JOURNAL PAPERS

UNDER REVIEW

1. “Optimal Needle Grasp and Entry Port Selection for Automatic Execution of Suturing Tasks in Robotic Minimally Invasive Surgery.” T. Liu and M. C. Cavusoglu. Submitted to the IEEE Transactions on Automation Science and Engineering, 2015. (Submitted – Under Review)
   

PUBLISHED and IN PRESS

1. 1.“Identification and Active Exploration of Deformable Object Boundary Constraints through Robotic Manipulation.” P. Boonvisut and M. C. Cavusoglu. In International Journal of Robotics Research (IJRR), Vol. 33, No. 11, September 2014, pp. 1446-1461. doi: 10.1177/0278364914536939

   

   
   
2. 2.“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. In PLoS One, Vol. 9, No. 7, July 2014, pp. e102877.  doi: 10.1371/journal.pone.0102877

   

   
   
3. 3.“Estimation of Soft Tissue Mechanical Parameters from Robotic Manipulation Data.” P. Boonvisut and M. C. Cavusoglu. In IEEE/ASME Transactions on Mechatronics, Vol. 18, No. 5, October 2013, pp. 1602-1611. doi: 10.1109/TMECH.2012.2209673

   

   
   
4. 4.“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.  In Child’s Nervous System, Vol.29, No. 8, August 2013, pp. 1235-1244.  doi: 10.1007/s00381-013-2139-z 

   

   
   
5. 5.“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.  In IEEE Transactions on Robotics, Vol. 29, No. 1, February 2013, pp. 261-276. doi: 10.1109/TRO.2012.2217676

   

   
   
6. 6.“Design of a Parallel Robot for Needle Based Interventions on Small Animals.”  O. Bebek, M. J. Hwang, and M. C. Cavusoglu.  In IEEE/ASME Transactions on Mechatronics,  Vol. 18, No. 1, February 2013, pp.62-73. doi: 10.1109/TMECH.2011.2162427

   

   
   
7. 7.“Human Arm-and-Hand Dynamics Model with Variability Analyses for a Stylus-based Haptic Interface.” M. J. Fu and M. C. Cavusoglu. In IEEE Transactions on Systems, Man, Cybernetics, Part B: Cybernetics, Vol. 42, No. 6, December 2012, pp.1633-1644. doi: 10.1109/TSMCB.2012.2197387.

   

   
   
8. 8.“Design of a Framework for Modeling, Integration, and Simulation of Physiological Models.” E. Z. Erson and M. C. Cavusoglu.  In Computer Methods and Programs in Biomedicine, Vol. 107, No.3, September 2012, pp.524-537. doi: 10.1016/j.cmpb.2011.11.010 (In Press).

   

   
   
9. 9.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. In Presence, Vol. 21, No.3, Summer 2012, pp. 305-320. doi: 10.1162/PRES_a_00115

   

   
   
10. 10.“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.  In International Journal of Robotics Research, Vol. 29, No. 14, December 2010, pp. 1778-1792. doi: 10.1177/0278364910378540 

    

    
    
11. 11.“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. In IEEE Transactions on Instrumentation and Measurement, Vol. 59, No. 11, November 2010, pp. 3018-3027. doi: 10.1109/TIM.2010.2046595 

    

    
    
12. 12.“Determination of Elasticity Parameters in Lumped Element (Mass-Spring) Models of Deformable Objects.”  S. Natsupakpong, and M. C. Cavusoglu.  In Graphical Models, Vol. 72, No. 6, November 2010, pp. 61-73. doi: 10.1016/j.gmod.2010.10.001 

    

    
    
13. 13.“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.  In IEEE Transactions on Robotics, Vol. 25, No. 5, October 2009, pp. 1150-1158. doi: 10.1109/TRO.2009.2024789 

    

    
    
14. 14.“Whisker-like Position Sensor for Measuring Physiological Motion.” O. Bebek and M. C. Cavusoglu. In IEEE/ASME Transactions on Mechatronics, Vol. 13, No. 5, October 2008, pp.538-547. doi: 10.1109/TMECH.2008.2001184 

    

    
    
15. 15.“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. In IEEE/ASME Transactions on Mechatronics, Vol. 12, No. 4, August 2007, pp. 455-464. doi: 10.1109/TMECH.2007.901940

    

    
    
16. 16.“Quantitative Comparison of Bilateral Teleoperation Systems Using Mu-Synthesis.” K. Kim, M. C. Cavusoglu, and W.K. Chung. In IEEE Transactions on Robotics, Vol. 23, No. 4, August 2007, pp. 776-789. doi: 10.1109/TRO.2007.900625 

    

    
    
