective Journal Article

The Ophthalmologist, (The Innovators, December), 2016.

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2015

Kouris, A; Michailidis, C; Bergeles, C

Shifting respiratory care from lungs to patients: the necessity for patient-focused approach Inproceedings

Int. Cong. European Respiratory Society, 2015.

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King, H H; Shang, J; Liu, J; Seneci, C; Wisanuvej, P; Giataganas, P; Patel, N; Clark, J; Vitiello, V; Bergeles, C; Pratt, P; Kerr, K; Darzi, A; Yang, G -Z

Micro-IGES robot for transanal robotic microsurgery Inproceedings

Hamlyn Symposium on Medical Robotics, 2015.

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Bergeles, C; Lin, F -Y; Yang, G -Z

Concentric tube robot kinematics using neural networks Inproceedings

Hamlyn Symposium on Medical Robotics, 2015.

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Power, M; Rafii-Tari, H; Bergeles, C; Vitiello, V; Yang, G -Z

A corperative control framework for haptic guidance with bimanual surgical tasks based on learning from demonstration Inproceedings

IEEE Int. Conf. Robotics and Automation, pp. 5330–5337, 2015.

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Vandini, A; Bergeles, C; Lin, F -Y; Yang, G -Z

Intraoperative vision-based shape sensing of concentric tube robots Inproceedings

IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2603–2610, 2015.

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Leibrandt, K; Bergeles, C; Yang, G -Z

On-line collision-free inverse kinematics with frictional active constraints for effective control of unstable concentric tube robots Inproceedings

IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 3797–3804, 2015.

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Lin, F -Y; Bergeles, C; Yang, G -Z

Biometry-based concentric tubes robot for vitreoretinal surgery Inproceedings

IEEE Engineering in Medicine and Biology Conf., pp. 5280–5284, 2015.

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Bergeles, C; Berthet-Rayne, P; McCormac, P; Garcia-Peraza-Herrera, L C; Onyenso, K; Cao, F; Vyas, K; Berthelot, M; Yang, G -Z

Accessible digital ophthalmoscopy based on ligquid-lens technology Inproceedings

Int. Conf. Medical Image Computing and Computer Assisted Intervention, pp. 571–578, 2015.

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Power, M; Rafii-Tari, H; Bergeles, C; Vitiello, V; Yang, G -Z

A cooperative control framework for haptic guidance with bimanual surgical tasks based on learning from demonstration Inproceedings

IEEE Int. Conf. Robotics and Automation, pp. 5330–5337, 2015.

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Bergeles, C; Berthet-Rayne, P; McCormac, P; Garcia-Peraza-Herrera, L C; Onyenso, K; Cao, F; Vyas, K; Berthelot, M; Yang, G -Z

Accessible digital ophthalmoscopy based on liquid-lens technology Inproceedings

Int. Conf. Medical Image Computing and Computer Assisted Intervention, pp. 571–578, 2015.

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Vandini, A; Bergeles, C; Lin, F; Yang, G -Z

Intraoperative vision-based shape sensing of concentric tube robots Inproceedings

IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2603–2610, 2015.

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Felfoul, O; Becker, A; Bergeles, C; Dupont, P E

Achieving commutation control of an MRI-powered robot actuator Journal Article

IEEE Trans. Robotics, 31 (2), pp. 387–399, 2015.

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Bergeles, C; Gosline, A; Vasilyev, N; Codd, P; del Nido, P J; Dupont, P E

Concentric tube robot design and optimization based on task and anatomical constraints Journal Article

IEEE Trans. Robotics, 31 (1), pp. 67–84, 2015.

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Leibrandt, K; Bergeles, C; Yang, G -Z

On-line collision-free inverse kinematics with frictional active constraints for effective control of unstable concentric tube robots Inproceedings

IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 3797–3804, 2015.

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2014

Giataganas, P; Bergeles, C; Pratt, P; Hughes, M; Darzi, A; Yang, G -Z

Intraoperative 3D fusion of microscopic and endoscopic images in endoscopic images in transanal endoscopic microsurgery Inproceedings

Hamlyn Symposium on Medical Robotics, 2014.

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Dwyer, G; Bergeles, C; Chadebecq, F; Pawar, V; Vander Poorten, E; Ourselin, S; Deprest, J; De Coppi, P; Vercauteren, T; Stoyanov, D

Cooperative control with distal manipulation for fetoscopic laser photocoagulation Inproceedings

Joint Workshop on New Technologies for Computer/Robot Assisted Surgery, 2014.

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Michailidis, C; Smanis, I; Stamatis, K; Bergeles, C; Kouris, A

Development of a smartphone-enabled spirometer for personalised respiratory health Inproceedings

ICST Int. Conf. Wireless Mobile Communication and Healthcare, pp. 66–70, Best Student Paper Finalist, 2014.

