Publications

Journal Publications

  1. “Interleaved Imaging and Actuation for Real-Time MRI during Active Control of a Magnetically-Actuated Robotic Catheter.”
    R. Ali, D. Franson, I. Devai Camacho de Oliveira, T. Cowles, D. Herzka, M. A. Griswold, M. C. Cavusoglu.
    IEEE Transactions on Biomedical Engineering, 2025. doi: 10.1109/TBME.2025.3642722 (In Press)

  2. “Landing Control of an MRI-Actuated Robotic Catheter on Beating Heart Surface.”
    R. Hao and M. C. Cavusoglu.
    Scientific Reports, 15:34581, October 2025. PMCID: PMC12494870, doi: 10.1038/s41598-025-18054-2

  3. “Design of a Hall-Effect Based Force Sensing Mechanism for Force Sensing inside Magnetic Resonance Imaging Scanner.”
    Y.-C. Chen, R. Hao, A. Thompson, M. Griswold, and M. C. Cavusoglu.
    IEEE Sensors Letters, 9(9), September 2025, pp. 1-4. PMCID: PMC12352604, doi: 10.1109/LSENS.2025.3591071

  4. “A Systematic Review of Task Automation in Surgical Robotics.”
    T. Shkurti and M. C. Cavusoglu.
    IEEE Transactions on Medical Robotics and Bionics, 7(3), August 2025, pp. 863-880. doi: 10.1109/TMRB.2025.3583182

  5. “Free-Space Dynamic Modeling of an MRI-Actuated Robotic Catheter.”
    R. Hao, E. E. Tuna, Y. Itsarachaiyot, and M. C. Cavusoglu.
    IEEE/ASME Transactions on Mechatronics, 30(3), June 2025, pp. 2144-2154. PMCID: PMC12175967, doi: 10.1109/TMECH.2024.3438800

  6. “Does using artificial intelligence assistance accelerate skill decay and hinder skill development without performers’ awareness?”
    B. Macnamara, I. Berber, M. C. Cavusoglu, E. Krupinksi, N. Nallapareddy, N. E. Nelson, P. J. Smith, A. L. Wilson-Delfosse, and S. Ray.
    Cognitive Research: Principles and Implications, 9(46), July 2024. doi: 10.1186/s41235-024-00572-8

  7. “Precision Camera Calibration Using Known Target Motions along Three Perpendicular Axes.”
    T. Shkurti, A. Nahari, W. Newman, and M. C. Cavusoglu.
    Optical Engineering, 63(2), February 2024, pp. 024101. doi: 10.1117/1.OE.63.2.024101

  8. “Deformable Cardiac Surface Tracking by Adaptive Estimation Algorithms.”
    E. E. Tuna, D. Franson, N. Seiberlich, and M. C. Cavusoglu.
    Scientific Reports, 13:1387, January 2023. PMCID: PMC9877032, doi: 10.1038/s41598-023-28578-0

  9. “MRI Distortion Correction and Robot-to-MRI Scanner Registration for an MRI-Guided Robotic Catheter System.”
    E. E. Tuna, N. Lombard Poirot, D. Franson, S. Huang, N. Seiberlich, M. Griswold, and M. C. Cavusoglu.
    IEEE Access, 10, 2022, pp. 99205-99220. PMCID: PMC10085576, doi: 10.1109/ACCESS.2022.3207156

  10. “State of the Art and Future Opportunities in MRI Guided Robot-Assisted Surgery and Interventions.”
    H. Su, K.-W. Kwok, K. Cleary, I. Iordachita, M. C. Cavusoglu, J. Desai, G. S. Fischer.
    Proceedings of the IEEE, 110(7), July 2022, pp. 968-992. PMCID: PMC9231642, doi: 10.1109/JPROC.2022.3169146

  11. “A Probabilistic Approach for Contact Stability and Contact Safety Analysis of Robotic Intracardiac Catheter.”
    R. Hao and M. C. Cavusoglu.
    ASME Journal of Dynamical Systems, Measurement, and Control, 143(9), September 2021, pp. 094502. PMCID: PMC8299815, doi: 10.1115/1.4050692

  12. “Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter under Cardiac Surface Motion.”
    R. Hao, E. E. Tuna, and M. C. Cavusoglu.
    ASME Journal of Dynamical Systems, Measurement, and Control, 143(7), July 2021, pp. 071010. PMCID: PMC8086176, doi: 10.1115/1.4049837

  13. “Camera-Robot Calibration for the da Vinciâ„¢ Robotic Surgery System.”
    O. Ozguner, T. Shkurti, S. Huang, R. Hao, R. C. Jackson, W. Newman, and M. C. Cavusoglu.
    IEEE Transactions on Automation Science and Engineering, 17(4), October 2020, pp. 2154-2161. PMCID: PMC7978174, doi: 10.1109/TASE.2020.2986503

  14. “Task-Oriented Active Sensing via Action Entropy Minimization.”
    T. Greigarn, M. S. Branicky, and M. C. Cavusoglu.
    IEEE Access, 7, September 2019, pp. 135413-135426. PMCID: PMC5719891, doi: 10.1109/ACCESS.2019.2941706

  15. “Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots.”
    T. Greigarn, N. Lombard Poirot, X. Xu, and M. C. Cavusoglu.
    Robotics and Automation Letters, 4(1), January 2019, pp. 145-152. PMCID: PMC6287617, doi: 10.1109/LRA.2018.2881987

  16. “Personal Inertial Navigation System Assisted by MEMS Ground Reaction Sensor Array and Interface ASIC for GPS-Denied Environment.”
    Q. Guo, W. Deng, O. Bebek, M. C. Cavusoglu, C. Mastrangelo, and D. Young.
    IEEE Journal of Solid State Circuits, 53(11), November 2018, pp. 3039-3049. doi: 10.1109/JSSC.2018.2868263

  17. “Real-Time Visual Tracking of Dynamic Surgical Suture Threads.”
    R. Jackson, R. Yuan, D.-L. Chow, W. Newman, and M. C. Cavusoglu.
    IEEE Transactions on Automation Science and Engineering, 15(3), July 2018, pp. 1078-1090. PMCID: PMC6034738, doi: 10.1109/TASE.2017.2726689

  18. “Active Localization and Tracking of Needle and Target in Robotic Image-Guided Intervention Systems.”
    M. Renfrew, M. Griswold, and M. C. Cavusoglu.
    Autonomous Robots, 42(1), January 2018, pp. 83-97. PMCID: PMC5808626, doi: 10.1007/s10514-017-9640-2

