Theses / Reports

2018

  • N Shahriari, “Flexible needle steering for computed-tomography guided interventions”, Doctoral degree (Radiology, Nuclear Medicine and Medical Imaging), Faculty of Medical SciencesUniversity Medical Center Groningen, The Netherlands, December 2018.

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  • D Niehoff, “Evaluation of motion control algorithms for miniaturized agents moving inside 3D fluidic microchannels”, Master’s degree in Systems and Control, Faculty of Electrical Engineering, Mathematics, and Computer Science,, University of Twente, The Netherlands, November 2018.

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  • L Offereins, “Simulation of bio-inspired micro-swimmers with varying material”, Bachelor’s degree in Mechanical Engineering, Faculty of Engineering Technology,, University of Twente, The Netherlands, October 2018.  

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  • A Zeybek, “Development of a thermal cage for high frequency coil driver heat experiments”, Bachelor’s degree in Mechanical Engineering (Internship), Istanbul Technical University, Turkey, September 2018.

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  • U Sakthivel, “Design of a high frequency coil driver for the magnetic manipulation of micro-agents and steerable catheters”, Bachelor’s degree in Biomedical Engineering, Sri Ramaswamy Memorial (SRM) University, India, September 2018.

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  • A Alp Aydeniz, “Development of high-frequency coil driver”, Bachelor’s degree in Electrical-Electronics Engineering and Computer Science (Internship), Ozyegin University, Turkey, September 2018.

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  • M Prati, “Ultrasound-based soft tissue phantom model”, Master’s degree in Biomedical Engineering (Internship), Sapienza Università di Roma, Italy, September 2018.

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  • A Sahin, “High frequency high resolution PWM generation”, Bachelor’s degree in Electrical and Electronic Engineering, Hanze University of Applied Sciences, Netherlands, September 2018.

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  • V Spadaro, “Pose tracking of a magnetic torpedo for targeted drug delivery”, Master’s degree in Information Technologies for Health (Internship), Department of Information Technologies for Health, University of Strasbourg, France, August 2018.

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  • L F Peña Samaniego, “Design of magnetically actuated surgical devices using magnetic micro-particles embedded in a polymeric matrix”, Master’s degree in Biomedical Engineering, Faculty of Medical Sciences, University Medical Center Groningen, The Netherlands, August 2018.

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  • M Nappez, “Closed-loop control of catheter tip using passive tracking/ultrasound”, Master’s degree in Imaging, Robotics and Biomedical Engineering (Internship), Department of Information Technologies for Health, University of Strasbourg, France, August 2018.

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  • A S Rafael, ”Electro-pneumatic control system for a two degrees of freedom demonstrative mechanism actuated with PneuAct”, Master’s degree in Biomedical Engineering, University of Porto, Portugal, July 2018.  

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  • T Vlogman , “Simulation of a bio-inspired swimming mechanism”, Bachelor’s degree in Mechanical Engineering, Faculty of Engineering Technology,, University of Twente, The Netherlands, July 2018.  

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  • E Rutting, “Looping catheter for object manipulation within the human body”, Master’s degree in Biomedical Engineering, Faculty of Science and Technology, University of Twente, The Netherlands, March 2018.

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  • M Fernandes, “Programming of optical auto-focus for microscopic stereo system”, Master’s degree in Biomedical Engineering (Internship), University of Porto, Portugal, May 2018.  

  • M Weessies, A Noordhuis, J Terpstra, M Miloszewska, and W Grootens, “Phantom”, Master’s degree in Biomedical Engineering (Multidisciplinary Project), Faculty of Medical Sciences, University Medical Center Groningen, The Netherlands, April 2018.

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  • G Bucchi, ”Enhanced fitting techniques for model-based tracking of continuum manipulators”, Master’s degree in Biomedical Engineering, Politecnico di Milano, Italy, April 2018.

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  • T Buitink and J Hop, “Designing a patient specific brain phantom for neurosurgical simulations”, Bachelor’s degree in Biomedical Engineering (Research Internship), Faculty of Medical Sciences, University Medical Center Groningen, The Netherlands, April 2018.

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  • G van Praagh, B van der Spek, M Baltasar Badaya, R O Kobayashi and J Bakker, “Magnetically-actuated gripper for minimally invasive surgery”, Master’s degree in Biomedical Engineering (Multidisciplinary Project), Faculty of Medical Sciences, University Medical Center Groningen, The Netherlands, April 2018.  

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  • J Spenkelink, “Contact force estimation in tendon-driven continuum manipulators with tip probes using fiber Bragg grating sensors”, Bachelor’s degree in Biomedical Engineering (Research Internship), Faculty of Medical Sciences, University Medical Center Groningen, The Netherlands, April 2018.

