Conference Publications

  1. Ge J *G#, Kilmer E *G#, Mady J, Opfermann JD G#, Krieger A, Enhancing Surgical Precision in Autonomous Robotic Incisions via Physics-Based Tissue Cutting Simulation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
  2. Henrich P*, Liu J*G#, Ge JG#, Schmidgall SG, Shepard L, Ghazi AE, Mathis-Ullrich F and Krieger A, Tracking Tumors under Deformation from Partial Point Clouds using Occupancy Networks. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
  3. Kim JWP#, Zhao TZ, Schmidgall SG+, Deguet A, Kobilarov M, Finn C, and Krieger A. Surgical robot transformer (SRT): Imitation learning for surgical subtasks. In 8th Annual Conference on Robot Learning, 2024.
  4. Barnes NG+, Jiang SG#, Di LO#, Qu HG+, Janowski M, Berul CI, Colton A, Young O, Sochol RD, Brown JD, Krieger A. Bedside Admittance Control of a Dual-Segment Soft Robot for Catheter-Based Interventions. 2024 46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).
  5. Wang Y*, Al-Zogbi L*G#, Liu GG#, Liu J, Tokuda J, Krieger A, Iordachita I. Bevel-Tip Needle Deflection Modeling, Simulation, and Validation in Multi-Layer Tissues. International Conference on Robotics and Automation (ICRA), 2024.
  6. Aslan S, Liu X, Chen E, Mese-Jones, M, Gonzalez B, O’Hara, Loke Y, Hibino N, Olivieri L, Krieger A, Nguyen T. Computational Modeling of Arterial Walls: Evaluating Model Complexity and the Influence of Model Parameter on Deformation Outcomes. BIOINFORMATICS, 2024.
  7. Schmidgall SG+, Krieger A, Eshraghian J. Surgical Gym: A high-performance GPU-based platform for reinforcement learning with surgical robots. International Conference on Robotics and Automation (ICRA), 2024 (accepted).
  8. Jiang SG#, Di LO#, Barnes NG+, Qu HG+, Young O, Brown JD, Sochol RD, Krieger A. One-Piece 3D-Printed Pneumatic Catheter: Dual-Segment Design with Integrated Robotics Control for Endovascular Interventions. 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft).
  9. Colton A, Fitzgerald D, Sunandita S, Barnes NG+, Gandhi D, Janowski M, Brown JD, Kanter J, Olivieri L, Fuge M, Krieger A, Sochol RD. Toward “S”-Shaped 3D-Printed Soft Robotic Guidewires for Pediatric Patent Ductus Arteriosus Endovascular Interventions. 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft).
  10. Felix BM, Young OM, Andreou JT, Portwood N, Barvenik KJ, Barnes NG+, Weiss CR, Bailey CR, Gandhi D, Janowski M, Brown JD, Tubaldi E, Fuge M, Krieger A, Sochol RD. An Approach for 3D Microprinting Soft Robotic Surgical Tools at 1.5 French Length Scales for Endovascular Interventions. 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft).
  11. Liu J, Kam M, Opfermann JD, Zhang Z, Hsieh M, Kang JU, Krieger A. Development and Evaluation of a Single-arm Robotic System for Autonomous Suturing. International Conference on Intelligent Robots and Systems (IROS), 2023.
  12. Haworth JG#, Opfermann JDG#, Kam MG#, Wang Y, Yang R, Kang JU, Krieger A. Development and Evaluation of a Robotic Vessel Positioning System for Semi-Automatic Microvascular Anastomosis. International Conference on Robotics and Automation (ICRA), 2023.
  13. Wu QG#, Cleveland V, Aslan SG#, Liu X, Contento J, Mass P, Kim BG#, Pollard C, Sinha P, Loke YH, Olivieri L, Krieger A. Hemodynamics of Convergent Cavopulmonary Connection with Ventricular Assist Device for Fontan Surgery: A Computational and Experimental Study. Bioinformatics,
  14. Aslan SG#, Liu XP#, Wu QG#, Mass P, Loke YH, Hibino N, Olivieri L, Krieger A. Virtual Planning and Simulation of Coarctation Repair in Hypoplastic Aortic Arches – Is Fixing the Narrowing Alone Enough? Bioinformatics,
  15. Opfermann JDG#, Killeen BD (co-first author), Bailey C, Khan M, Uneri A, Suzuki KUG#, Armand M, Hui F, Krieger A (co-last author), Unberath M. Feasibility of a Cannula-Mounted Piezo Robot for Image-Guided Vertebral Augmentation: Toward a Low Cost, Semi-Autonomous Approach. 21st International Conference on Bioinformatics and Bioengineering (BIBE), pp. 1-8. IEEE, 2021. Best student paper award. DOI:1109/BIBE52308.2021.9635356
  16. Ge JG#, Saeidi HP#, Kam MG#, Opfermann JD G#, Krieger A. Supervised Autonomous Electrosurgery for Soft Tissue Resection. 21st International Conference on Bioinformatics and Bioengineering (BIBE), pp. 1-7. IEEE, 2021.