  19. “Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically-Actuated Steerable Catheter System.”
    T. Liu, R. Jackson, D. Franson, N. Lombard Poirot, R. K. Criss, N. Seiberlich, M. A. Griswold, and M. C. Cavusoglu.
    IEEE/ASME Transactions on Mechatronics, 22(4), August 2017, pp. 1765-1776. PMCID: PMC5731790, doi: 10.1109/TMECH.2017.2704526

  20. “Design of an MRI-Guided Magnetically-Actuated Steerable Catheter.”
    T. Liu, N. Lombard Poirot, T. Greigarn, and M. C. Cavusoglu.
    ASME Journal of Medical Devices, 11(2), June 2017. PMCID: PMC5467027, doi: 10.1115/1.4036095

  21. “Modeling and Validation of the Three Dimensional Deflection of an MRI-Compatible Magnetically-Actuated Steerable Catheter.”
    T. Liu, N. Lombard Poirot, D. Franson, N. Seiberlich, M. A. Griswold, and M. C. Cavusoglu.
    IEEE Transactions on Biomedical Engineering, 63(10), October 2016, pp. 2142-2154. PMCID: PMC4917491, doi: 10.1109/TBME.2015.2510743

  22. “Needle Grasp and Entry Port Selection for Automatic Execution of Suturing Tasks in Robotic Minimally Invasive Surgery.”
    T. Liu and M. C. Cavusoglu.
    IEEE Transactions on Automation Science and Engineering, 13(2), April 2016, pp. 552-563. PMCID: PMC4857717, doi: 10.1109/TASE.2016.2515161

  23. “Identification and Active Exploration of Deformable Object Boundary Constraints through Robotic Manipulation.”
    P. Boonvisut and M. C. Cavusoglu.
    International Journal of Robotics Research, 33(11), September 2014, pp. 1446-1461. PMCID: PMC4324691, doi: 10.1177/0278364914536939

  24. “Towards Active Tracking of Beating Heart Motion in the Presence of Arrhythmia for Robotic Assisted Beating Heart Surgery.”
    E. E. Tuna, J. H. Karimov, T. Liu, O. Bebek, K. Fukamachi, and M. C. Cavusoglu.
    PLoS One, 9(7), July 2014, e102877. PMCID: PMC4105597, doi: 10.1371/journal.pone.0102877

  25. “Estimation of Soft Tissue Mechanical Parameters from Robotic Manipulation Data.”
    P. Boonvisut and M. C. Cavusoglu.
    IEEE/ASME Transactions on Mechatronics, 18(5), October 2013, pp. 1602-1611. PMCID: PMC3767179, doi: 10.1109/TMECH.2012.2209673

  26. “Virtual Reality Simulation: Basic Concepts and Use in Endoscopic Neurosurgery Training.”
    A. Cohen, S. Lohani, S. Manjila, S. Natsupakpong, N. Brown, and M. C. Cavusoglu.
    Child’s Nervous System, 29(8), August 2013, pp. 1235-1244. doi: 10.1007/s00381-013-2139-z

  27. “Heart Motion Prediction Based on Adaptive Estimation Algorithms for Robot Assisted Beating Heart Surgery.”
    E. E. Tuna, T. J. Franke, O. Bebek, A. Shiose, K. Fukamachi, and M. C. Cavusoglu.
    IEEE Transactions on Robotics, 29(1), February 2013, pp. 261-276. PMCID: PMC3747962, doi: 10.1109/TRO.2012.2217676

  28. “Design of a Parallel Robot for Needle Based Interventions on Small Animals.”
    O. Bebek, M. J. Hwang, and M. C. Cavusoglu.
    IEEE/ASME Transactions on Mechatronics, 18(1), February 2013, pp. 62-73. doi: 10.1109/TMECH.2011.2162427

  29. “Human Arm-and-Hand Dynamics Model with Variability Analyses for a Stylus-based Haptic Interface.”
    M. J. Fu and M. C. Cavusoglu.
    IEEE Transactions on Systems, Man, and Cybernetics, Part B, 42(6), December 2012, pp. 1633-1644. doi: 10.1109/TSMCB.2012.2197387

  30. “Design of a Framework for Modeling, Integration, and Simulation of Physiological Models.”
    E. Z. Erson and M. C. Cavusoglu.
    Computer Methods and Programs in Biomedicine, 107(3), September 2012, pp. 524-537. doi: 10.1016/j.cmpb.2011.11.010

  31. “Effect of Visuo-Haptic Co-location on 3D Fitts’ Task Performance in Physical and Virtual Environments.”
    M. J. Fu, A. D. Hershberger, K. Sano, and M. C. Cavusoglu.
    Presence, 21(3), Summer 2012, pp. 305-320. PMCID: PMC3860595, doi: 10.1162/PRES_a_00115

  32. “High Fidelity Haptic Rendering of Frictional Contact with Deformable Objects in Virtual Environments Using Multi-Rate Simulation.”
    P. Jacobs, M. J. Fu, and M. C. Cavusoglu.
    International Journal of Robotics Research, 29(14), December 2010, pp. 1778-1792. doi: 10.1177/0278364910378540

  33. “Determination of Elasticity Parameters in Lumped Element (Mass-Spring) Models of Deformable Objects.”
    S. Natsupakpong and M. C. Cavusoglu.
    Graphical Models, 72(6), November 2010, pp. 61-73. doi: 10.1016/j.gmod.2010.10.001

  34. “Personal Navigation via High-Resolution-Gait-Corrected Inertial Measurement Units.”
    O. Bebek, M. Suster, S. Rajgopal, M. J. Fu, X. Huang, M. C. Cavusoglu, D. Young, M. Mehregany, A. J. van den Bogert, and C. Mastrangelo.
    IEEE Transactions on Instrumentation and Measurement, 59(11), November 2010, pp. 3018-3027. doi: 10.1109/TIM.2010.2046595

  35. “Description of Instantaneous Restriction Space of Multi-DOF Bilateral Teleoperation Systems Using Position Sensors in Unstructured Environments.”
    K. Kim, W. K. Chung, and M. C. Cavusoglu.
    IEEE Transactions on Robotics, 25(5), October 2009, pp. 1150-1158. doi: 10.1109/TRO.2009.2024789

  36. “Whisker-like Position Sensor for Measuring Physiological Motion.”
    O. Bebek and M. C. Cavusoglu.
    IEEE/ASME Transactions on Mechatronics, 13(5), October 2008, pp. 538-547. doi: 10.1109/TMECH.2008.2001184