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2017

  • R Obeid, ”Development of a custom linear ultrasound scanner for 3D tracking of magnetic catheters”, Master’s degree in Mechatronic Engineering, Politecnico di Torino, Italy, December 2017.

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  • S Pane, ”Design of flexible closed-loop control for non-linear actuation of micro-robotic agents”, Master’s degree in Mechatronic Engineering, Politecnico di Torino, Italy, December 2017.

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  • M E A Hafez, ”Autonomous manipulation of MagnetoSperm robots: Closed-loop motion control and characterization inside fluidic channels”, Bachelor’s degree in Mechatronics, German University in Cairo, Egypt, September 2017.

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  • F Franco, ”Remote sensing of magnetic field for enhanced control of magnetically-actuated continuum robots”, Master’s degree in Electronic Engineering, Politecnico di Milano, Italy, September 2017.

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  • L Wobben, “Design of a brain phantom for robotic systems in neurosurgical interventions”, Bachelor’s degree in Biomedical Engineering, Faculty of Medical Sciences, University Medical Center Groningen, The Netherlands, July 2017.  

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  • J Huisman, “Induction heating for thermal activation of untethered microtools in clinically-relevant applications”, Bachelor’s degree in Biomedical Engineering, Faculty of Science and Technology, University of Twente, The Netherlands, July 2017.  

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  • R Menger, “Design of a brain phantom for robotic systems in neurosurgical interventions”, Bachelor’s degree in Biomedical Engineering (Research Internship), Faculty of Medical Sciences, University Medical Center Groningen, The Netherlands, July 2017.    

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  • R Veenstra, “Design of a brain model for neurovascular simulation”, Bachelor’s degree in Biomedical Engineering (Research Internship), Faculty of Medical Sciences, University Medical Center Groningen, The Netherlands, July 2017.

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  • O van der Wal, “Developing a dynamic model for an array of mobile electromagnetic coils”, Bachelor’s degree in Technology and Liberal Arts & Sciences (ATLAS) , Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, The Netherlands, June 2017.      

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  • M G Schouten, “MRI-guided prostate biopsy: Which direction”, Doctoral degree (Department of Radiology and Nuclear Medicine), Radboud Imaging ResearchRadboud University Nijmegen Medical Center, The Netherlands, June 2017.

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  • J Resink and R Merjenburgh, “Design of a brain phantom”, Bachelor’s degree in Biomedical Engineering (Research Internship), Faculty of Medical Sciences, University Medical Center Groningen, The Netherlands, May 2017.

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  • L Kuil, “Tele-operated MR-compatible robot for prostate interventions”, Master’s degree in Biomedical Engineering, Faculty of Science and Technology, University of Twente, The Netherlands, March 2017.

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2016

  • H Irzan, ”Design and control of a testbed for evaluation of a steerable catheter in cardiovascular applications”, Master’s degree in Mechatronic Engineering, Politecnico di Torino, Italy, December 2016.  

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  • N Fasiello, ”Motion control of paramagnetic microparticles”, Master’s degree in Automation and Control Engineering, Politecnico di Milano, Italy, December 2016.  

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  • T C Krishna Kumar, “Tracking and control of soft, self-folding miniaturized agents using two dimensional ultrasound images”, Master’s degree in Computer Science, Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, September 2016.  

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  • I Dawson, “Development of continuum robots for medical applications: Design and modeling of magnetically and water jet actuated manipulators”, Master’s degree in Biomedical Engineering and Industrial Design Engineering, Faculty of Science and Technology, Faculty of Enginnering Technology, University of Twente, The Netherlands, September 2016.

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  • I Heijmans, “Development of a coaxial flexible needle”, Bachelor’s degree in Biomedical Engineering, Faculty of Medical SciencesUniversity of Groningen and University Medical Center Groningen, The Netherlands, September 2016.

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  • R Sleurink, “Implementation of a C++ algorithm for the detection of lesions using the automated breast volume scanner (ABVS)”, Bachelor’s degree in Biomedical Engineering, Faculty of Science and Technology, University of Twente, The Netherlands, August 2016.

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  • B Sawaryn, “Path planning for micro-sized agents with motion uncertainities”, Bachelor’s degree in Biomedical Engineering, Faculty of Science and Technology, University of Twente, The Netherlands, August 2016.

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  • H Dumirieh, “Steerable catheters under magnetic field guidance and using optical system for catheter-tip tracking in 3D”, Master’s degree in Biomedical Engineering, Faculty of Mathematics & Natural Sciences / Faculty of Medical SciencesUniversity of Groningen / University Medical Center Groningen, The Netherlands, May 2016.

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  • K J Boskma, “Closed-loop control of a magnetically-actuated catheter using two-dimensional ultrasound images”, Master’s degree in Biomedical Engineering, Faculty of Mathematics & Natural Sciences / Faculty of Medical Sciences University of Groningen / University Medical Center Groningen, The Netherlands, May 2016.

