Scholars@Duke
Joanna Deaton Bertram

Joanna Deaton Bertram

Assistant Professor in the Thomas Lord Department of Mechanical Engineering and Materials Science
Thomas Lord Department of Mechanical Engineering and Materials Science
joanna.d.bertram@duke.edu
144 Hudson Hall, Box 90300, Durham, NC 27708
144 Hudson Hall, Box 90300, Durham, NC 27708

Selected Publications

Corrections to “Model-Based Design of the COAST Guidewire Robot for Large Deflection”

Journal Article IEEE Robotics and Automation Letters · February 2024 Full text Cite

Towards FBG-Based Shape Sensing and Sensor Drift for a Steerable Needle

Journal Article IEEE/ASME Transactions on Mechatronics · December 1, 2023 Continuum manipulators contribute to promising improvements of minimally invasive surgical procedures due to their compliance, small size, and ability to navigate anatomical pathways. Feedback of the shape of such robots within the body is currently being ... Full text Cite

Model-based Design of the COAST Guidewire Robot for Large Deflection.

Journal Article IEEE robotics and automation letters · September 2023 Minimally invasive endovascular procedures involve the manual placement of a guidewire, which is made difficult by vascular tortuosity and the lack of precise tip control. Steerable guidewire systems have been developed with tendon-driven, magnetic, and co ... Full text Cite

Simultaneous Shape and Tip Force Sensing for the COAST Guidewire Robot.

Journal Article IEEE robotics and automation letters · June 2023 Placement of catheters in minimally invasive cardiovascular procedures is preceded by navigating to the target lesion with a guidewire. Traversing through tortuous vascular pathways can be challenging without precise tip control, potentially resulting in t ... Full text Cite

Towards Steering a High-Dose Rate Brachytherapy Needle With a Robotic Steerable Stylet

Journal Article IEEE Transactions on Medical Robotics and Bionics · February 1, 2023 Steerable needles are desired for many applications within the medical field. One such application is high-dose rate (HDR) brachytherapy. In this paper, an adaptive control system is proposed to provide control of the planar bending angle or deflection dis ... Full text Cite

Design and Kinematics Analysis of a Robotic Pediatric Neuroendoscope Tool Body

Journal Article IEEE/ASME Transactions on Mechatronics · April 1, 2020 Endoscopy is often used to treat hydrocephalus, a common pediatric neurosurgical condition. Rigid endoscopic tools used in these procedures have many limitations. In this article, we propose four novel designs for a steerable two degree-of-freedom robotic ... Full text Cite

Towards FBG-Based Shape Sensing for Micro-scale and Meso-Scale Continuum Robots with Large Deflection.

Journal Article IEEE robotics and automation letters · April 2020 Endovascular and endoscopic surgical procedures require micro-scale and meso-scale continuum robotic tools to navigate complex anatomical structures. In numerous studies, fiber Bragg grating (FBG) based shape sensing has been used for measuring the deflect ... Full text Cite

Toward Patient-Specific 3D-Printed Robotic Systems for Surgical Interventions

Journal Article IEEE Transactions on Medical Robotics and Bionics · May 2019 Full text Cite

Modular FBG Bending Sensor for Continuum Neurosurgical Robot

Journal Article IEEE Robotics and Automation Letters · April 2019 Full text Cite

Impact of simulated MitraClip on forward flow obstruction in the setting of mitral leaflet tethering: An in vitro investigation

Journal Article Catheterization and Cardiovascular Interventions · October 2018 AbstractObjectivesWe aimed to evaluate diastolic leaflet tethering as a factor that may cause mitral stenosis (MS) after simulated MitraClip implantation, using an in vitro left heart simu ... Full text Cite