  17. Raval S, Erin O, Liu X, Mair LO, Pryor W, Barnoy Y, Weinberg IN, Krieger A, Diaz-Mercado Y. Magnetic Model Calibration for Tetherless Surgical Needle Manipulation using Zernike Polynomial Fitting. 21st International Conference on Bioinformatics and Bioengineering (BIBE), pp. 1-6. IEEE, 2021.
  18. Opfermann JDG#, Barbic M, Khrenov MUG#, Guo S, Sarfaraz NRUG#, Kang JU, Krieger A. Novel Wax Based Piezo Actuator for Autonomous Deep Anterior Lamellar Keratoplasty (Piezo-DALK) International Conference on Intelligent Robots and Systems (IROS), pp. 757-764. IEEE, 2021. DOI:1109/IROS51168.2021.9636153
  19. Pryor WG+, Barnoy YG+, Raval S, Liu XP#, Mair L, Lerner DUG#, Erin OP#, Hager GD, Diaz-Mercado Y, Krieger A. Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue. International Conference on Intelligent Robots and Systems (IROS), pp. 524-531. IEEE, 2021. DOI:1109/IROS51168.2021.9636441
  20. Kam MG#, Saeidi HP#, Hsieh MH, Kang JU, Krieger A. A Confidence-Based Supervised-Autonomous Control Strategy for Robotic Vaginal Cuff Closure. International Conference on Robotics and Automation (ICRA), pp. 12261-12267. IEEE, 2021. DOI:1109/ICRA48506.2021.9561685
  21. SheftUG#, P. KulkarniUG#, J. GeG#, H. SaeidiP#, J. OpfermannG#, A. Joshi, M. Schnermann, A. Krieger. Development and Error Analysis of a Novel Robotic System for Photodynamic Therapy. International Symposium on Medical Robotics (ISMR), pp. 166-172. IEEE, 2020.
  22. Fan MUG#, Liu XP#, Jain KG#, Lerner DUG#, Mair LO, Weinberg IN, Diaz-Mercado Y, Krieger A.Towards Autonomous Control of Magnetic Suture Needles. International Conference on Intelligent Robots and Systems (IROS), 2935-2942. IEEE, 2020. DOI:10.1109/IROS45743.2020.9341425
  23. Kim BG#, Nguyen PD, Nar P, Liu X, Loke YH, Mass P, Hibino N, Olivieri L, Krieger A.CorFix: Virtual Reality Cardiac Surgical Planning System for Designing Patient Specific Vascular Grafts. 26th ACM Symposium on Virtual Reality Software and Technology, pp. 1-5. 2020.
  24. Liu XP#, Aslan SG#, Hess R, Mass P, Olivieri L, Loke YH, Hibino N, Fuge M, Krieger A. Automatic Shape Optimization of Patient-Specific Tissue Engineered Vascular Grafts for Aortic Coarctation. 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), pp. 2319-2323. IEEE, 2020.
  25. Aslan SG#, Mass P, Loke YH, Warburton LUG#, Liu XP#, Hibino N, Olivieri L, Krieger A. Non-invasive Prediction of Peak Systolic Pressure Drop across Coarctation of Aorta using Computational Fluid Dynamics. 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), pp. 2295-2298. IEEE, 2020.
  26. Guo S, Sarfaraz NRUG#, Gensheimer W, Krieger A, Kang JU. Optical Coherence Tomography Guided Robotic Device for Autonomous Needle Insertion in Cornea Transplant Surgery. International Conference on Intelligent Robots and Systems (IROS), 7068-7074. IEEE, 2019.
  27. Guo S, Sarfaraz NRUG#, Lee S, Gensheimer WG, Krieger A, Kang JU. Optical coherence tomography distal-sensor integrated big bubble hydro-dissection needle for DALK. Optical Fibers and Sensors for Medical Diagnostics and Treatment Applications XIX, vol. 10872, p. 1087204. International Society for Optics and Photonics, 2019.
  28. Guo S, Wei S, Sarfaraz NRUG#, Lee S, Gensheimer WG, Krieger A, Kang J. Optical coherence tomography distal-sensor guided manual trephine/dissection system for DALK Investigative Ophthalmology & Visual Science60, no. 9: 1870-1870. 2019.
