COMPLETE CONFERENCE AND JOURNAL PUBLICATIONS

last updated: 07/14/2022

2022

Autonomous navigation in unknown environments with sparse bayesian kernel-based occupancy mapping

T Duong, M Yip, N Atanasov

IEEE Transactions on Robotics. doi: 10.1109/TRO.2022.3177950. [arxiv]

DiffCo: Autodifferentiable Proxy Collision Detection With Multiclass Labels for Safety-Aware Trajectory Optimization

Zhi, Yuheng, Nikhil Das, Michael Yip

IEEE Transactions on Robotics. doi: 10.1109/TRO.2022.3153789. [pdf]

Remote telesurgery in humans: a systematic review

P Barba, J Stramiello, EK Funk, F Richter, MC Yip, and RK Orosco.

Surgical Endoscopy (2022): 1-7.

Differentiable Robotic Manipulation of Deformable Rope-like Objects Using Compliant Position-based Dynamics

F Liu, E Su, J Lu, M Li, MC Yip

arXiv preprint arXiv:2202.09714.

Parameter Identification and Motion Control for Articulated Rigid Body Robots Using Differentiable Position-based Dynamics

F Liu, M Li, J Lu, E Su, MC Yip

arXiv preprint arXiv:2201.05753.

Pose Estimation of Robot Manipulators via Keypoint Optimization and Sim-to-Real Transfer

J. Lu, F. Richter, M. C. Yip

IEEE Robotics and Automation Letters, vol. 7, no. 2, pp 4722-4729, 2022. [arxiv] [video]

Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control

M Verghese, N Das, Y Zhi, M Yip

IEEE Robotics and Automation Letters vol. 7, no. 2, pp. 3811-3818, 2022.

 

Image Based Reconstruction of Liquids from 2D Surface Detections

F Richter, RK Orosco, MC Yip

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022: pp 13811-13820. [pdf]

Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery

ZY Chiu, AZ Liao, F Richter, B Johnson, MC Yip

Proceedings of the IEEE/RSJ International Conference on Intelligent Robotics and Systems, 2022. (Accepted). [arxiv][video]

Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach

F. Richter, J. Lu, R. K. Orosco, M. C. Yip

IEEE Transactions on Robotics, vol. 38, no.3, pp 1653-1670, 2022. [pdf]

2021

From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling

F Richter, EK Funk, WS Park, RK Orosco, MC Yip

Proceedings of the 2021 International Symposium on Medical Robotics (ISMR), 1-7, doi: 10.1109/ISMR48346.2021.9661536. [arxiv]

CRANE: a 10 Degree-of-Freedom, Tele-surgical System for Dexterous Manipulation within Imaging Bores

DA Schreiber, Z Yu, H Jiang, T Henderson, G Li, J Yu, R Zhu, AM Norbash, MC Yip

Proc. International Conference on Robotics and Automation (ICRA), 2022, pp. 5487-5494, doi: 10.1109/ICRA46639.2022.9811732. [arxiv]

Chance-Constrained Motion Planning using Modeled Distance-to-Collision Functions

JJ Johnson, MC Yip

2021 IEEE International Conference on Automation Science and Engineering (CASE), pp.1582-1589. [arxiv]

Constrained motion planning networks x

AH Qureshi, J Dong, A Baig, MC Yip

IEEE Transactions on Robotics. vol. 39, no. 2, pp. 868-886. doi: 10.1109/TRO.2021.3096070. [arxiv]

Motion Planning Transformers: One Model to Plan Them All

JJ Johnson, L Li, AH Qureshi, MC Yip

arXiv preprint arXiv:2106.02791. [arxiv]

NeRP: Neural Rearrangement Planning for Unknown Objects

AH Qureshi, A Mousavian, C Paxton, MC Yip, D Fox

Robotics , Science and Systems (RSS 2021). arXiv preprint arXiv:2106.01352. [arxiv]

Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery

M Xu, J Di, N Das, MC Yip

2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 9752-9758. [arxiv]

Exobiology Extant Life Surveyor (EELS)

K Carpenter, A Thoesen, D Mick, J Martia, M Cable, K Mitchell, S. Hovsepian, J. Jasper, N. Georgiev, R. Thakker, A. Kourchians, B. Wilcox, M. Yip, and H. Marvi.