  37. “Design and Characterization of a Novel Hybrid Actuator Using Shape Memory Alloy and DC Micro-Motor for Minimally Invasive Surgery Applications.”
    V. R. C. Kode and M. C. Cavusoglu.
    IEEE/ASME Transactions on Mechatronics, 12(4), August 2007, pp. 455-464. doi: 10.1109/TMECH.2007.901940

  38. “Quantitative Comparison of Bilateral Teleoperation Systems Using µ Synthesis.”
    K. Kim, M. C. Cavusoglu, and W. K. Chung.
    IEEE Transactions on Robotics, 23(4), August 2007, pp. 776-789. doi: 10.1109/TRO.2007.900625

  39. “Intelligent Control Algorithms for Robotic-Assisted Beating Heart Surgery.”
    O. Bebek and M. C. Cavusoglu.
    IEEE Transactions on Robotics, 23(3), June 2007, pp. 468-480. doi: 10.1109/TRO.2007.895077

  40. “GiPSi: A Framework for Open Source/Open Architecture Software Development for Organ Level Surgical Simulation.”
    M. C. Cavusoglu, T. Goktekin, and F. Tendick.
    IEEE Transactions on Information Technology in Biomedicine, 10(2), April 2006, pp. 312-321. doi: 10.1109/TITB.2006.864479

  41. “In Touch with Robotics: Neurosurgery for the Future.”
    N. Nathoo, M. C. Cavusoglu, M. A. Vogelbaum, and G. H. Barnett.
    Neurosurgery, 56(3), March 2005, pp. 421-433. doi: 10.1227/01.NEU.0000153929.68024.CF

  42. “Robotics for Telesurgery: Second Generation Berkeley/UCSF Laparoscopic Telesurgical Workstation and Looking towards the Future Applications.”
    M. C. Cavusoglu, W. Williams, F. Tendick, and S. S. Sastry.
    Industrial Robot, 30(1), January 2003, pp. 22-29. doi: 10.1108/01439910310457670

  43. “A Critical Study of the Mechanical and Electrical Properties of the Phantomâ„¢ Haptic Interface and Improvements for High Performance Control.”
    M. C. Cavusoglu, D. Feygin, and F. Tendick.
    Presence, 11(6), December 2002, pp. 555-568. doi: 10.1162/105474602321050695

  44. “Design of Bilateral Teleoperation Controllers for Haptic Exploration and Telemanipulation of Soft Environments.”
    M. C. Cavusoglu, A. Sherman, and F. Tendick.
    IEEE Transactions on Robotics and Automation, 18(4), August 2002, pp. 641-647. doi: 10.1109/TRA.2002.802199

  45. “A Virtual Environment Testbed for Training Laparoscopic Surgical Skills.”
    F. Tendick, M. Downes, T. Goktekin, M. C. Cavusoglu, D. Feygin, X. Wu, R. Eyal, M. Hegarty, and L. W. Way.
    Presence, 9(3), June 2000, pp. 236-255. doi: 10.1162/105474600566772

  46. “A Laparoscopic Telesurgical Workstation.”
    M. C. Cavusoglu, F. Tendick, M. Cohn, and S. S. Sastry.
    IEEE Transactions on Robotics and Automation, 15(4), August 1999, pp. 728-739. doi: 10.1109/70.782027

Conference Publications (Refereed)

  1. “Improving Kinematic Accuracy of Laparoscopic Surgical Robots Through Sub-Millimeter-Scale Kinematics.”
    T. Shkurti and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE 2025), Los Angeles, CA, August 17-21, 2025, pp. 2056-2063. doi: 10.1109/CASE58245.2025.11163784

  2. “The Effects of Artificial Intelligence Assistants on the Acquisition of Laparoscopic Surgical Spatial Navigation Skills.”
    N. Nelson, I. Kas, T. Sepuri, P. Smith, A. L. Wilson-Delfosse, E. Krupinski, B. N. Macnamara, S. Ray, M. C. Cavusoglu.
    In Proceedings of the International Symposium on Medical Robotics (ISMR 2025), Atlanta, GA, May 14-16, 2025, pp. 136-142. doi: 10.1109/ISMR67322.2025.11025979

  3. “Bayesian Optimization Based Preprocedural Planning for Robotic Left Atrial Appendage Occlusion.”
    R. Hao, Y. Itsarachaiyot, and M. C. Cavusoglu.
    In Proceedings of the International Symposium on Medical Robotics (ISMR 2024), Atlanta, GA, June 3-5, 2024. PMCID: PMC11611301, doi: 10.1109/ISMR63436.2024.10585608

  4. “Analytical Computation of the Contact Force Jacobian for MRI-Actuated Robotic Catheter.”
    Y. Itsarachaiyot, R. Hao, and M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Detroit, MI, October 1-5, 2023, pp. 10268-10274. PMCID: PMC11110647, doi: 10.1109/IROS55552.2023.10342418

  5. “Homology-Class Guided Rapidly-Exploring Random Tree for Belief Space Planning.”
    R. Hao and M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, October 23-27, 2022, pp. 4478-4485. PMCID: PMC11108642, doi: 10.1109/IROS47612.2022.9981602

  6. “Localization of Point-of-Interest Positions on Cardiac Surface for Robotic-Assisted Beating Heart Surgery.”
    E. E. Tuna and M. C. Cavusoglu.
    In Proceedings of the 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2021), Guadalajara, Mexico, October 31-November 4, 2021, pp. 4566-4569. PMCID: PMC9084620, doi: 10.1109/EMBC46164.2021.9630917

  7. “Visually Guided Needle Driving and Pull for Autonomous Suturing.”
    O. Ozguner, T. Shkurti, S. Lu, W. S. Newman, and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE 2021), Lyon, France, August 23-27, 2021, pp. 242-248. doi: 10.1109/CASE49439.2021.9551453

  8. “Dual-Arm Needle Manipulation with the da Vinci® Surgical Robot under Uncertainty.”
    S. Lu, T. Shkurti, and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021), Xi-an, China, May 30-June 5, 2021, pp. 7744-7750. doi: 10.1109/ICRA48506.2021.9562054

  9. “Analysis of Contact Stability and Contact Safety of a Robotic Intravascular Cardiac Catheter under Blood Flow Disturbances.”
    R. Hao, N. Lombard Poirot, and M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), Las Vegas, NV, October 25-29, 2020, pp. 3216-3223. PMCID: PMC8165756, doi: 10.1109/IROS45743.2020.9341527

  10. “Differential Image Based Robot to MRI Scanner Registration with Active Fiducial Markers for an MRI-Guided Robotic Catheter System.”
    E. E. Tuna, N. Lombard Poirot, J. Barrera Bayona, D. Franson, S. Huang, J. Narvaez, N. Seiberlich, M. Griswold, M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), Las Vegas, NV, October 25-29, 2020, pp. 2958-2964. PMCID: PMC8202025, doi: 10.1109/IROS45743.2020.9341043