  29. Topiwala A*G#, Al-Zogbi L*G#, Fleiter T, Krieger A. Adaptation and evaluation of deep learning techniques for skin segmentation on novel abdominal dataset. 19th International Conference on Bioinformatics and Bioengineering (BIBE), pp. 752-759. IEEE, 2019.
  30. Aslan SG#, Loke YH, Mass P, Nelson K, Yeung E, Johnson J, Opfermann JDO#, Matsushita H, Inoue T, Halperin H, Olivieri L, Hibino N, Krieger A. Design and Simulation of Patient-Specific Tissue-Engineered Bifurcated Right Ventricle-Pulmonary Artery Grafts using Computational Fluid Dynamics. 19th International Conference on Bioinformatics and Bioengineering (BIBE), pp. 1012-1018. IEEE, 2019.
  31. Ge JG#, Saeidi HG#, Opfermann JDO#, Joshi AS, Krieger A. Landmark-guided deformable image registration for supervised autonomous robotic tumor resection. International Conference on Medical Image Computing and Computer-Assisted Intervention, pp. 320-328. Springer, Cham, 2019.
  32. Mathur BG#, Topiwala AG#, Schaffer SUG#, Kam MG#, Saeidi HP#, Fleiter T, Krieger A. A semi-autonomous robotic system for remote trauma assessment. 19th International Conference on Bioinformatics and Bioengineering (BIBE), pp. 649–656. IEEE, 2019. Best student paper award. DOI:1109/BIBE.2019.0012
  33. Kam MG#, Saeidi HP#, Wei S, Opfermann JDO#, Léonard S, Hsieh MH, Kang JU, Krieger A. Semi-autonomous Robotic Anastomoses of Vaginal Cuffs Using Marker Enhanced 3D Imaging and Path Planning. International Conference on Medical Image Computing and Computer-Assisted Intervention, pp. 65–73. Springer, Cham, 2019.
  34. Mathur BG#, Topiwala AG#, Saeidi HP#, Fleiter T, Krieger A. Evaluation of control strategies for a tele-manipulated robotic system for remote trauma assessment. Proceedings of the Conference on Control and its Applications, 7-14. Society for Industrial and Applied Mathematics (SIAM), 2019.
  35. Saeidi HP#, Le HNG+, Opfermann JDO#, Léonard S, Kim A, Hsieh MH, Kang JU, Krieger A. Autonomous laparoscopic robotic suturing with a novel actuated suturing tool and 3D endoscope. International Conference on Robotics and Automation (ICRA), 1541-1547. IEEE, 2019. DOI:10.1109/ICRA.2019.8794306
  36. Kim BG#, Loke YH, Stevenson FUG#, Siallagan DG#, Mass P, Opfermann JDO#, Hibino N, Olivieri L, Krieger A. Virtual cardiac surgical planning through hemodynamics simulation and design optimization of Fontan grafts. International Conference on Medical Image Computing and Computer-Assisted Intervention, pp. 200-208. Springer, Cham, 2019.
  37. Saeidi HP#, Opfermann JDO#, Kam MG#, Raghunathan SG#, Léonard S, Krieger A. A confidence-based shared control strategy for the smart tissue autonomous robot (STAR). International Conference on Intelligent Robots and Systems (IROS), 1268-1275. IEEE, 2018.
  38. Sarfaraz NRUG#, Guo S, Schroeder TUG#, Gensheimer W, Kang J, Krieger A. Automation of the “Big Bubble” Hydro-Dissection Method for DALK Cornea Transplant Surgery. Hamlyn Symposium on Medical Robotics. London, England, 2018.
  39. Le HNG+, Opfermann JDO#, Kam MG#, Raghunathan SG#, Saeidi HG#, Leonard S, Kang JU, Krieger A. Semi-autonomous laparoscopic robotic electro-surgery with a novel 3D endoscope. International Conference on Robotics and Automation (ICRA), pp. 6637-6644. IEEE, 2018.
  40. Le HNG+, Nguyen H, Wang Z, Opfermann JDO#, Leonard S, Krieger A, Kang J. An endoscopic 3D structured illumination imaging system for robotic anastomosis surgery. Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XVI, 10484, p. 104840C. International Society for Optics and Photonics, 2018.