Earth and Space 2021, pp. 328-338.

ARTEMIS: A Collaborative Mixed-Reality System for Immersive Surgical Telementoring

D Gasques, JG Johnson, T Sharkey, Y Feng, R Wang, ZR Xu, E Zavala, Y. Zhang, W. Xie, X. Zhang, K. Davis, M. Yip, and N. Weibel

Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems. 2021. pp. 1-14. [website]

ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility

F. Richter*, P. V. Gavrilov* and H. M. Lam* and A. Degani and M. C. Yip

IEEE Transactions on Robotics, vol. 38, no. 2, pp. 797-809, 2021. (* indicates equal contribution) [pdf] [web]

From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling

F. Richter, E. K. Funk, W. S. Park, R. K. Orosco, and M. C. Yip

IEEE International Symposium on Medical Robotics (ISMR), 2021. [arxiv]
 

Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning

Z.Y. Chiu, F. Richter, E.K. Funk, R.K. Orosco, M.C. Yip

IEEE International Conference on Robotics and Automation (ICRA). Xi'an, China, pp. 7737-7743 (2021). [arxiv][video]

Real-to-Sim Registration of Deformable Soft-Tissue with Position-Based Dynamics for Surgical Robot Autonomy

F. Liu, Z. Li, Y. Han, J. Lu, F. Richter, M.C. Yip

IEEE International Conference on Robotics and Automation (ICRA). Xi'an, China, pp. 12328-12334 (2021). [arxiv][video]

Model-Predictive Control of Blood Suction for Surgical Hemostasis using Differentiable Fluid Simulations

J. Huang*, F. Liu*, F. Richter, M.C. Yip

IEEE Conference on Robotics and Automation (Accepted). Xi'an, China (2021), pp. 12380-12386.  [arxiv][video]

SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation using Deep Learning for Feature Extraction

J. Lu, A. Jayakumari, F. Richter, Y. Li, M.C. Yip

IEEE International Conference on Robotics and Automation (ICRA). Xi'an, China, pp. 4783-4789 (2021). [website][arxiv][video]

Data-driven Actuator Selection for Artificial Muscle-Powered Robots

T. Henderson, Y. Zhi, A. Liu, M.C. Yip

IEEE International Conference on Robotics and Automation (ICRA). Xi'an, China, pp. 1783-1789 (2021). [arxiv][website]

Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery

J. Di, M. Xu, N. Das, M.C. Yip

IEEE International Conference on Robotics and Automation (ICRA). Xi'an, China, pp. 9752-9758 (2021). [arxiv][video]

MPC-MPNet: Model-Predictive Motion Planning Networks for Fast, Near-Optimal Planning under Kinodynamic Constraints

L. Li, Y.L. Miao, A.H. Qureshi, M.C. Yip

IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4496-4503 (2020). [website][arxiv][video]

Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis using Image-based Blood Flow Detection

F. Richter, S. Shen, F. Liu, J. Huang, E.K. Funk, R.K. Orosco, M.C. Yip

IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1383-1390.  [arxiv][video] | Nominated for Best Paper at ICRA

Compensatory motion scaling for time-delayed robotic surgery

R.K. Orosco, B. Lurie, T. Matsuzaki, E.K. Funk, V. Divi, F.C. Holsinger, S. Hong, F. Richter, N. Das, M. C. Yip

Surgical endoscopy, pp. 1-6 [springer]

Scalable tactile sensor arrays on flexible substrates with high spatiotemporal resolution enabling slip and grip for closed-loop robotics

H. Oh, G.C. Yi, M.C. Yip, S.A. Dayeh

Science Advances, vol. 6, no. 46, eabd7795. [pdf]

Artifacts Mitigation in Sensors for Spasticity Assessment

Ç Yalçın, M Sam, Y Bu, M Amit, AJ Skalsky, M Yip, TN Ng, H Garudadri

Advanced Intelligent Systems 3 (3), 2000106

2020

 

Dynamically constrained motion planning networks for non-holonomic robots

J. J. Johnson, L. Li, F. Liu, A. H. Qureshi, and M. C. Yip

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6937-6943 (2020). [video][code]

