Cenk Cavusoglu

My full publication list is available at my personal website, and at my Google Scholar page.

Selected Publications:

1. “MRI Safety-Driven and Heat-Mitigating Design for a Novel MRI-Guided, Magnetically Actuated Robotic Catheter.”
   G. Foss, E. E. Tuna, S. Kamath, R. Z. Ali, Y.-C. Chen, A. B. Aydin, R. Bolding, M. Griswold, and M. C. Cavusoglu.
   Medical Physics, 53(8), August 2026, pp. e70630. doi: 10.1002/mp.70630
2. “Interleaved Imaging and Actuation for Real-Time MRI during Active Control of a Magnetically-Actuated Robotic Catheter.”
   R. Ali, D. Franson, I. Devai Camacho de Oliveira, T. Cowles, D. Herzka, M. A. Griswold, M. C. Cavusoglu.
   IEEE Transactions on Biomedical Engineering, 2025. doi: 10.1109/TBME.2025.3642722 (In Press)
3. “Landing Control of an MRI-Actuated Robotic Catheter on Beating Heart Surface.”
   R. Hao and M. C. Cavusoglu.
   Scientific Reports, 15:34581, October 2025. PMCID: PMC12494870, doi: 10.1038/s41598-025-18054-2
4. “Design of a Hall-Effect Based Force Sensing Mechanism for Force Sensing inside Magnetic Resonance Imaging Scanner.”
   Y.-C. Chen, R. Hao, A. Thompson, M. Griswold, and M. C. Cavusoglu.
   IEEE Sensors Letters, 9(9), September 2025, pp. 1-4. PMCID: PMC12352604, doi: 10.1109/LSENS.2025.3591071
5. “A Systematic Review of Task Automation in Surgical Robotics.”
   T. Shkurti and M. C. Cavusoglu.
   IEEE Transactions on Medical Robotics and Bionics, 7(3), August 2025, pp. 863-880. doi: 10.1109/TMRB.2025.3583182
6. “Free-Space Dynamic Modeling of an MRI-Actuated Robotic Catheter.”
   R. Hao, E. E. Tuna, Y. Itsarachaiyot, and M. C. Cavusoglu.
   IEEE/ASME Transactions on Mechatronics, 30(3), June 2025, pp. 2144-2154. PMCID: PMC12175967, doi: 10.1109/TMECH.2024.3438800
7. “Does using artificial intelligence assistance accelerate skill decay and hinder skill development without performers’ awareness?”
   B. Macnamara, I. Berber, M. C. Cavusoglu, E. Krupinksi, N. Nallapareddy, N. E. Nelson, P. J. Smith, A. L. Wilson-Delfosse, and S. Ray.
   Cognitive Research: Principles and Implications, 9(46), July 2024. doi: 10.1186/s41235-024-00572-8
8. “State of the Art and Future Opportunities in MRI Guided Robot-Assisted Surgery and Interventions.”
   H. Su, K.-W. Kwok, K. Cleary, I. Iordachita, M. C. Cavusoglu, J. Desai, G. S. Fischer.
   Proceedings of the IEEE, 110(7), July 2022, pp. 968-992. PMCID: PMC9231642, doi: 10.1109/JPROC.2022.3169146
9. “A Probabilistic Approach for Contact Stability and Contact Safety Analysis of Robotic Intracardiac Catheter.”
   R. Hao and M. C. Cavusoglu.
   ASME Journal of Dynamical Systems, Measurement, and Control, 143(9), September 2021, pp. 094502. PMCID: PMC8299815, doi: 10.1115/1.4050692
10. “Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter under Cardiac Surface Motion.”
    R. Hao, E. E. Tuna, and M. C. Cavusoglu.
    ASME Journal of Dynamical Systems, Measurement, and Control, 143(7), July 2021, pp. 071010. PMCID: PMC8086176, doi: 10.1115/1.4049837
11. “Camera-Robot Calibration for the da Vinci™ Robotic Surgery System.”
    O. Ozguner, T. Shkurti, S. Huang, R. Hao, R. C. Jackson, W. Newman, and M. C. Cavusoglu.
    IEEE Transactions on Automation Science and Engineering, 17(4), October 2020, pp. 2154-2161. PMCID: PMC7978174, doi: 10.1109/TASE.2020.2986503
12. “Real-Time Visual Tracking of Dynamic Surgical Suture Threads.”
    R. Jackson, R. Yuan, D.-L. Chow, W. Newman, and M. C. Cavusoglu.
    IEEE Transactions on Automation Science and Engineering, 15(3), July 2018, pp. 1078-1090. PMCID: PMC6034738, doi: 10.1109/TASE.2017.2726689
13. “Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically-Actuated Steerable Catheter System.”
    T. Liu, R. Jackson, D. Franson, N. Lombard Poirot, R. K. Criss, N. Seiberlich, M. A. Griswold, and M. C. Cavusoglu.