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  • F van den Brink, “Manipulation of soft grippers for pick-and-place tasks”, Master’s degree in Systems and Control, Faculty of Electrical Engineering, Mathematics, and Computer ScienceUniversity of Twente, The Netherlands, March 2016.

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  • T van Katwijk, “Design of a 2 degree of freedom CT-compatible remote center of motion manipulator”, Master’s degree in Biomedical Engineering, Faculty of Science and TechnologyUniversity of Twente, The Netherlands, March 2016.

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2015

  • M Jansen, ”Three-dimensional translation and rotation of the mitral valve during the cardiac cycle”, Master’s degree in Technical Medicine (Internship Report), Faculty of Science and TechnologyUniversity of Twente, The Netherlands, November 2015.

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  • M Abayazid, “Robotically steering flexible needles”, Doctoral degree (Biomechanical Engineering), Faculty of Engineering TechnologyUniversity of Twente, The Netherlands, August 2015.

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  • N Sibum, “Needle tracking based on radio frequency-data for needle steering applications”, Bachelor’s degree in Biomedical Engineering, Faculty of Medical SciencesUniversity of Groningen and University Medical Center Groningen, The Netherlands, July 2015.

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  • T Araujo, ”Segmentation and three-dimensional reconstruction of lesions using the automated breast volume scanner (ABVS)”, Internship Report, Faculty of  EngineeringUniversity of Porto, Portugal, July 2015.

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  • G Aresta, “Preoperative path planning for flexible bevel-tip needle rotation minimization”, Internship Report, Faculty of EngineeringUniversity of Porto, Portugal, July 2015.

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  • K J van Teeffelen and A van Riesen, ”Review of actuation principles and design recommendation for a robotically-actuated catheter”, Bachelor’s degree in Mechanical Engineering (ITO Course Report), Faculty of  Engineering TechnologyUniversity of Twente, The Netherlands, June 2015.

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  • N J Boer and P Braakman, ”Positioning accuracy improvement of a robotically-actuated delivery sheath (RADS) for cardiovascular applications”, Bachelor’s degree in Mechanical Engineering (ITO Course Report), Faculty of  Engineering TechnologyUniversity of Twente, The Netherlands, June 2015.

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  • F Avgidis, ”Visual tracking of magnetic microrobots: Tracking system evaluation”, Bachelor’s degree in Electrical Engineering, Faculty of Electrical Engineering, Mathematics, and Computer ScienceUniversity of Twente, The Netherlands, March 2015.

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  • M L Tolhuisen, ”Three-dimensional spatial movement of the mitral valve”, Master’s degree in Technical Medicine (Internship Report), Faculty of Science and Technology, University of Twente, The Netherlands, February 2015.

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  • A Zompas, ”Three dimensional needle steering using the Automated Breast Volume Scanner”, Master’s degree in Electrical Engineering (Course Report), Faculty of Electrical Engineering, Mathematics, and Computer ScienceUniversity of Twente, The Netherlands, February 2015.

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2014

  • B van der Berg, “Visual tracking of magnetic microrobots in biomedical research applications”, Bachelor’s degree in Biomedical Engineering, Faculty of Science and TechnologyUniversity of Twente, The Netherlands, August 2014.

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  • M Gras, “Ultrasound image-based needle steering and target reconstruction”, Bachelor’s degree in Electrical Engineering, École Nationale Supérieure de Techniques Avancées (ENSTA ParisTech), August 2014. (visiting student)

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  • B Peerdeman, “Development of an underactuated hand prosthesis with compliant control”, Doctoral degree (Robotics and Mechatronics), Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, May 2014.  (with S Stramigioli)

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2013

  • T T M Ellenbroek, “Ultrasound-guided control of a minimally invasive surgical instrument”, Master’s degree in Electrical Engineering, Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, September 2013.

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  • B A Reefman, “Control of magnetic-microrobots: an experimental study”, Master’s degree in Mechatronics, Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, August 2013.

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  • H Kolk, “Characterization, modeling and control of magnetic microrobots”, Bachelor’s degree in Advanced Technology, Faculty of Science and Technology, University of Twente, The Netherlands, August 2013.

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  • H Dijkslag, “MagnetoSperm: a microrobot that navigates using weak magnetic fields”, Bachelor’s degree in Electrical Engineering, Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, August 2013.

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  • L M Overbeek, “Force sensing using fiber bragg gratings”, Bachelor’s degree in Electrical Engineering, Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, June 2013.

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  • K Gijsbertse, “3D localization of targets in curved soft-tissue phantoms using 2D ultrasound images”, Master’s degree in Biomedical Engineering-Biomechanical Engineering, Faculty of Science and Technology, University of Twente, The Netherlands, June 2013.