Neural Manipulation Planning on Constraint Manifolds

A.H. Qureshi, J. Dong, A. Choe, M.C. Yip

​IEEE Robotics and Automation Letters. vol. 5, no. 4, pp. 6089 - 6096, 2020. [website]

Motion Planning Networks: Bridging the Gap between Learning-based and Classical Planners

A.H Qureshi, Y.L. Miao, A. Simeonov, M.C. Yip

IEEE Transactions on Robotics. Early Access, 2020. [arxiv][website]

Stochastic Modeling of Distance to Collision for Robot Manipulators

N. Das, M.C. Yip

IEEE Robotics and Automation Letters, vol. 6, no. 1, pp. 207-214, 2020. [arxiv]

Learning-Based Proxy Collision Detection for Robot Motion Planning Applications

N.Das, M.C. Yip

IEEE Transactions on Robotics. vol. 36, no. 4, pp.1096-1114, 2020. [arxiv] [video]

 

ARTEMIS: Mixed-Reality Environment for Immersive Surgical Telementoring

N. Weibel, J. Johnson, T. Sharkey, Z. Robin Xu, E. Zavala, K. Davis, D. Gasques, X. Zhang, M.C. Yip

Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing Systems, 2020.

SOLAR-GP: Sparse, Online, Locally Adaptive Regression using Gaussian Processes for Bayesian Robot Model Learning and Control
B. P. Wilcox, M.C. Yip
IEEE Robotics and Automation Letters. vol. 5, no.2, pp. 2832-2839, 2020. [website]

 

Vibration-based Multi-Axis Force Sensing: Design, Characterization, and Modeling
W. Kuang, M.C. Yip, J. Zhang
IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3082-3089, 2020.

Composing Task-Agnostic Policies with Deep Reinforcement Learning

A.H.Qureshi, J.J. Johnson, Y. Qin, T. Henderson, B. Boots, M.C. Yip

International Conference on Learning Representations- ICLR2020. April 26-30, 2020. Addis Ababa, Ethiopia. (Accepted). [arxiv][website]

Forward Kinematics Kernel for Improved Proxy Collision Checking

N Das, MC Yip

IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2349-2356, 2020. [arxiv]

SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics

Y Li, F Richter, J Lu, EK Funk, RK Orosco, J Zhu, MC Yip

IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2294-2301, 2020. [arxiv][website]

ARCSnake: An Archimedes' Screw-Propelled, Reconfigurable Robot Snake for Complex Environments

D.A. Schreiber*, F. Richter*, A. Bilan**, P.V. Gavrilov**, H. M. Lam**, C.H. Price**, K.C. Carpenter, M.C. Yip;

*/** denote equal contributions

IEEE International Conference on Robotics and Automation (ICRA). Paris, France, pp. 7029-7034 (2020).  [arxiv][website]

Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping
T. Duong, N. Das, M.C. Yip, N. Atanasov
IIEEE International Conference on Robotics and Automation (ICRA). Paris, France, pp. 9666-9672 (2020). [arxiv]

 

ARTEMIS: Mixed-Reality Environment for Immersive Surgical Telementoring
N. Weibel, D. Gasques, J. Johnson, T. Sharkey, Z.Q. Robin Xu, X.M. Zhang, M.C. Yip, K. Davis
Computer Human Interaction (CHI), 2020 Demonstrations Paper. (Accepted).

Active Continual Learning for Planning and Navigation

A.H. Qureshi, Y.L. Miao, M.C. Yip

ICML 2020 Workshop on Real World Experiment Design and Active Learning. [pdf]

Robotic autonomy in endocrine surgery

EK Funk, F Richter, WS Park, MC Yip, RK Orosco

Annals of Thyroidectomy, doi: 10.21037/aot-19-5. pp 1-7. Jun 2020.