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Pratt, P; Bergeles, C; Darzi, A; Yang, G -Z

Practical intraoperative stereo camera calibration Inproceedings

Int. Conf. Medical Image Computing and Computer Assisted Intervention, pp. 667–675, 2014.

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Bergeles, C; Pratt, P; Merrifield, R; Darzi, A; Yang, G -Z

Multi-view stereo reconstruction and advanced navigation for transanal endoscopic microsurgery Inproceedings

Int. Conf. Medical Image Computing and Computer Assisted Intervention, pp. 332–339, 2014.

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Bergeles, C; Yang, G -Z

From passive tool holders to microsurgeons: safer, smaller, smarter surgical robots Journal Article

IEEE Trans. Biomedical Engineering, 61 (5), pp. 1565–1576, 2014.

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2013

Bergeles, C; Vartholomeos, P; Qin, L; Dupont, P E

RF-selective-excitation for state estimation of an MRI-powered motor Inproceedings

Int. Symp. Magnetic Resonance in Medicine, 2013.

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Bergeles, C; Dupont, P E

Planning stable paths for concentric tube robots Inproceedings

IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 3077–3082, 2013.

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Ullrich, F; Bergeles, C; Pokki, J; Ergeneman, O; Erni, S; Chatzipirpiridis, G; é, Pan S; Framme, C; Nelson, B J

Mobility experiments with microrobots for minimally invasive intraocular surgery Journal Article

Investigative Ophthalmology & Visual Science, 54 (4), pp. 2853–2863, 2013.

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Vartholomeos, P; Bergeles, C; Qin, L; Dupont, P E

An MRI-powered and controlled actuator technology for tethereless robotic interventions Journal Article

Int. J. Robotics Research, 32 (13), pp. 1536–1552, 2013.

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2012

Vartholomeos, P; Bergeles, C; Qin, L; Dupont, P E

Closed-loop position control of an MRI-powered biopsy robot Inproceedings

Hamlyn Symposium on Medical Robotics, 2012.

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Marino, H; Bergeles, C; Nelson, B J

Robust H-inf control for electromagnetic steering of microrobots Inproceedings

IEEE Int. Conf. Robotics and Automation, pp. 2498–2503, 2012.

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Pokki, J; Ergeneman, O; Bergeles, C; Torun, H; Nelson, B J

Localized viscoelasticity measurements with untethered intravitreal microrobots Inproceedings

IEEE Engineering in Medicine and Biology Conf., pp. 2813–2816, 2012.

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Bergeles, C; Qin, L; Vartholomeos, P; Dupont, P E

Tracking and position control of an MRI-powered needle-insertion robot Inproceedings

IEEE Engineering in Medicine and Biology Conf., pp. 928–931, 2012.

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Bergeles, C; Kratochvil, B E; Nelson, B J

Visually servoing magnetic intraocular microrobots Journal Article

IEEE Trans. Robotics, 28 (4), pp. 798–809, 2012.

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2011

Bergeles, C

Visually servoing wireless magnetic intraocular microrobots PhD Thesis

ETH Zurich, 2011.

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Ergeneman, O; Bergeles, C; Kummer, M P; Abbott, J J; Nelson, B J

Wireless intraocular microrobots: opportunities and challenges Incollection

Rosen, J; Hannaford, B; Satava, R (Ed.): Surgical Robotics: Systems, Applications and Visions, Springer-Verlag GbmH, Heidelberg, 2011.

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Bergeles, C; Kratochvil, B E; Nelson, B J

Model-based localization of intraocular microrobots for wireless electromagnetic control Inproceedings

IEEE Int. Conf. Robotics and Automation, pp. 2617–2622, Best Vision Paper Finalist, 2011.

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Ergemenan, O; Chatzipirpiridis, G; Pane, S; Sotiriou, G A; Bergeles, C; Nelson, B J

Wireless microrobotic oxygen sensing for retinal hypoxia monitoring Inproceedings

ICST Int. Conf. Wireless Mobile Communication and Healthcare, 2011.

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2010

Bergeles, C; Shamaei, K; Abbott, J J; Nelson, B J

Single-camera focus-based localization of intraocular devices Journal Article

IEEE Trans. Biomedical Engineering, 57 (8), pp. 2064–2074, 2010.

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2009

Bergeles, C; Fagogenis, G; Abbott, J J; Nelson, B J

Tracking intraocular microdevices basedon colorspace evaluation and statistical color/shape information Inproceedings

IEEE Int. Conf. Robotics and Automation, pp. 3934–3939, 2009.

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Bergeles, C; Shamaei, K; Abbott, J J; Nelson, B J

Wide-angle localization of intraocular devices from focus Inproceedings

IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 4523–4528, 2009.

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Bergeles, C; Shamaei, K; Abbott, J J; Nelson, B J

Wide-angle intraocular imaging and localization Inproceedings

Int. Conf. Medical Image Computing and Computer Assisted Intervention, pp. 540–548, 2009.

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52 entries « 1 of 2 »