17. 17.“Intelligent Control Algorithms for Robotic-Assisted Beating Heart Surgery .” O. Bebek and M. C. Cavusoglu. In IEEE Transactions on Robotics, Vol. 23, No. 3, June 2007, pp. 468-480. doi: 10.1109/TRO.2007.895077

    

    
    
18. 18.“GiPSi: A Framework for Open Source/Open Architecture Software Development for Organ Level Surgical Simulation.” M. C. Cavusoglu, T. Goktekin, and F. Tendick. In IEEE Transactions on Information Technology in Biomedicine, Vol. 10, No. 2, April 2006, pp. 312-321. doi: 10.1109/TITB.2006.864479 

    

    
    
19. 19.“In Touch with Robotics: Neurosurgery for the Future.” N. Nathoo, M. C. Cavusoglu, M. A. Vogelbaum, and G. H. Barnett. In Nerosurgery. Vol. 56, No.3, March 2005, pp.421-433. doi: 10.1227/01.NEU.0000153929.68024.CF 

    

    
    
20. 20.“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 Industrial Robot, Special Issue on Medical Robotics, Vol. 30, No.1, January 2003, pp. 22-29. doi: 10.1108/01439910310457670

    

    
    
21. 21.“A Critical Study of the Mechanical and Electrical Properties of the PHANToM(TM) Haptic Interface and Improvements for High Performance Control.”  M. C. Cavusoglu, D. Feygin, and F. Tendick.  In Presence, Vol. 11, No. 6, December 2002, pp. 555-568. doi: 10.1162/105474602321050695 

    

    
    
22. 22.“Design of Bilateral Teleoperation Controllers for Haptic Exploration and Telemanipulation of Soft Environments. “  M. C. Cavusoglu, A. Sherman, and F. Tendick.  In the IEEE Transactions on Robotics and Automation, Vol. 18, No.4, August 2002, pp 641-647. doi: 10.1109/TRA.2002.802199 

    

    
    
23. 23.“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.  In Presence, Vol.  9, No. 3, June 2000 , pp. 236-255. doi: 10.1162/105474600566772 

    

    
    
24. 24.“A Laparoscopic Telesurgical Workstation.”  M. C. Cavusoglu, F. Tendick, M. Cohn, and S. S. Sastry.  In the IEEE Transactions on Robotics and Automation, Vol. 15, No. 4, August 1999, pp. 728-739. doi: 10.1109/70.782027 

    

    
    

CONFEReNCE PAPERS (Full Paper Peer-REviewed)

25. 25.“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. doi: 10.1109/IROS.2014.6943047

    

    
    
26. 26.“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 10th 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

    

    
    
27. 27.“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 10th 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

    

    
    
28. 28.“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, May31-June 5, 2014, pp. 4393-4398. doi: 10.1109/ICRA.2014.6907499

    

    
    
29. 29.“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 9th IEEE International Conference on Automation Science and Engineering (CASE 2013), Madison, WI, August 17-21, 2013, pp. 448-454. doi:10.1109/CoASE.2013.6653938

    

    
    
30. 30.“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.

    

    
    
31. 31.“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 the conference best medical robotics paper award.  doi: 10.1109/ICRA.2013.6630794

    

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

    

    
    
33. 33.“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. doi: 10.1109/ICRA.2012.6224756 

    

    
    
34. 34.“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. doi: 10.1109/ICRA.2012.6225071 

    

    
    
35. 35.“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. doi: 10.1109/IROS.2011.6094707 

    

    
    
36. 36.“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, 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 

    

    
    
37. 37.“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 

    

    
    
38. 38.“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, AL, USA, May 3-8, 2010, pp. 5364-5369.  doi: 10.1109/ROBOT.2010.5509448 

    

    
    
39. 39.“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, AL, USA, May 3-8, 2010, pp. 1339-1346. doi:10.1109/ROBOT.2010.5509927 

    

    
    
40. 40.“Kinematic Calibration of a Parallel Robot for Small Animal Biopsies.” O. Bebek, M. J. Hwang, 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 

    

    
    
41. 41.“Design of a Small Animal Biopsy Robot. “ O. Bebek, M. J. Hwang, B. Fei, and M. C. Cavusoglu.  In Proceedings of the 30th Annual International Conference 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

    

    
    
42. 42.“Comparison of Filtering and Classification Techniques of Electroencephalogram (EEG) for Brain-Computer Interface.” M. Renfrew, J. J. Daly, and M. C. Cavusoglu.  In Proceedings of the 30th Annual International Conference 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 

    

    
    
43. 43.“A Software Framework for Multiscale and Multilevel Physiological Model Integration and Simulation.” E. Z. Erson, M. C. Cavusoglu.  In Proceedings of the 30th Annual International Conference 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

    

    
    
44. 44.“A Software Framework for Integrative Physiological Model Simulation.” E. Z. Erson, 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. 