2019

Model-free Visual Control for Continuum Robot Manipulators via Orientation Adaptation

M Verghese, F Richter, A Gunn, P Weissbrod, M Yip

International Symposium on Robotics Research (ISRR), Oct. 6-10, Hanoi, Vietnam, 2019. arXiv:1909.00450, 2019. [pdf]

Robotic Artificial Muscles: Current Progress and Future Perspectives

J. Zhang, J. Sheng, C.T. O'Neill, C. J. Walsh, R. J. Wood, JH. Ryu, J.P Desai, M.C. Yip

IEEE Transactions on Robotics, vol. 35, no. 3,  pp. 761- 781, 2019.  [pdf]

An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners 

D. A. Schreiber, D. B. Shak, A. M. Norbash, M. C. Yip

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS), Nov. 4-8, Macau, China, 2019 (to appear)[arxiv][video]

Neural Path Planning: Fixed Time, Near-Optimal Path Generation via Oracle Imitation

M.J. Bency, A.H. Qureshi, M.C. Yip

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS), Nov. 4-8, Macau, China, 2019 (to appear). [pdf]

Open-Sourced Reinforcement Learning Environments for Surgical Robotics 

F. Richter, R. K. Orosco, M.C. Yip

arXiv preprint arXiv:1903.02090, 2019. [arxiv][video][git]

 

Motion Planning Networks

A.H.Qureshi, A.Simeonov, M.J.Bency, M.C. Yip

IEEE International Conference on Robotics and Automation - ICRA2019. May 20-24, 2019. Montreal, Canada. (Accepted). [pdf][website][video]

 

Augmented Reality Predictive Displays to Help Mitigate the Effects of Delayed Telesurgery

F. Richter, Y.F. Zhang, Y.H. Zhi, R.K. Orosco, M.C. Yip

IEEE International Conference on Robotics and Automation - ICRA2019. May 20-24, 2019. Montreal, Canada. (Accepted). [pdf][video]

 

Motion Scaling Solutions for Improved Performance in High Delay Surgical Teleoperation.

F. Richter, R.K. Orosco, M.C. Yip

IEEE International Conference on Robotics and Automation - ICRA2019. May 20-24, 2019. Montreal, Canada. (Accepted). [pdf][video]

 

Adversarial Imitation via Variational Inverse Reinforcement Learning.

A.H.Qureshi, B. Boots, M.C. Yip

International Conference on Learning Representations- ICLR2019. May 6-9, 2019. New Orleans, Louisiana. (Accepted). [pdf][website][video]

 

CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures | Best Paper finalist

DA Schreiber, H Jiang, G Li, J Yu, Z Yu, R Zhu, AM Norbash, MC Yip

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS) Workshop paper. Nov. 3-8, 2019. Macau.

arXiv preprint arXiv:1910.03063, 2019. [pdf]

2018

 

Deeply Informed Neural Sampling for Robot Motion Planning

A.H. Qureshi, M.C. Yip

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS), Oct. 1-5, Madrid, Spain, 2018.  pp. 6582-6588. [pdf][website]

 

Vision-based Force Feedback Estimation for Robot-assisted Surgery using Instrument-constrained Biomechanical 3D Maps

N. Haouchine, W. Kuang, S. Cotin, M.C. Yip

IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 2160 - 2165, 2018. [pdf][video]

Bundled Super-Coiled Polymer Artificial Muscles: Design, Characterization, and Modeling

A. Simeonov, T. Henderson, Z. Lan, G. Sundar, A. Factor, J. Zhang and M. C. Yip

IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 1671-1678,2018[pdf][video]

 

Three-dimensional hysteresis compensation enhances accuracy of robotic artificial muscles

J. Zhang, A. Simeonov and M. C. Yip

Smart Materials and Structures,  vol. 27, no. 3, p. 035002, 2018. [pdf]

 

New adaptive scaling strategies lowers the barrier to telerobotic surgery in communication-delayed, far-forward environments

F. Richter, Z. Ye, W. Xu, A. Bamford, E. Wirtz, R. Orosco, S. Hong, M. Yip

Abstract, Military Health Systems Research Symposium, Kissimmee, FL, Aug. 20-23, 2018.

 

Variable-Stiffness Robot Orthosis enables Dynamic Activities in Limb-salvage Veterans

T. West, A. Lucas, R. Nayak, A. Liang, J. Collins, R. Miltenberger, T. Kingsbury, M. Wyatt, M. Yip

Abstract, Military Health Systems Research Symposium, Kissimmee, FL, Aug. 20-23, 2018.

 

Adversarial Reward and Policy learning Via Variational Inverse Optimal Control
A. Qureshi, M.C. Yip
Bay Area Machine Learning Symposium – BayLearn 2018, Menlo Park, CA, August 13, 2018.