  11. “Contact Stability Analysis of Magnetically-Actuated Robotic Catheter under Surface Motion.”
    R. Hao, T. Greigarn, and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2020), Paris, France, May 31-June 4, 2020, pp. 4455-4462. PMCID: PMC8197595, doi: 10.1109/ICRA40945.2020.9196951

  12. “Dual-Arm Needle Manipulation with the da Vinci® Surgical Robot.”
    S. Lu, T. Shkurti, and M. C. Cavusoglu.
    In Proceedings of the International Symposium on Medical Robotics (ISMR 2020), Atlanta, GA, April 22-24, 2020. doi: 10.1109/ISMR48331.2020.9312930

  13. “Vision-Based Surgical Tool Pose Estimation for the da Vinci Robotic Surgical System.”
    R. Hao, O. Ozguner, and M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, Spain, October 1-5, 2018, pp. 1298-1305. PMCID: PMC6706092, doi: 10.1109/IROS.2018.8594471

  14. “Analysis of Dynamic Response of an MRI-Guided Magnetically-Actuated Steerable Catheter System.”
    E. E. Tuna, T. Liu, R. Jackson, N. Lombard Poirot, M. Russell, and M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, Spain, October 1-5, 2018, pp. 4927-4934. PMCID: PMC6329396, doi: 10.1109/IROS.2018.8594308

  15. “State Estimation for MRI-Actuated Catheters via Catadioptric Stereo Camera.”
    T. Greigarn, R. Jackson, and M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, Spain, October 1-5, 2018, pp. 1795-1800. PMCID: PMC6703842, doi: 10.1109/IROS.2018.8594153

  16. “Three-Dimensional Surgical Needle Localization and Tracking Using Stereo Endoscopic Image Streams.”
    O. Ozguner, R. Hao, R. Jackson, T. Shkurti, W. S. Newman, and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2018), Brisbane, Australia, May 21-25, 2018, pp. 6617-6624. PMCID: PMC8165757, doi: 10.1109/ICRA.2018.8460867

  17. “Personal Inertial Navigation System Employing MEMS Wearable Ground Reaction Sensor Array and Interface ASIC Achieving a Position Accuracy of 5.5m Over 3km Walking Distance Without GPS.”
    Q. Guo, W. Deng, O. Bebek, M. C. Cavusoglu, C. Mastrangelo, and D. Young.
    In Proceedings of the IEEE International Solid-State Circuits Conference (ISSCC 2018), San Francisco, CA, February 11-15, 2018, pp. 180-182. doi: 10.1109/ISSCC.2018.8310243

  18. “Supervisory Control of a DaVinci Surgical Robot.”
    D.-L. Chow, P. Xu, E. Tuna, S. Huang, M. C. Cavusoglu, and W. Newman.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, BC, Canada, September 24-28, 2017, pp. 5043-5049. doi: 10.1109/IROS.2017.8206389

  19. “Experimental Validation of the Pseudo-Rigid-Body Model of the MRI-Actuated Catheter.”
    T. Greigarn, R. Jackson, T. Liu, and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2017), Singapore, May 29-June 3, 2017, pp. 3600-3605. PMCID: PMC5713912, doi: 10.1109/ICRA.2017.7989414

  20. “Active Sensing for Continuous State and Action Spaces via Task-Action Entropy Minimization.”
    T. Greigarn and M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, South Korea, October 9-14, 2016, pp. 4678-4684. PMCID: PMC5719891, doi: 10.1109/IROS.2016.7759688

  21. “Needle-Tissue Interaction Force State Estimation for Robotic Surgical Suturing.”
    R. C. Jackson, V. Desai, J. P. Castillo, and M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, South Korea, October 9-14, 2016, pp. 3659-3664. PMCID: PMC5713916, doi: 10.1109/IROS.2016.7759539

  22. “Parameter Optimization of Pseudo-Rigid-Body Models of MRI-Actuated Catheters.”
    T. Greigarn and M. C. Cavusoglu.
    In Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2016), Orlando, FL, August 17-20, 2016, pp. 5112-5115. PMCID: PMC5324721, doi: 10.1109/EMBC.2016.7591877

  23. “Catadioptric Stereo Tracking for Three Dimensional Shape Measurement of MRI Guided Catheters.”
    R. C. Jackson, T. Liu, and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2016), Stockholm, Sweden, May 16-21, 2016, pp. 4422-4428. PMCID: PMC5382962, doi: 10.1109/ICRA.2016.7487641

  24. “Calibration of 2-D Ultrasound in 3D Space for Robotic Biopsies.”
    A. Ahmad, M. C. Cavusoglu, and O. Bebek.
    In Proceedings of the 17th International Conference on Advanced Robotics (ICAR 2015), Istanbul, Turkey, July 27-31, 2015, pp. 40-46. doi: 10.1109/ICAR.2015.7251431

  25. “A Personal Navigation System Using MEMS-Based High Density Ground Reaction Sensor Array and Inertial Measurement Unit.”
    Q. Guo, O. Bebek, M. C. Cavusoglu, C. Mastrangelo, and D. Young.
    In Proceedings of the 18th International Conference on Solid-State Sensors, Actuators, and Microsystems (TRANSDUCERS 2015), Anchorage, AL, June 21-25, 2015, pp. 1077-1080. doi: 10.1109/TRANSDUCERS.2015.7181113

  26. “Fault Localization in Embedded Control System Software.”
    K. Liang, Z. Bai, M. C. Cavusoglu, A. Podgurski, and S. Ray.
    In Proceedings of the International Workshop on Software Engineering for Smart Cyber-Physical Systems (SEsCPS), co-located with ICSE 2015, Florence, Italy, May 16-24, 2015, pp. 8-14. doi: 10.1109/SEsCPS.2015.10

  27. “Pseudo-Rigid-Body Model and Kinematic Analysis of MRI-Actuated Catheters.”
    T. Greigarn and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2015), Seattle, WA, May 26-30, 2015, pp. 2236-2243. PMCID: PMC4578324, doi: 10.1109/ICRA.2015.7139495

  28. “Optimal Needle Grasp Selection for Automatic Execution of Suturing Tasks in Robotic Minimally Invasive Surgery.”
    T. Liu and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2015), Seattle, WA, May 26-30, 2015, pp. 2894-2900. PMCID: PMC4578316, doi: 10.1109/ICRA.2015.7139594