  41. Opfermann JDO#, Leonard S, Decker RSO#, Uebele NA, Bayne CE, Joshi AS, Krieger A. Semi-autonomous electrosurgery for tumor resection using a multi-degree of freedom electrosurgical tool and visual servoing. International Conference on Intelligent Robots and Systems (IROS), 3653-3660. IEEE, 2017. DOI:10.1109/IROS.2017.8206210
  42. Le NDHG+, Decker RO#, Opfermann JO#, Kim PCW, Krieger A, Kang JU, 3-D endoscopic imaging using plenoptic camera. Conference on Lasers and Electro-Optics (CLEO): Applications and Technology, AW4O-2. Optical Society of America, 2016.
  43. Shademan AP#, Decker RO#, Opfermann JO#, Leonard S, Kim PCW, Krieger A. Plenoptic Cameras in Surgical Robotics: Calibration, Registration, and Evaluation. International Conference on Robotics and Automation (ICRA), pp. 708-714. IEEE, 2016. DOI:1109/ICRA.2016.7487197
  44. Opfermann JO#, Clark BC, Davis TD, Berul1 CI, Krieger A. A Single Incision Delivery Tool for Epicardial Pacing and Defibrillation. Design of Medical Devices (DMD) Conference, Journal of Medical Devices 10, no. 2. ASME, 2016.
  45. Le NDHG+, Opfermann JO#, Decker RO#, Cheon GW, Kim PCW, Kang JU, Krieger A. In vivo perfusion assessment of an anastomosis surgery on porcine intestinal model. Imaging, Manipulation, and Analysis of Biomolecules, Cells, and Tissues IX, 9711, p. 971112. International Society for Optics and Photonics, 2016.
  46. Decker RO#, Shademan AP#, Opfermann JDO#, Leonard S, Kim PC, Krieger A.Performance Evaluation and Clinical Applications of 3D Plenoptic Cameras. Next-Generation Robotics II; and Machine Intelligence and Bio-inspired Computation: Theory and Applications IX, vol. 9494, p. 94940B. International Society for Optics and Photonics, 2015.
  47. Monfaredi R, Seifabadi R, Iordachita I, Sze R, Safdar NM, Sharma K, Fricke S, Krieger A, Cleary K. A Prototype Body-Mounted MRI-Compatible Robot for Needle Guidance in Shoulder Arthrography. 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 40-45. IEEE, 2014.
  48. Kim YO#, Kim PC, Selle R, Shademan AP#, Krieger A (Corresponding Author), Experimental Evaluation of Contact-Less Hand Tracking Systems for Tele-Operation of Surgical Tasks. International Conference on Robotics and Automation (ICRA), 3502-3509. IEEE, 2014. DOI: 10.1109/ICRA.2014.6907364
  49. Leonard S, Shademan AP#, Krieger A (Corresponding Author), Kim PC. Smart Tissue Anastomosis Robot (STAR): Accuracy Evaluation for Supervisory Suturing Using Near-Infrared Fluorescent Markers. International Conference on Robotics and Automation (ICRA), 1889-1894. IEEE, 2014. DOI:10.1109/ICRA.2014.6907108
  50. Triana BUG#, Cha JG+, Shademan AP#, Krieger A, Kang JU, Kim PC. Multispectral tissue analysis and classification towards enabling automated robotic surgery. Advanced Biomedical and Clinical Diagnostic Systems XII, vol. 8935, p. 893527. International Society for Optics and Photonics, 2014.
  51. Cha JG+, Triana BUG#, Shademan AP#, Krieger A, Kim PC, Kang JU. Polarization-sensitive multispectral imaging for optimizing intestinal anastomosis placements. Medical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling, 9036, p. 90360H. International Society for Optics and Photonics, 2014.
  52. Shademan AP#, Dumont MF, Leonard S, Krieger A, Kim PC. Feasibility of near-infrared markers for guiding surgical robots. Optical Modeling and Performance Predictions VI, 8840, p. 88400J. International Society for Optics and Photonics, 2013.
  53. Venugopal N, Krieger A, Jeufnack H, Bradshaw K, Boyd M, Ryner L. Signal characterization of a novel two-channel rigid endorectal coil for MR imaging of the prostate. 18th Scientific Meeting Society of Magnetic Resonance Imaging in Medicine, Stockholm. 2010
  54. Xu H, Lasso A, Vikal S, Guion P, Krieger A, Kaushal A, Whitcomb LL, Fichtinger G. MRI-guided robotic prostate biopsy: a clinical accuracy validation. International Conference on Medical Image Computing and Computer-Assisted Intervention, pp. 383-391. Springer, Berlin, Heidelberg, 2010.