2017

Fastron: An Online Learning-Based Model and Active Learning Strategy for Proxy Collision Detection

N. Das, N. Gupta, M. Yip

Conference on Robot Learning. November 13-15, Mountain View, California, in Proceedings of Machine Learning Research (PMLR), vol. 78, pp. 496-504, 2017. [pdf][vid]

 

Robot Autonomy for Surgery

M. Yip, N. Das
Encyclopedia of Medical Robotics, World Scientific Publishing, pp. 281-313, 2017. [pdf]

 

Three-Dimensional Hysteresis Modeling of Robotic Artificial Muscles with Application to Shape Memory Alloy Actuators

J. Zhang, M. Yip

Robotics: Science and Systems. July 12-16, Cambridge, Massachusetts, 8 pages. 2017. ISBN 978-0-9923747-3-0. [pdf]

 

Spurring Innovation in Spatial Haptics: How Open-Source Hardware Can Turn Creativity Loose On March 2017 Cover

M. Yip and J. Forsslund

IEEE Robotics and Automation Magazine, vol. 24, no. 1, pp. 65 - 76, 2017. [pdf]

 

On Control and Properties of Super-coiled Polymer Actuators 

M. Yip and G. Niemeyer

IEEE Transactions on Robotics, vol. 33, no. 3, pp. 689-699, 2017. [pdf]

 

Modeling and Inverse Compensation of Hysteresis in Supercoiled Polymer Artificial Muscles

J. Zhang, K. Iyer, A. Simeonov and M. C. Yip

IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 773-780, 2017. [pdf]

 

Three-dimensional hysteresis modeling of robotic artificial muscles with application to shape memory alloy actuators 

J. Zhang and M. C. Yip

, in Robotics: Science and Systems workshop: Material Robotics -- Bridging Materials Science and Robotics, 2017 


Fastron: A Learning-Based Configuration Space Model for Rapid Collision Detection for Gross Motion Planning in Changing Environments

N. Das, N. Gupta, and M. C. Yip

Robotics: Science and Systems, in the workshop: (Empirically) Data-Driven Manipulation, 2017.

 

Telesurgical Robotic Operative Network:  Addressing signal latency in telesurgery with machine learning development using microsurgical platform

S. Hong, R. Orosco, M. Yip, S. Bevans, E. Wirtz, K. Groom, M. Tabata, J. Zhou, V. Divi, J. Robitschek, J. Sterbis, F. Holsinger.

Military Health Systems Research Symposium, Kissimmee, FL, Aug. 26-29, 2017.

 

Screw-propelled endoscopic robot

Kevin Cheng, Andrew Saad, Dmitrii Votintcev, Elaine Tanaka, Michael Yip

IEEE/RSJ Int. Conference on Intelligent Robots and Systems. In Workshop: Continuum Robots in Medicine: Design, Integration, and Applications, Vancouver, Canada, Sept. 23, 2017. [pdf]

 

Robot Control of Endoscopic Instruments using Flexible Polymer Sheath

Aaron Gunn, Mrinal Verghese, Wesly Wong, Phil Weissbrod, M. Yip

IEEE/RSJ Int. Conference on Intelligent Robots and Systems. In Workshop: Continuum Robots in Medicine: Design, Integration, and Applications, Vancouver, Canada, Sept. 23, 2017.

 

MRI guided hyper-redundant biopsy robot

D. Schreiber, A. Norbash, M. Yip

IEEE/RSJ Int. Conference on Intelligent Robots and Systems. In Workshop: Medical Imaging Robots, Vancouver, Canada, Sept. 28, 2017.

2016

Designing Muscle-Powered Robotics using Super-coiled Polymers 

J. Zhang and M. Yip

Robotics: Science and Systems. In workshop: Robot Makers: The future of digital rapid design and fabrication of robots. June 18-21, 2016. Ann-Arbor, Michigan. [pdf] 

 

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks 

M. Yip, J. Sganga, D. Camarillo

Journal of Medical Robotics Research, vol. 1, no. 2, pp. 1750002, 2017. [pdf] 

 

Model-less Hybrid Position/Force Control: A Minimalist Approach to Continuum Manipulator Control in Unknown EnvironmentsWon the 2016 Best Paper Award for all IEEE Robotics and Automation Letters. 