    

    
    
45. 45.“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, USA, May 19-23, 2008, pp. 2916-2921. doi: 10.1109/ROBOT.2008.4543652 

    

    
    
46. 46.“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, USA, October 29- November 2, 2007, pp. 509-515. doi: 10.1109/IROS.2007.4399461

    

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

    

    
    
48. 48.“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 

    

    
    
49. 49.“A Framework for Quantitative Comparison of Bilateral Teleoperation Systems Using mu-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 

    

    
    
50. 50.“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 

    

    
    
51. 51.“Model Based Control Algorithms for Robotic Assisted Beating Heart Surgery.” O. Bebek and M. C. Cavusoglu. In Proceedings of the 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), August 30-September 3, 2006, New York City, USA, pp. 823-828. doi: 10.1109/IEMBS.2006.260562 

    

    
    
52. 52.“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 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), August 30-September 3, 2006, New York City, USA, pp. 4514-4518. doi: 10.1109/IEMBS.2006.259511 

    

    
    
53. 53.“Predictive Control Algorithms Using Biological Signals for Active Relative Motion Canceling in Robotic Assisted Heart Surgery.” O. Bebek, 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 

    

    
    
54. 54.“Assessment of Event-Related Desynchronization in Stroke Survivors Performing Shoulder-Elbow Movements.” M. Fu, J. Daly, 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 

    

    
    
55. 55.“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, Ontario, Canada, July 29-August 1, 2005, pp. 416-420. doi: 10.1109/ICMA.2005.1626583 

    

    
    
56. 56.“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, USA, July 18th-20th, 2005, pp. 431-438.  Finalist for the conference best paper award. doi: 10.1109/ICAR.2005.1507446 

    

    
    
57. 57.“Quantitative Comparison of Bilateral Teleoperation Systems Using H_infinity 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 

    

    
    
58. 58.”Computationally Efficient Cardiac Bioelectricity Models Toward Whole-Heart Simulation” N. A. Wedge, M. S. Branicky, and M. C. Cavusoglu. In Proceedings of the 26th Annual International Conference 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

    

    
    
59. 59.“GiPSi: A Draft 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, Cambridge, MA, June17-18, 2004. pp. 240-248. 

    

    
    
60. 60.“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 

    

    
    
61. 61.“Workspace Analysis of Robotic Manipulators for a Teleoperated Suturing Task.”  M. C. Cavusoglu, I. Villanueva, F. Tendick. To appear in the 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 

    

    
    
62. 62.“Bilateral Controller Design for Telemanipulation in Soft Environments.”  M. C. Cavusoglu, A. Sherman, F. Tendick.  In the 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 

    

    
    
63. 63.“Comparison of Teleoperator Control Architectures for Palpation Task.”  A. Sherman, M. C. Cavusoglu, F. Tendick.  In Proceedings of the ASME Dynamic Systems and Control Division, part of the ASME International Mechanical Engineering Congress and Exposition (IMECE 2000), Orlando, FL, November 5-10, 2000, vol. 2, pp. 1261-1268.  

    

    
    
64. 64.“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.  Recipient of Joseph H. Engelberger best paper award. 

    

    
    
65. 65.“Multirate Simulation for High Fidelity Haptic Interaction with Deformable Objects in Virtual Environments.”  M. C. Cavusoglu, 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 

    

    
    
66. 66.“Towards a Realistic Echographic Simulator with Force Feedback.”  D. d'Aulignac, C. Laugier, and M. C. Cavusoglu.  In the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems  (IROS'99), Kyongju, Korea, October 17-21, 1999, pp. 727-732. doi: 10.1109/IROS.1999.812766 

    

    
    
67. 67.“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 the Proceedings of the Second International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI’99), Cambridge, England, September 19-22, 1999. 

    

    
    
68. 68.“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'97), Chicago, IL, October 30- November 2, 1997, pp. 2771-2776. doi: 10.1109/IEMBS.1997.756904 

    

    
    
69. 69.“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'97), Istanbul, Turkey, July 16-18, 1997, pp. 143-148. doi: 10.1109/ISIC.1997.626435 

    

    
    
70. 70.“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 '97), Monterey, CA, July 7-9, 1997, pp. 927-932. doi: 10.1109/ICAR.1997.620292 

    

    
    

ABSTRACT REVIEWED AND INVITED CONFERENCE PUBLICATIONS

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

72. 72.“Phy-SIM: Physiological Simulation, Integration, Modeling Toolkit.” E. Z. Erson, M. C. Cavusoglu.  Abstract presented at Engineering Principles in Biological Systems, Joint Cold Spring Harbor Laboratory/Wellcome Trust Conference, Hinxton, United Kingdom, October 14-16 2009.
    