  55. Krieger A, Iordachita I, Song SE, Cho NB, Guion P, Fichtinger G, Whitcomb LL. Development and preliminary evaluation of an actuated MRI-compatible robotic device for MRI-guided prostate intervention. International Conference on Robotics and Automation, pp. 1066-1073. IEEE, 2010. DOI:1109/ROBOT.2010.5509727
  56. Xu H, Lasso A, Vikal S, Guion P, Krieger A, Kaushal A, Whitcomb LL, Fichtinger G. Accuracy validation for MRI-guided robotic prostate biopsy. Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling, vol. 7625, p. 762517. International Society for Optics and Photonics, 2010.
  57. Fischer GS, Krieger A, Iordachita I, Csoma C, Whitcomb LL, Gabor F. MRI compatibility of robot actuation techniques–a comparative study. International Conference on Medical Image Computing and Computer-Assisted Intervention, pp. 509-517. Springer, Berlin, Heidelberg, 2008.
  58. Krieger A, Csoma C, Iordachital II, Guion P, Singh AK, Fichtinger G, Whitcomb LL. Design and preliminary accuracy studies of an MRI-guided transrectal prostate intervention system. International Conference on Medical Image Computing and Computer-Assisted Intervention, pp. 59-67. Springer, Berlin, Heidelberg, 2007.
  59. Krieger A, Csoma C, Guion P, Iordachita I, Metzger G, Qian D, Singh A, Whitcomb L, Fichtinger G. Phantom Experiments with a Novel MR-Guided Transrectal Prostate Interventional System. International Society of Magnetic Resonance Imaging in Medicine, Fourteenth Scientific Meeting, Proc. Intl. Soc. Mag. Reson. Med, vol. 15, p. 111. 2007.
  60. Krieger A, Metzger G, Fichtinger G, Atalar E, Whitcomb L. A hybrid method for 6-DOF tracking of MRI-compatible robotic interventional devices. International Conference on Robotics and Automation (ICRA), pp. 3844-3849. IEEE, 2006. DOI:1109/ROBOT.2006.1642290
  61. Coleman J, Susil RC, Krieger A, Choyke P, Wise B, Thomasson D, Gharib A, Whitcomb LL, Fichtinger G, Linehan M. Technique and Accuracy of a Clinical System for Transrectal Intraprostatic Needle Placement in a Standard 1 5T MRI Scanner. In: American Urological Association (AUA), The Journal of Urology 171, no. 4S (2004): 473-474. 2004.
  62. Balogh E, Deguet A, Susil RC, Krieger A, Viswanathan A, Ménard C, Coleman JA, Fichtinger G. Visualization, planning, and monitoring software for MRI-guided prostate intervention robot. International Conference on Medical Image Computing and Computer-Assisted Intervention, pp. 73-80. Springer, Berlin, Heidelberg, 2004.
  63. Susil RC, Krieger A, Derbyshire J, Whitcomb LL, Fichtinger G, Atalar E. MRI Guided Intraprostatic Therapeutic Injections in a Closed, 1 5T Scanner. International Society of Magnetic Resonance Imaging in Medicine, Eleventh Scientific Meeting, Toronto, p. 687. 2003.
  64. Fichtinger G, Susil RC, Krieger A, Tanacs A, Whitcomb LL. Prostate biopsy and local therapy inside conventional closed mri with robotic assistance – animal studies. Journal of Academic Radiology, vol. 10, no. 8, pp. 955 – 955. 2003.
  65. Fichtinger G, Krieger A, Susil R, Tanacs A, Whitcomb L, Atalar E. Transrectal prostate biopsy inside closed MRI scanner with remote actuation, under real-time image guidance. International Conference on Medical Image Computing and Computer-Assisted Intervention, pp. 91-98. Springer, Berlin, Heidelberg, 2002.
  66. Krieger A, Susil R, Tanacs A, Fichtinger G, Whitcomb L, Atalar E. A MRI compatible device for MRI guided transrectal prostate biopsy. 10th Scientific Meeting Society of Magnetic Resonance Imaging in Medicine, Honolulu, HI, p. 338. 2002.
  67. Susil R, Derbyshire J, Krieger A, Tanacs A, Solaiyappan M, Whitcomb L, McVeigh E, Fichtinger G, Atalar E. A realtime MRI system for guidance and monitoring of prostate biopsy. 10th Scientific Meeting International Society of Magnetic Resonance Imaging in Medicine. Honolulu, HI, p. 2237. 2002.

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  • Undergraduate students, graduate students (PhD and MS), postdocs, and other mentees (high school, junior/research engineer, medical student) are shown by UG, G, P, and O, respectively.
  • # indicates primary mentored undergraduates, graduate students, post docs, and other mentees
  • + indicates co-mentored undergraduates, graduate students, post docs, and other mentees
  • * indicates joint first authors

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