M. Yip and D. Camarillo

IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 844-851, 2016. [pdf]

An Instrumented Glove for Improving Spasticity Assessment

S. Padmaja, P. Jonnalagedda, F. Deng, K. Douglas, L. Chukoskie, M. Yip, T.N. Ng, T. Nguyen, A. Skalsky, H. Garudadri,

IEEE-NIH 2016 Special Topics Conference on Healthcare Innovations and Point-of-Care Technologies. Nov 9-11, Cancun, Mexico. 4 pages. 2016.

2015

High-Performance Robotic Muscles from Conductive Nylon Sewing Thread | Best paper award finalist

M. Yip and G. Niemeyer

IEEE International Conference on Robotics and Automation - ICRA2015. May 26-30, 2015. Seattle, WA. pp. 2313-2318.  [pdf][vid]

 

WoodenHaptics: A Starting Kit for Crafting Force-Reflecting Spatial Haptic Devices 

J. Forsslund, M. Yip and E-L. Sallnas

Proceedings of the Ninth International Conference on Tangible, Embedded, and Embodied Interaction - TEI2015. pp. 133-140. ACM, 2015. [pdf]

2014

Model-less Feedback Control of Continuum Manipulators in Constrained Environments

M. Yip and D. Camarillo

IEEE Transactions on Robotics, vol. 30, no. 4, pp. 880-889, 2014. [pdf]

 

Six Degree of Freedom Measurements of Human Mild Traumatic Brain Injury

F. Hernandez, L. Wu, M. Yip, A. Hoffman, J. Lopez, G. Grant, S. Kleiven and D. Camarillo

Annals of Biomedical Engineering. Article ID s10439-014-1212-4. pp. 1-16, 2014.[pdf]

 

Model-less Control of a Flexible Robotic Catheter | Best paper award.

M. Yip, P. Wang, and D. Camarillo

IEEE International Conference on Robotics and Automation - ICRA2014: Workshop on Advances in Flexible Robotics for Medical Applications, May 31-June 7, 2014. Hong Kong.[pdf]

 

Prediction of Human Mild Traumatic Brain Injury in Multiple Dimensions

M. Yip*, L. Wu*, F. Hernandez, J. Schooler, K. Bui, B. Hammoor, E. Ortega, G. Yock, J. Lopez, A. Hoffman, G. Grant and D. Camarillo

World Congress on Biomechanics. July 6-11, 2014. Boston, Massachussetts. (*co-first author)

 

Linear and Rotational Measurements of Human Mild Traumatic Brain Injury 

F. Hernandez, L. Wu, M. Yip and D. Camarillo

Tenth World Congress on Brain Injury, March 19-22, 2014, San Francisco, California.

 

Finite Element Simulation of Brain Deformation from Six Degree of Freedom Acceleration Measurements of Mild Traumatic Brain Injury

F. Hernandez, L. Wu, M. Yip, A. Hoffman, J. Lopez, G. Grant, S. Kleiven and D. Camarillo

National Neurotrauma Society, Jun 29-Jul 2, 2014, San Francisco, California.

2013

Ultrasound-Based Image Guidance for Robot-Assisted Laparoscopic Radical Prostatectomy: Initial in-vivo results 

O. Mohareri, C. Schneider, T. Adebar, M. Yip, P. Black, C. Nguan, D. Bergman, J. Seroger, S. DiMaio and S. Salcudean

Proceedings from of Information Processing for Computer-Assisted Intervention - IPCAI 2013, Lecture Notes in Computer Science, no. 7915, pp. 40-50, 2013. [pdf]

2012

Tissue Tracking and Registration for Image-Guided Surgery 

M. Yip, D. Lowe, S. Salcudean, R. Rohling and C. Nguan

IEEE Transactions on Medical Imaging, vol. 31, no. 11, pp. 2169-2182, 2012.[pdf]

 

Registration of 3D Ultrasound through an Air–Tissue Boundary 

T. Adebar, M. Yip, S. Salcudean, R. Rohling, C. Nguan and L. Goldenberg

IEEE Transactions on Medical Imaging, vol. 31, no. 11, pp. 2133-2142, 2012.[pdf]

