Publications

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Under Review

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Journal Publications

  1. "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. pdfAbstract
  2. "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. pdfAbstract
  3. "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. pdfAbstract
  4. "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. pdfAbstract
  5. "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. pdfAbstract
  6. "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. pdfAbstract
  7. "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. pdf
  8. "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. pdf
  9. "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. pdf
  10. "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. pdf
  11. “Whisker-like Position Sensor for Measuring Physiological Motion.” O. Bebek and M. C. Cavusoglu. In IEEE/ASME Transactions on Mechatronics, 2008. (In Press).pdf

Book Chapters

  1. "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. pdfAbstract
  2. "Medical Robotics in Surgery." M. C. Cavusoglu. In M. Akay, editor, Wiley Encyclopedia of Biomedical Engineering, John Wiley and Sons, Inc. 2006. (In Press).
  3. “Surgical Simulation Technologies.” M. C. Cavusoglu.  In M. Kutz, editor, Handbook of Biomedical Engineering and Design, Second Edition, McGraw-Hill, Inc.  2009. (In Press).

Conference Publications

  1. "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. .pdfAbstract
  2. "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. .pdfAbstract
  3. "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. .pdfAbstract
  4. "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. .pdfAbstract
  5. "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. .pdfAbstract
  6. "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. .pdfAbstract
  7. "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. pdfAbstract
  8. "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. pdfAbstract
  9. "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. pdfAbstract
  10. "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. pdfAbstract Joseph H. Engelberger best paper award.
  11. "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.  pdfAbstract
  12. "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. pdfAbstract
  13. "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. pdfAbstract
  14. "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). pdfAbstract
  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), Bangalore, India, December 18-21, 2002, pp. 713-714. pdfAbstract
  16. "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. pdfAbstract
  17. "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. pdfAbstract
  18. "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. pdfAbstract
  19. "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. pdf
  20. "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. pdf
  21. "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.Abstract Hydrocephalus award candidate.
  22. "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. pdf Finalist for the conference best paper award.
  23. "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. pdf
  24. "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. pdf
  25. "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. pdf
  26. "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. pdf
  27. "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. pdf
  28. "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. pdf
  29. "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. pdf
  30. "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. pdf
  31. "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. pdf
  32. “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.
  33. "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. pdf
  34. "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. pdf
  35. "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. pdf
  36. "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. pdf
  37. "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. pdf
  38. “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
  39. “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. pdf
  40. “A Software Framework for Integrative Physiological Model Simulation.” E. Z. Erson, M. C. Cavusoglu.  Submitted to the 20th International Conference on Software Engineering and Knowledge Engineering (SEKE 2008), Redwood City, CA, July 1-3, 2008. (In Press). pdf
  41. “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. (In Press). pdf
  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. (In Press). pdf
  43. "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. (In Press). pdf

PhD Thesis

  • "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. pdfAbstract

Video

  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. Abstract

Technical Reports

  1. "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. .pdfAbstract
  2. "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. .pdfAbstract
  3. "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. .pdfAbstract
  4. "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.  .pdfAbstract
  5. "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.pdfAbstract
  6. "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. pdf
Last updated:July 2008. MCC.