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  • M P Pichel, “Characterization and control of magnetotactic bacteria”, Master’s degree in Biomedical Engineering-Molecular, Cellular and Tissue Engineering, Faculty of Science and Technology, University of Twente, The Netherlands, June 2013.

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  • R M P Metz, “Realization of three-dimensional magnetically-actuated micro robotic system”, Master’s degree in Mechatronics, Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, April 2013.

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  • R Reilink, “Image-based robotic steering of advanced flexible endoscopes and instruments”, Doctoral degree (Robotics and Mechatronics), Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, April 2013  (with S Stramigioli)

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  • P Westenberg, “Integration of modular and intuitive software platform for MyoPro next generation hand prothesis”, Bachelor’s degree in Mechatronics, Life Science, Engineering & Design, Saxion University of Applied Sciences, The Netherlands, February 2013. (internship project)

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  • B A Reefman, “Three-dimensional tracking of magnetotactic bacteria”, Pre-Master’s degree in Mechatronics, Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, February 2013.

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  • F van den Brink, “Modeling and magnetic-based motion control of a cluster of microparticles”, Bachelor’s degree in Advanced Technology, Faculty of Science and Technology, University of Twente, The Netherlands, January 2013.

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  • M Herink, ”Finite element modelling of prostate deformation and needle-tissue interactions”, Master’s degree in Mechatronics, Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, January 2013.

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  • P J Vos, “Effect of system parameters on target motion”, Bachelor’s degree in Advanced Technology, Faculty of Science and Technology, University of Twente, The Netherlands, January 2013.

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2012

  • G J Vrooijink, “Real-time three-dimensional tracking and steering of flexible needles using two-dimensional ultrasound images”, Master’s degree in Electrical Engineering-Control Engineering and Measurement Science, Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, December 2012.

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  • S L Janssen, “Image-guided control of a continuum robot”, Master’s degree in Electrical Engineering-Control Engineering and Measurement Science, Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, November 2012.

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  • M Kemp, “Flexible needle steering using fiber bragg grating sensors”, Master’s degree in Mechatronics, Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, August 2012.

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  • A Stapelbroek, “Investigation and improvement of a friction-based joint lock”, Bachelor’s degree in Mechanical Engineering, Life Science, Engineering & Design, Saxion University of Applied Sciences, The Netherlands, July 2012. (with Dannis Brouwer – internship project)

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  • T R Kerkhof, “Design of a flexible needle insertion device with synchronous ultrasound imaging of target”, Pre-Master’s degree in Electrical Engineering-Measurement and Control Engineering, Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, January 2012.

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  • G J Pieterse, “Design of a joint lock for prosthetic fingers”, Master’s degree in Mechanical Engineering-Biomechanical Engineering, Faculty of Engineering TechnologyUniversity of Twente, The Netherlands, January 2012. (with H Rietman)

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2011

  • J D Keuning, “Image-based magnetic control of microparticles“, Master’s degree in Electrical Engineering-Measurement and Instrumentation, Faculty of Electrical Engineering, Mathematics, and Computer ScienceUniversity of Twente, The Netherlands, December 2011.

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  • R J Roesthuis, “Flexible needle steering using a mechanics-based approach”, Master’s degree in Mechatronics, Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, November 2011.

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  • M Bakker, “Feedback control for steering flexible bevel-tip needles”, Bachelor’s degree in Advanced Technology, Faculty of Science and Technology, University of Twente, The Netherlands, September 2011.

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  • M C J Franken, “Control of haptic interaction: an energy-based approach”, Doctoral degree (Control Engineering), Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, The Netherlands, September 2011. (with S Stramigioli)

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  • Y R J van Veen, “Needle and soft tissue: experimental design and observations”, Master’s degree in Mechanical Engineering-Biomechanical Engineering, Faculty of Engineering Technology, University of Twente, The Netherlands, June 2011.

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  • A Been, “Microscopic observations of needle-tissue interactions“, Bachelor’s degree in Advanced Technology, Faculty of Science and Technology, University of Twente, The Netherlands, March 2011.

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2010

  • M G Schouten, “Introduction of a new robotic technique for MRI-guided transrectal prostate biopsy: safety and accuracy aspects“, Master’s degree in Technical Medicine, Faculty of Science and Technology, University of Twente, The Netherlands, October 2010. (with J Fütterer)

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2009

  • S Misra, “Realistic models for surgical simulation and planning”, Doctor of Philosophy, Department of Mechanical Engineering, The Johns Hopkins University, USA, June 2009.

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2001

  • S Misra, “Object-oriented modeling of the dynamics of space systems with reaction wheels”, Master of Engineering, Department of Mechanical Engineering, McGill University, Canada, July 2001.

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