Real-time Methods for Long-Term Tissue Feature Tracking in Endoscopic Scenes 

M. Yip, D. Lowe, S. Salcudean, R. Rohling and C. Nguan

Proceedings from of Information Processing for Computer-Assisted Intervention - IPCAI 2012, pp. 33-43. [pdf]

2011

Performance Analysis of a Haptic Telemanipulation Task under Time Delay 

M. Yip, M. Tavakoli and R. Howe

Advanced Robotics, vol. 25, no. 5, pp. 651-673, 2011. [pdf]

2010

A Robust Uniaxial Force Sensor for Minimally Invasive Surgery 

M. Yip, S. Yuen and R. Howe

IEEE Transactions on Biomedical Engineering. vol. 57, no. 5, pp. 1008-1011, 2010. [pdf]

3D Ultrasound to Stereoscopic Camera Registration through an Air-Tissue Boundary 

M. Yip, T. Adebar, R. Rohling, S. Salcudean and C. Nguan

Proceedings from Medical Image Computing and Computer-Assisted Intervention - MICCAI 2010, Lecture Notes in Computer Science, no. 6362, pp. 626-634, 2010.[pdf]

Performance Analysis of a Manipulation Task in Time-Delayed Teleoperation 

M. Yip, M. Tavakoli and R. Howe

Proceedings from IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2010, pp. 5270-5275, 2010. [pdf]

 

Indirect Low-Intensity Ultrasonic Stimulation for Tissue Engineering
H. Park, M. Yip, J. Kost, J. Kobler, R. Langer, S. Zeitels and B. Chertok

Journal of Tissue Engineering, Article ID 973530, 2010. 9 pages. [pdf]

2009

Robotic Force Stabilization for Beating Heart Intracardiac Surgery 

S. Yuen, M. Yip, N. Vasilyev, D. Perrin, P. del Nido and R. Howe

Proceedings from Medical Image Computing and Computer-Assisted Intervention - MICCAI 2009, Lecture Notes in Computer Science, no. 5761, pp. 26-33, 2009. [pdf]

2007

Intra-operative Laryngoscopic Instrument for Characterizing Vocal Fold Viscoelasticity 

M. Ottensmeyer, M. Yip, C. Walsh, J. Kobler, J. Heaton, and S. Zeitels

Proceedings of ASME BioMed2007, Irvine, CA. pp. 133-134, 2007.

PATENTS

Hypertonicity measuring device and method

H Garudadri, A Skalsky, TN Ng, M Yip, L Chukoskie

US Patent App. 17/472,734. filed Dec 30, 2021.

Handheld flexible robotic catheter for endoscopic instrumentation

M Yip, P Weissbrod

US Patent App. 17/307,649. filed Nov 4, 2021.

Multi-catheter flexible robotic system

A Gunn, P Weissbrod, M Yip

US Patent App. 16/620,007, filed June 24, 2021.

Cable driven hydraulic rolling diaphragm transmission and servo-system

Michael Yip, Dimitri Schreiber, and Alex Grant.

U.S. Patent Application 16/904,468, filed December 17, 2020.

Steerable catheter flexible robotic system for use with endoscopes

A Gunn, M Yip, P Weissbrod

U.S. Patent Application 16/652,968, filed September 10, 2020.

System and method for robust and low-cost multi-axis force sensor.

Michael Yip, Jun Zhang, Alex Tran, and Winnie Kuang.

U.S. Patent Application 16/468,804, filed March 26, 2020.

Machine Learning based Fixed-Time Optimal Path Generation

Michael Yip, Mayur Bency, Ahmed Qureshi

U.S. Patent 16222706. filed Jun 20, 2019.

Impact protection system by controlling pressure release

M. Kurt, M. Yip, C. Kuo, M. Fanton, D. Camarillo

U.S. Provisional Patent 62/428,844. filed Dec. 1, 2016.

Position/Force Control of a Flexible Robot under Model-less Control

M. Yip and D. Camarillo

U.S. Patent 10,434,644. filed Nov. 3, 2014.

Model-less Control for Continuum and Redundant Robots

M. Yip and D. Camarillo

U.S. Patent 9,488,971. filed Nov. 8, 2016.

Ultrasound Registration 

S. Salcudean, M. Yip, T. Adebar, R. Rohling and C. Nguan

U.S. Patent Application 2012 0071757 A1. filed Mar. 22, 2011.