    IEEE/ASME Transactions on Mechatronics, 22(4), August 2017, pp. 1765-1776. PMCID: PMC5731790, doi: 10.1109/TMECH.2017.2704526
14. “Design of an MRI-Guided Magnetically-Actuated Steerable Catheter.”
    T. Liu, N. Lombard Poirot, T. Greigarn, and M. C. Cavusoglu.
    ASME Journal of Medical Devices, 11(2), June 2017. PMCID: PMC5467027, doi: 10.1115/1.4036095
15. “Modeling and Validation of the Three Dimensional Deflection of an MRI-Compatible Magnetically-Actuated Steerable Catheter.”
    T. Liu, N. Lombard Poirot, D. Franson, N. Seiberlich, M. A. Griswold, and M. C. Cavusoglu.
    IEEE Transactions on Biomedical Engineering, 63(10), October 2016, pp. 2142-2154. PMCID: PMC4917491, doi: 10.1109/TBME.2015.2510743
16. “Needle Grasp and Entry Port Selection for Automatic Execution of Suturing Tasks in Robotic Minimally Invasive Surgery.”
    T. Liu and M. C. Cavusoglu.
    IEEE Transactions on Automation Science and Engineering, 13(2), April 2016, pp. 552-563. PMCID: PMC4857717, doi: 10.1109/TASE.2016.2515161
17. “Identification and Active Exploration of Deformable Object Boundary Constraints through Robotic Manipulation.”
    P. Boonvisut and M. C. Cavusoglu.
    International Journal of Robotics Research, 33(11), September 2014, pp. 1446-1461. PMCID: PMC4324691, doi: 10.1177/0278364914536939
18. “Estimation of Soft Tissue Mechanical Parameters from Robotic Manipulation Data.”
    P. Boonvisut and M. C. Cavusoglu.
    IEEE/ASME Transactions on Mechatronics, 18(5), October 2013, pp. 1602-1611. PMCID: PMC3767179, doi: 10.1109/TMECH.2012.2209673
19. “Heart Motion Prediction Based on Adaptive Estimation Algorithms for Robot Assisted Beating Heart Surgery.”
    E. E. Tuna, T. J. Franke, O. Bebek, A. Shiose, K. Fukamachi, and M. C. Cavusoglu.
    IEEE Transactions on Robotics, 29(1), February 2013, pp. 261-276. PMCID: PMC3747962, doi: 10.1109/TRO.2012.2217676
20. “Effect of Visuo-Haptic Co-location on 3D Fitts’ Task Performance in Physical and Virtual Environments.”
    M. J. Fu, A. D. Hershberger, K. Sano, and M. C. Cavusoglu.
    Presence, 21(3), Summer 2012, pp. 305-320. PMCID: PMC3860595, doi: 10.1162/PRES_a_00115
21. “High Fidelity Haptic Rendering of Frictional Contact with Deformable Objects in Virtual Environments Using Multi-Rate Simulation.”
    P. Jacobs, M. J. Fu, and M. C. Cavusoglu.
    International Journal of Robotics Research, 29(14), December 2010, pp. 1778-1792. doi: 10.1177/0278364910378540
22. “Intelligent Control Algorithms for Robotic-Assisted Beating Heart Surgery.”
    O. Bebek and M. C. Cavusoglu.
    IEEE Transactions on Robotics, 23(3), June 2007, pp. 468-480. doi: 10.1109/TRO.2007.89507
23. “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.
    Industrial Robot, 30(1), January 2003, pp. 22-29. doi: 10.1108/01439910310457670
24. “A Critical Study of the Mechanical and Electrical Properties of the Phantom™ Haptic Interface and Improvements for High Performance Control.”
    M. C. Cavusoglu, D. Feygin, and F. Tendick.
    Presence, 11(6), December 2002, pp. 555-568. doi: 10.1162/105474602321050695
25. “Design of Bilateral Teleoperation Controllers for Haptic Exploration and Telemanipulation of Soft Environments.”
    M. C. Cavusoglu, A. Sherman, and F. Tendick.
    IEEE Transactions on Robotics and Automation, 18(4), August 2002, pp. 641-647. doi: 10.1109/TRA.2002.802199
26. “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.
    Presence, 9(3), June 2000, pp. 236-255. doi: 10.1162/105474600566772
27. “A Laparoscopic Telesurgical Workstation.”
    M. C. Cavusoglu, F. Tendick, M. Cohn, and S. S. Sastry.
    IEEE Transactions on Robotics and Automation, 15(4), August 1999, pp. 728-739. doi: 10.1109/70.782027