  29. “Automatic Initialization and Dynamic Tracking of Surgical Suture Threads.”
    R. C. Jackson, R. Yuan, D.-L. Chow, W. S. Newman, and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2015), Seattle, WA, May 26-30, 2015, pp. 4710-4716. PMCID: PMC4578296, doi: 10.1109/ICRA.2015.7139853

  30. “Task-Space Motion Planning of MRI-Actuated Catheters for Catheter Ablation of Atrial Fibrillation.”
    T. Greigarn and M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, September 14-18, 2014, pp. 3476-3482. PMCID: PMC4254811, doi: 10.1109/IROS.2014.6943047

  31. “Automated Segmentation and Characterization of Ion-Abrasion Scanning Electron Microscopy Fuel Cell Images.”
    M. Renfrew, N. Hilli, A. Heuer, and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE 2014), Taipei, Taiwan, August 18-22, 2014, pp. 56-60. doi: 10.1109/CoASE.2014.6899304

  32. “A Novel Vision Guided Knot-Tying Method for Autonomous Robotic Surgery.”
    D.-L. Chow, R. C. Jackson, M. C. Cavusoglu, and W. S. Newman.
    In Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE 2014), Taipei, Taiwan, August 18-22, 2014, pp. 504-508. doi: 10.1109/CoASE.2014.6899373

  33. “Three Dimensional Modeling of an MRI Actuated Steerable Catheter System.”
    T. Liu and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, May 31-June 5, 2014, pp. 4393-4398. PMCID: PMC4199243, doi: 10.1109/ICRA.2014.6907499

  34. “Particle Filter Based Active Localization of Target and Needle in Robotic Image-Guided Intervention Systems.”
    M. Renfrew, Z. Bai, and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE 2013), Madison, WI, August 17-21, 2013, pp. 448-454. PMCID: PMC4221856, doi: 10.1109/CoASE.2013.6653938

  35. “Detection and Prediction of Adverse and Anomalous Events in Medical Robots.”
    K. Liang, F. Cao, Z. Bai, M. Renfrew, M. C. Cavusoglu, A. Podgurski, and S. Ray.
    In Proceedings of the 25th Conference on Innovative Applications of Artificial Intelligence (IAAI'13), Bellevue, WA, July 14-18, 2013, pp. 1539-1545.

  36. “Needle Path Planning for Autonomous Robotic Surgical Suturing.”
    R. Jackson and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013, pp. 1669-1675. Finalist for Best Medical Robotics Paper. PMCID: PMC3966119, doi: 10.1109/ICRA.2013.6630794

  37. “Heart Motion Measurement with Three Dimensional Sonomicrometry and Acceleration Sensing.”
    T. Horiuchi, E. E. Tuna, K. Masamune, and M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Portugal, October 7-12, 2012, pp. 4143-4149. PMCID: PMC3915533, doi: 10.1109/IROS.2012.6386095

  38. “Modeling of Needle-Tissue Interaction Forces during Surgical Suturing.”
    R. Jackson and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2012), Minneapolis, MN, May 14-18, 2012, pp. 4675-4680. PMCID: PMC3966136, doi: 10.1109/ICRA.2012.6224756

  39. “Estimation of Soft Tissue Mechanical Parameters from Robotic Manipulation Data.”
    P. Boonvisut, R. Jackson, and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2012), Minneapolis, MN, May 14-18, 2012, pp. 4667-4674. PMCID: PMC3966138, doi: 10.1109/ICRA.2012.6225071

  40. “Effect of Visuo-Haptic Co-location on 3D Fitts”™ Task Performance."
    M. J. Fu, A. D. Hershberger, K. Sano, and M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, September 25-30, 2011, pp. 3460-3467. PMCID: PMC3915521, doi: 10.1109/IROS.2011.6094707

  41. “Personal Navigation via Shoe Mounted Inertial Measurement Units.”
    O. Bebek, M. Suster, S. Rajgopal, M. J. Fu, X. Huang, M. C. Cavusoglu, D. Young, M. Mehregany, A. J. van den Bogert, and C. Mastrangelo.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 18-22, 2010, pp. 1052-1058. doi: 10.1109/IROS.2010.5653945

  42. “Design of a Framework for Modeling, Integration and Simulation of Physiological Models.”
    E. Z. Erson and M. C. Cavusoglu.
    In Proceedings of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2010), Buenos Aires, August 21-September 4, 2010, pp. 1485-1489. doi: 10.1109/IEMBS.2010.5626848

  43. “Restriction Space Projection Method for Position Sensor Based Force Reflection of Multi Degrees-of-Freedom Bilateral Teleoperation Systems in Unstructured Environments.”
    K. Kim, W. K. Chung, and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, AK, May 3-8, 2010, pp. 5364-5369. doi: 10.1109/ROBOT.2010.5509448

  44. “Three-Dimensional Human Arm and Hand Dynamics and Variability Model for a Stylus-based Haptic Interface.”
    M. J. Fu and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, AK, May 3-8, 2010, pp. 1339-1346. doi: 10.1109/ROBOT.2010.5509927

  45. “Kinematic Calibration of a Parallel Robot for Small Animal Biopsies.”
    M. J. Hwang, O. Bebek, F. Liang, B. Fei, and M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), St. Louis, MO, October 11-15, 2009, pp. 4104-4109. doi: 10.1109/IROS.2009.5353969

  46. “Design of a Small Animal Biopsy Robot.”
    O. Bebek, M. J. Hwang, B. Fei, and M. C. Cavusoglu.
    In Proceedings of the IEEE Engineering in Medicine and Biology Society (EMBC 2008), Vancouver, Canada, August 20-24, 2008, pp. 5601-5604. doi: 10.1109/IEMBS.2008.4650484

  47. “Comparison of Filtering and Classification Techniques of Electroencephalogram (EEG) for Brain-Computer Interface.”
    M. Renfrew, R. Cheng, J. J. Daly, and M. C. Cavusoglu.
    In Proceedings of the IEEE Engineering in Medicine and Biology Society (EMBC 2008), Vancouver, Canada, August 20-24, 2008, pp. 2643-2637. doi: 10.1109/IEMBS.2008.4649741

  48. “A Software Framework for Multiscale and Multilevel Physiological Model Integration and Simulation.”
    E. Z. Erson and M. C. Cavusoglu.
    In Proceedings of the IEEE Engineering in Medicine and Biology Society (EMBC 2008), Vancouver, Canada, August 20-24, 2008, pp. 5449-5453. doi: 10.1109/IEMBS.2008.4650447

  49. “A Software Framework for Integrative Physiological Model Simulation.”
    E. Z. Erson and M. C. Cavusoglu.
    In Proceedings of the 20th International Conference on Software Engineering and Knowledge Engineering (SEKE 2008), Redwood City, CA, July 1-3, 2008, pp. 333-338.