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

74. 74.“Quantitative Comparison of Bilateral Teleoperation Systems with Various Drive Mechanisms and Sensory Configurations.”  K. Kim, M. C. Cavusoglu, W. K. Chung, J. Lee.  In Proceedings of the 2006 International Joint Conference of the Society of Instrument and Control Engineers (SICE), Japan, and the Institute of Control, Automation and Systems Engineers (ICASE), Korea, (SICE-ICASE 2006), Bexco, Busan, Korea, October 18-21, 2006, pp. 221-226.
    

75. 75.“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'06), Long Beach, CA, January 24 - 27, 2006, pp. 316-371. 

    

    
    
76. 76.“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'06), Long Beach, CA, January 24 - 27, 2006, pp. 76-78. 

    

    
    
77. 77.“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'06), Long Beach, CA, January 24 - 27, 2006, pp. 73-75. 

    

    
    

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

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

80. 80.“GiPSi: An Open Source/Open Architecture Software Development Framework for Surgical Simulation.” M. C. Cavusoglu, T. G. Goktekin, F. Tendick, and S. S. Sastry. In  Proceedings of Medicine Meets Virtual Reality XII (MMVR 2004), Newport Beach, CA, January 14-17, 2004, pp.46-48.  

    

    
    

81. 81.“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), Bangalore, India, December 18-21, 2002, pp. 713-714.
    

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

83. 83.“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'98) , San Diego, CA, January 28-31, 1998, pp. 316-322. 

    

    
    
84. 84.“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 the SPIE International Symposium on Biological Optics (BIOS'98) , San Jose, CA, January 24-30, 1998, pp. 36-44. 

    

    
    
85. 85.“Laparoscopic Telesurgical Workstation.”  M. C. Cavusoglu, M. Cohn, F. Tendick, and S. S. Sastry.   In Proceedings of the SPIE International Symposium on Biological Optics (BIOS'98) , San Jose, CA, January 24-30, 1998, pp. 296-303.   

    

    
    

BOOK CHAPTERS

86. 86.“Towards the Development of a Robotic System for Beating Heart Surgery.” O. Bebek and M. C. Cavusoglu.  In J. Rosen, B. Hannaford, and R. Satava, editors, Surgical Robotics - System Applications and Visions, Springer, Inc.  2011.
    

87. 87.“Surgical Simulation Technologies.” M. C. Cavusoglu.  In M. Kutz, editor, Handbook of Biomedical Engineering and Design, Second Edition, McGraw-Hill, Inc.  Vol. 2, 2009.
    

88. 88.“Medical Robotics in Surgery.” M. C. Cavusoglu. In M. Akay, editor, Wiley Encyclopedia of Biomedical Engineering, John Wiley and Sons, Inc. 2006.
    

89. 89.“Telesurgery and Surgical Simulation: Haptic Interfaces to Real and Virtual Surgical Environments.”  M. C. Cavusoglu, F. Tendick, and S. S. Sastry.  In McLaughlin, M. L., Hespanha, J. P., and Sukhatme, G., editors. Touch in virtual environments. IMSC Series in Multimedia. Prentice-Hall, Inc., Upper Saddle River, NJ. 2001.
    

OTher Material

VIDEOS

1. “Laparoscopic Telesurgical Workstation.” M. C. Cavusoglu, M. Cohn, F. Tendick, and S. S. Sastry. In the Video Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'99), Detroit, MI, May 10-15, 1999. 
   

SOFTWARE RELEASES

1. GiPSi (General Physical Simulation Interface) open source/open architecture framework for surgical simulation, version 2.0, October 2008.  Available at: http://gipsi.case.edu/
   

2. GiPSi (General Physical Simulation Interface) open source/open architecture framework for surgical simulation, version 1.0, March 2004.  Available at: http://gipsi.case.edu/
   

TECHNICAL REPORTS

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

2. “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, 2004.
   

3. “Kinematics and Dynamics of Phantom(TM) model 1.5 Haptic Interface.” M. C. Cavusoglu, D. Feygin. UC Berkeley ERL Memo M01/15, March 20, 2001.  
   

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

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

6. “Closed Loop Position and Force Control of Anthrobot III Robot Hand.” M. C. Cavusoglu, G. Avkarogullari, and I.S. Koc. B.S. Project Report, (also report for TUBITAK AEAGE Project No 95-20-100), Department of Electrical and Electronic Engineering, Middle East Technical University, Ankara, Turkey, Spring 1996. 
   

PHD THESIS

1. “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, August 2000. 

   

   
   

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