Alan Kuntz

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Concentric tube robots are thin, tentacle-like devices that can move along curved paths and can potentially enable new, less invasive surgical procedures. Safe and effective operation of this type of robot requires that the robot's shaft avoid sensitive anatomical structures (e.g., critical vessels and organs) while the surgeon teleoperates the robot's tip.(More)
Lung cancer is the leading cause of cancer-related death, and early-stage diagnosis is critical to survival. Biopsy is typically required for a definitive diagnosis, but current low-risk clinical options for lung biopsy cannot access all biopsy sites. We introduce a motion planner for a multilumen transoral lung access system, a new system that has the(More)
INTRODUCTION Lung cancer is the deadliest form of cancer, killing more than 150,000 people each year in the United States alone [1]. It causes more deaths than breast, prostate, colon, and liver cancers combined [1]. To increase the survival rate of lung cancer, diagnosing the cancer early, while the tumor is still a small nodule, is key. Although(More)
Computing globally optimal motion plans for a robot is challenging in part because it requires analyzing a robot's configuration space simultaneously from both a macroscopic viewpoint (i.e., considering paths in multiple homotopic classes) and a microscopic viewpoint (i.e., locally optimizing path quality). We introduce Interleaved Optimization with(More)
To help realize the vision of autonomously driving vehicles, we look to the field of robotics to answer the question of how to get to our destination efficiently while avoiding obstacles. The foremost question one must ask before planning a route, and continuously while en route, is where are we now? This is a non­trivial problem, given the inaccuracies and(More)
This paper demonstrates the analysis of complex acoustic environments using high-resolution circular measurements and complementary 3D simulations. The possibilities and limitations of room acoustic analysis using either measurements or simulations are discussed. An exemplary study is presented on the sound propagation in a complex shaped room: The analysis(More)
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