  50. “Prediction of Heartbeat Motion with a Generalized Adaptive Filter.”
    T. J. Franke, O. Bebek, and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena, CA, May 19-23, 2008, pp. 2916-2921. doi: 10.1109/ROBOT.2008.4543652

  51. “Improved Prediction of Heart Motion Using an Adaptive Filter for Robot Assisted Beating Heart Surgery.”
    T. J. Franke, O. Bebek, and M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), San Diego, CA, October 29-November 2, 2007, pp. 509-515. doi: 10.1109/IROS.2007.4399461

  52. “Ontology Based Design for Integrative Simulation of Human Physiology.”
    E. Z. Erson and M. C. Cavusoglu.
    In Proceedings of the International Symposium on Health Informatics and Bioinformatics, Antalya, Turkey, April 30-May 2, 2007.

  53. “A Framework for Quantitative Comparison of Bilateral Teleoperation Systems Using μ-Synthesis.”
    K. Kim, M. C. Cavusoglu, and W. K. Chung.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2007), Rome, Italy, April 10-14, 2007, pp. 1637-1644. doi: 10.1109/ROBOT.2007.363558

  54. “High Fidelity Haptic Rendering of Stick-Slip Frictional Contact with Deformable Objects in Virtual Environments Using Multi-Rate Simulation.”
    P. Jacobs and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2007), Rome, Italy, April 10-14, 2007, pp. 117-123. doi: 10.1109/ROBOT.2007.363774

  55. “Whisker Sensor Design for Three Dimensional Position Measurement in Robotic Assisted Beating Heart Surgery.”
    O. Bebek and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2007), Rome, Italy, April 10-14, 2007, pp. 225-231. doi: 10.1109/ROBOT.2007.363791

  56. “A Detection Scheme for Frontalis and Temporalis Muscle EMG Contamination of EEG Data.”
    M. J. Fu, M. C. Cavusoglu, and J. J. Daly.
    In Proceedings of the IEEE Engineering in Medicine and Biology Society (EMBS 2006), New York, NY, August 30-September 3, 2006, pp. 4514-4518. doi: 10.1109/IEMBS.2006.259511

  57. “Model Based Control Algorithms for Robotic Assisted Beating Heart Surgery.”
    O. Bebek and M. C. Cavusoglu.
    In Proceedings of the IEEE Engineering in Medicine and Biology Society (EMBS 2006), New York, NY, August 30-September 3, 2006, pp. 823-828. doi: 10.1109/IEMBS.2006.260562

  58. “Assessment of EEG Event-Related Desynchronization in Stroke Survivors Performing Shoulder-Elbow Movements.”
    M. Fu, J. Daly, and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2006), Orlando, FL, May 15-19, 2006, pp. 3158-3164. doi: 10.1109/ROBOT.2006.1642182

  59. “Predictive Control Algorithms Using Biological Signals for Active Relative Motion Canceling in Robotic Assisted Heart Surgery.”
    O. Bebek and M. C. Cavusoglu.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2006), Orlando, FL, May 15-19, 2006, pp. 237-244. doi: 10.1109/ROBOT.2006.1641190

  60. “Design and Characterization of a Novel Hybrid Actuator Using Shape Memory Alloy and DC Motor for Minimally Invasive Surgery Applications.”
    V. R. Kode, M. C. Cavusoglu, and M. Tabib-Azar.
    In Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA 2005), Niagara Falls, Canada, July 29-August 1, 2005, pp. 416-420. doi: 10.1109/ICMA.2005.1626583

  61. “Control Algorithms for Active Relative Motion Cancelling for Robotic Assisted Off-Pump Coronary Artery Bypass Graft Surgery.”
    M. C. Cavusoglu, J. Rotella, W. S. Newman, S. Choi, J. Ustin, and S. S. Sastry.
    In Proceedings of the 12th International Conference on Advanced Robotics (ICAR 2005), Seattle, WA, July 18-20, 2005, pp. 431-438. Finalist for Best Paper. doi: 10.1109/ICAR.2005.1507446

  62. “Quantitative Comparison of Bilateral Teleoperation Systems Using H∞ Framework.”
    K. Kim, M. C. Cavusoglu, and W. K. Chung.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), Sendai, Japan, September 28-October 2, 2004, pp. 2229-2234. doi: 10.1109/IROS.2004.1389740

  63. “Computationally Efficient Cardiac Bioelectricity Models Toward Whole-Heart Simulation.”
    N. A. Wedge, M. S. Branicky, and M. C. Cavusoglu.
    In Proceedings of the IEEE Engineering in Medicine and Biology Society (EMBS 2004), San Francisco, CA, September 1-5, 2004, pp. 3027-3030. doi: 10.1109/IEMBS.2004.1403857

  64. “GiPSi: An Open Source/Open Architecture Software Development Framework for Surgical Simulation.”
    T. Goktekin, M. C. Cavusoglu, F. Tendick, and S. S. Sastry.
    In Proceedings of the International Symposium on Medical Simulation, LNCS 3078, Cambridge, MA, June 17-18, 2004, pp. 240-248.

  65. “Kalman Filter Analysis for Quantitative Comparison of Sensory Schemes in Bilateral Teleoperation Systems.”
    M. C. Cavusoglu and F. Tendick.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2003), Taipei, Taiwan, May 12-17, 2003, pp. 2818-2823. doi: 10.1109/ROBOT.2003.1242019

  66. “Workspace Analysis of Robotic Manipulators for a Teleoperated Suturing Task.”
    M. C. Cavusoglu, I. Villanueva, and F. Tendick.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2001), Maui, HI, October 29-November 3, 2001, pp. 2234-2239. doi: 10.1109/IROS.2001.976402

  67. “Bilateral Controller Design for Telemanipulation in Soft Environments.”
    M. C. Cavusoglu, A. Sherman, and F. Tendick.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2001), Seoul, Korea, May 21-26, 2001, pp. 1045-1052. doi: 10.1109/ROBOT.2001.932687

  68. “Comparison of Teleoperator Control Architectures for Palpation.”
    A. Sherman, M. C. Cavusoglu, and F. Tendick.
    In Proceedings of the ASME Dynamic Systems and Control Division, IMECE 2000, Orlando, FL, November 5-10, 2000, vol. 2, pp. 1261-1268.

