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
5419 Beardsley Ct, Durham, NC 27712

Selected Publications

Tutorial: Nitinol and Tungsten Tendon Attachment Techniques for Steerable Continuum Robots

Journal Article Journal of the Indian Institute of Science · July 2024 Full text Cite

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

Image Guided Mitral Valve Replacement: Registration of 3D Ultrasound and 2D X-ray Images.

Journal Article Proceedings of SPIE--the International Society for Optical Engineering · February 2020 Mitral valve repair or replacement is important in the treatment of mitral regurgitation. For valve replacement, a transcatheter approach had the possibility of decrease the invasiveness of the procedure while retaining the benefit of replacement over repa ... Full text Cite

Towards Patient-Specific 3D-Printed Robotic Systems for Surgical Interventions.

Journal Article IEEE transactions on medical robotics and bionics · May 2019 Surgical robots have been extensively researched for a wide range of surgical procedures due to the advantages of improved precision, sensing capabilities, motion scaling, and tremor reduction, to name a few. Though the underlying disease condition or path ... Full text Cite

A Large-Deflection FBG Bending Sensor for SMA Bending Modules for Steerable Surgical Robots

Conference 2019 International Conference on Robotics and Automation (ICRA) · May 2019 Full text Cite

Modular FBG Bending Sensor for Continuum Neurosurgical Robot.

Journal Article IEEE robotics and automation letters · April 2019 We present a modular sensing system to measure the deflection of a minimally invasive neurosurgical intracranial robot: MINIR-II. The MINIR-II robot is a tendon-driven continuum robot comprised of multiple spring backbone segments, which has been developed ... Full text Cite

Multi-walled Carbon Nanotube (MWCNT)/PDMS-based Flexible Sensor for Medical Applications

Conference 2019 International Symposium on Medical Robotics (ISMR) · 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 : official journal of the Society for Cardiac Angiography & Interventions · October 2018 ObjectivesWe 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 simulator.BackgroundLeaflet tethering commonly seen in functio ... Full text Cite

Fully automated tissue classifier for contrast-enhanced CT scans of adult and pediatric patients.

Journal Article Physics in medicine and biology · June 2018 To develop a consistent, fully-automated classifier for all tissues within the trunk and to more accurately discriminate between tissues (such as bone) and contrast medium with overlapping high CT numbers. Twenty-eight contrast enhanced NCAP (neck-chest-ab ... Full text Cite