  69. “Maximizing the Sensation of Compliance in Teleoperative Surgery.”
    F. Tendick, M. C. Cavusoglu, N. Dhruv, and A. Sherman.
    In Proceedings of the Eighth International Symposium on Robotics with Applications, part of the World Automation Congress (WAC 2000), Maui, HI, June 11-16, 2000.
    Joseph H. Engelberger Best Paper Award.

  70. “Multirate Simulation for High Fidelity Haptic Interaction with Deformable Objects in Virtual Environments.”
    M. C. Cavusoglu and F. Tendick.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2000), San Francisco, CA, April 24-28, 2000, pp. 2458-2465. doi: 10.1109/ROBOT.2000.846397

  71. “Towards a Realistic Echographic Simulator with Force Feedback.”
    D. d’Aulignac, C. Laugier, and M. C. Cavusoglu.
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 1999), Kyongju, Korea, October 17-21, 1999, pp. 727-732. doi: 10.1109/IROS.1999.812766

  72. “Modeling the Dynamics of the Human Thigh for a Realistic Echographic Simulator with Force Feedback.”
    D. d’Aulignac, M. C. Cavusoglu, and C. Laugier.
    In Proceedings of the Second International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 1999), Cambridge, England, September 19-22, 1999.

  73. “Human Machine Interfaces for Minimally Invasive Surgery.”
    F. Tendick and M. C. Cavusoglu.
    In Proceedings of the 19th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 1997), Chicago, IL, October 30-November 2, 1997, pp. 2771-2776. doi: 10.1109/IEMBS.1997.756904

  74. “A Hybrid System Approach to Contact Stability and Force Control in Robotic Manipulators.”
    M. C. Cavusoglu, J. Yan, and S. S. Sastry.
    In Proceedings of the 12th IEEE International Symposium on Intelligent Control (ISIC 1997), Istanbul, Turkey, July 16-18, 1997, pp. 143-148. doi: 10.1109/ISIC.1997.626435

  75. “Human Hand Trajectory Analysis in Point-and-Direct Telerobotics.”
    T. T. Blackmon, M. C. Cavusoglu, F. Lai, and L. W. Stark.
    In Proceedings of the 8th International Conference on Advanced Robotics (ICAR 1997), Monterey, CA, July 7-9, 1997, pp. 927-932. doi: 10.1109/ICAR.1997.620292

Other Conference Publications

  1. “Control of an MRI-Guided Magnetically-Actuated Steerable Catheter System.”
    T. Liu, D. Franson, N. Lombard Poirot, R. Jackson, N. Seiberlich, M. Griswold, M. C. Cavusoglu.
    Abstract presented at ISMRM 25th Annual Meeting & Exhibition, Honolulu, HI, April 22-27, 2017.

  2. “Phy-SIM: Physiological Model Simulation, Integration and Modeling Framework.”
    E. Z. Erson and M. C. Cavusoglu.
    Abstract presented at Virtual Physiological Human Network of Excellence Conference (VPH 2010), Brussels, Belgium, September 30-October 1, 2010.

  3. “PHY-SIM: Physiological Simulation, Integration, Modeling Toolkit.”
    E. Z. Erson and M. C. Cavusoglu.
    Abstract presented at Engineering Principles in Biological Systems Conference, Hinxton, UK, October 14-16, 2009.

  4. “Accelerating Depth Map Building with the GPU.”
    N. Brown and M. C. Cavusoglu.
    Poster presented at Fall Creek Falls Conference, Burns, TN, September 7-10, 2008.

  5. “Comparison of Numerical Integration Methods for Simulation of Physically-Based Deformable Object Models in Surgical Simulation.”
    S. Natsupakpong and M. C. Cavusoglu.
    In Proceedings of the 12th Annual National Symposium on Computational Science and Engineering (ANSCSE12), Ubon Ratchathani, Thailand, March 27-29, 2008.

  6. “Quantitative Comparison of Bilateral Teleoperation Systems with Various Drive Mechanisms and Sensory Configurations.”
    K. Kim, M. C. Cavusoglu, W. K. Chung, and J. Lee.
    In Proceedings of the SICE-ICASE 2006 International Joint Conference, Busan, Korea, October 18-21, 2006, pp. 221-226.

  7. “GiPSiNet: An Open Source/Open Architecture Network Middleware for Surgical Simulations.”
    Q. Cai, V. Liberatore, and M. C. Cavusoglu.
    In Proceedings of Medicine Meets Virtual Reality XIV (MMVR 2006), Long Beach, CA, January 24-27, 2006, pp. 316-321.

  8. “Evaluation Methods of a Middleware for Networked Surgical Simulations.”
    Q. Cai, V. Liberatore, M. C. Cavusoglu, and Y. Yoo.
    In Proceedings of Medicine Meets Virtual Reality XIV (MMVR 2006), Long Beach, CA, January 24-27, 2006, pp. 76-78.

  9. “Virtual Environment-Based Training Simulator for Endoscopic Third Ventriculostomy.”
    N. Brown, S. Natsupakpong, S. Johannsen, S. Manjila, Q. Cai, V. Liberatore, A. R. Cohen, and M. C. Cavusoglu.
    In Proceedings of Medicine Meets Virtual Reality XIV (MMVR 2006), Long Beach, CA, January 24-27, 2006, pp. 73-75.

  10. “GiPSiNet: a Middleware for Networked Surgical Simulations.”
    V. Liberatore, M. C. Cavusoglu, and Q. Cai.
    In Proceedings of IASTED Telehealth 2005, Banff, Canada, June 19-21, 2005.

  11. “Virtual Reality as a Training Tool for Endoscopic Neurosurgical Procedures.”
    S. Manjila, M. C. Cavusoglu, N. Brown, and A. R. Cohen.
    33rd Annual Meeting of the AANS/CNS Section on Pediatric Neurological Surgery, San Francisco, CA, December 8-11, 2004.
    Hydrocephalus Award Candidate.

  12. “GiPSi: An Open Source/Open Architecture Software Development Framework for Surgical Simulation.”
    M. C. Cavusoglu, T. Goktekin, F. Tendick, and S. S. Sastry.
    In Proceedings of Medicine Meets Virtual Reality XII (MMVR 2004), Newport Beach, CA, January 15-17, 2004.

  13. “Virtual Environments for Surgical Simulations over Best-Effort Networks.”
    M. C. Cavusoglu and V. Liberatore.
    Poster presented at Digital Biology: The Emerging Paradigm Symposium, NIH, Bethesda, MD, November 6-7, 2003.

  14. “GiPSi: A Draft Open Source/Open Architecture Software Development Framework for Surgical Simulation.”
    M. C. Cavusoglu, T. Goktekin, F. Tendick, and S. S. Sastry.
    Poster presented at Digital Biology: The Emerging Paradigm Symposium, NIH, Bethesda, MD, November 6-7, 2003.

  15. “Framework for Open Source Software Development for Organ Simulation in the Digital Human.”
    M. C. Cavusoglu, T. Goktekin, F. Tendick, and S. S. Sastry.
    In Proceedings of the International Conference on High Performance Computing (HiPC 2002), LNCS 2552, Bangalore, India, December 18-21, 2002, pp. 713-714.

  16. “Robotics for Telesurgery: Second Generation Berkeley/UCSF Laparoscopic Telesurgical Workstation and Looking towards the Future Applications.”
    M. C. Cavusoglu, W. Williams, F. Tendick, and S. S. Sastry.
    In Proceedings of the 39th Allerton Conference on Communication, Control and Computing, Monticello, IL, October 3-5, 2001. (Invited)

  17. “Virtual Environments for Training Critical Skills in Laparoscopic Surgery.”
    M. S. Downes, M. C. Cavusoglu, W. Gantert, L. W. Way, and F. Tendick.
    In Proceedings of Medicine Meets Virtual Reality VI (MMVR 1998), San Diego, CA, January 28-31, 1998, pp. 316-322.

  18. “Development of Virtual Environments for Training Skills and Reducing Errors in Laparoscopic Surgery.”
    F. Tendick, M. S. Downes, M. C. Cavusoglu, and L. W. Way.
    In Proceedings of SPIE BIOS 1998, San Jose, CA, January 24-30, 1998, pp. 36-44. doi: 10.1117/12.309489

  19. “Laparoscopic Telesurgical Workstation.”
    M. C. Cavusoglu, M. Cohn, F. Tendick, and S. S. Sastry.
    In Proceedings of SPIE BIOS 1998, San Jose, CA, January 24-30, 1998, pp. 296-303. doi: 10.1117/12.309479

Patents

Granted

  1. “Imaging Control to Facilitate Tracking Objects and/or Perform Real-Time Intervention.”
    M. C. Cavusoglu, M. Renfrew, Z. Bai, T. Liu, N. Lombard Poirot, J. Ustin.
    US 10,026,015 B2, United States Patent and Trademark Office (USPTO), 2018.

Pending

  1. “Magnetic Resonance-Based Catheter Localization.”
    R. Z. Ali, R. Boyacioglu, M. C. Cavusoglu, A. Dupuis, M. Griswold, D. Herzka.
    USPTO US 2025/0298101 A1, 2025. (Filed - Pending)

  2. “Catheter Magnetic Actuation and Insertion Control, Catheter Localization and Contact Force Estimation, and/or Magnetically Actuated Catheter with Stiffening Element to Control Deflection.”
    M. C. Cavusoglu, M. Griswold, T. Liu, N. Seiberlich, D. Franson, E. E. Tuna, N. Lombard Poirot.
    WIPO PCT WO 2024/196999 A1. (Filed - Pending)

  3. “Magnetically Actuated Catheter Devices, Actuation Dithering for Thermal Management and/or Magnetically Actuated Catheter with Stiffening Element to Control Deflection.”
    M. C. Cavusoglu, M. Griswold, S. Kamath, N. Lombard Poirot, G. Foss, D. Franson, T. Liu.
    WIPO PCT WO 2024/197146 A2; USPTO 19/166,765. (Filed - Pending)

  4. “Imaging Control to Facilitate Tracking Objects and/or Perform Real-Time Intervention.”
    (Also appears in Granted section “” this is the earlier PCT filing)
    M. C. Cavusoglu, M. Renfrew, Z. Bai, T. Liu, N. Lombard Poirot, J. Ustin.
    PCT filing prior to US 10,026,015 B2.

Technical Reports

  1. “Real-Time Forward Kinematics and Jacobians for Control of an MRI-Guided Magnetically Actuated Robotic Catheter.”
    R. Hao, Y. Itsarachaiyot, Y.-C. Chen, M. C. Cavusoglu.
    Technical Report, Case Western Reserve University, December 29, 2025.
    arXiv:2512.23085, doi: 10.48550/arXiv.2512.23085

  2. “Issues in Development of High Confidence Medical Robotic Systems, Medical Simulations, and Networked Virtual Environments for Surgical Training.”
    M. C. Cavusoglu.
    Position paper for HCMDSS Workshop, Philadelphia, PA, June 2-3, 2005.

  3. “GiPSi: A Draft Open Source/Open Architecture Software Development Framework for Surgical Simulation.”
    T. Goktekin and M. C. Cavusoglu.
    Technical Report, Case Western Reserve University, March 2004.

  4. “Kinematics and Dynamics of Phantomâ„¢ Model 1.5 Haptic Interface.”
    M. C. Cavusoglu and D. Feygin.
    UC Berkeley ERL Memo M01/15, March 20, 2001.

  5. “Telesurgery and Surgical Simulation: Design, Modeling, and Evaluation of Haptic Interfaces to Real and Virtual Surgical Environments.”
    M. C. Cavusoglu.
    PhD Thesis, University of California, Berkeley, August 23, 2000.
    Also UC Berkeley ERL Memo M00/43.

  6. “Multirate Simulation for High Fidelity Haptic Interaction with Deformable Objects in Virtual Environments.”
    M. C. Cavusoglu and F. Tendick.
    UC Berkeley ERL Memo M00/5, January 24, 2000.

  7. “Control of a Telesurgical Workstation.”
    M. C. Cavusoglu.
    M.S. Project Report, University of California, Berkeley, May 20, 1997.
    Also UC Berkeley ERL Memo M97/35.

  8. “Closed Loop Position and Force Control of Anthrobot III Robot Hand.”
    M. C. Cavusoglu, G. Avkarogullari, and I. S. Koc.
    B.S. Project Report, METU, Ankara, Turkey, Spring 1996.
    Also TUBITAK AEAGE Project No. 95-20-100.

Video

  1. “Laparoscopic Telesurgical Workstation.”
    M. C. Cavusoglu, M. Cohn, F. Tendick, and S. S. Sastry.
    In Video Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 1999), Detroit, MI, May 10-15, 1999.

Software

  1. “GiPSi (General Physical Simulation Interface) Open source / open architecture framework for surgical simulation.” Version 2.0
    Released October 2008.
    https://cwru-mercis.github.io/GiPSi/

  2. “GiPSi (General Physical Simulation Interface) Open source / open architecture framework for surgical simulation.” Version 1.0
    Released March 2004.
    https://cwru-mercis.github.io/GiPSi/