Robert MacLachlan - Robotics Institute Carnegie Mellon University

Robert MacLachlan

Portrait of Robert MacLachlan
Senior Research Engineer
Home Department: RI
Office: 3115 Newell-Simon Hall
Phone: (412) 445-8113
Personal Homepage
Lab: Surgical Mechatronics Laboratory
Mailing Address

Biomedical instrumentation, human manipulation accuracy and technology to improve accuracy by removing unintentional motion, micron-scale measurement, proximity sensing using non-vision sensors, state estimation, particle filters, interfacing sensors and actuators, analog and power electronic design.

Displaying 47 Publications

2022
Real-time vessel segmentation and reconstruction for virtual fixtures for an active handheld microneurosurgical instrument
Aravind Venugopal, Sara Moccia, Simone Foti, Arpita Routray, Robert A. MacLachlan, Alessandro Perin, Leonardo S. Mattos, Alexander K. Yu, Jody Leonardo, Elena De Momi, and Cameron N. Riviere
Journal Article, International Journal of Computer Assisted Radiology and Surgery, March, 2022
2019
Real-time incremental estimation of retinal surface using laser aiming beam
Arpita Routray, Robert A. MacLachlan, Joseph N. Martel, and Cameron N. Riviere
Conference Paper, Proceedings of International Symposium on Medical Robotics (ISMR '19), April, 2019
2017
Multirate Kalman filter rejects impulse noise in frequency-domain-multiplexed tracker measurements
R. A. MacLachlan, R. L. Hollis, B. Jaramaz, J. N. Martel, K. L. Urish, and C. N. Riviere
Conference Paper, Proceedings of IEEE Sensors, October, 2017
Toward Monocular Camera-Guided Retinal Vein Cannulation with an Actively Stabilized Handheld Robot
Shohin Mukherjee, Sungwook Yang, Robert A. MacLachlan, Louis A. Lobes Jr., Joseph N. Martel, and Cameron Riviere
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2951 - 2956, May, 2017
Toward Improved Electromagnetic Tracking for Handheld Robotics
Robert A. MacLachlan, Ralph L. Hollis, Joseph N. Martel, Louis A. Lobes Jr.,, and Cameron N. Riviere
Conference Paper, Proceedings of 3rd International Conference on Mechatronics and Robotics Engineering (ICMRE '17), pp. 75 - 80, February, 2017
2016
Electromagnetic Tracker for Active Handheld Robotic Systems
Robert A. MacLachlan, Nicholas Parody, Shohin Mukherjee, Ralph Hollis, and Cameron Riviere
Conference Paper, Proceedings of IEEE Sensors, October, 2016
Velocity-Limiting Control of an Active Handheld Micromanipulator
Shohin Mukherjee, Robert MacLachlan, and Cameron Riviere
Journal Article, Journal of Medical Devices, Vol. 10, No. 3, September, 2016
Detection of Radioactive Sources in Urban Scenes Using Bayesian Aggregation of Data from Mobile Spectrometers
Prateek Tandon, Peter Huggins, Robert A. MacLachlan, Artur Dubrawski, Karl Nelson, and Simon Labov
Journal Article, Information Systems, Vol. 57, pp. 195 - 206, April, 2016
Hybrid position/force control of an active handheld micromanipulator for membrane peeling
Trent S. Wells, Sungwook Yang, Robert A. MacLachlan, Louis A. Lobes Jr., Joseph N. Martel, and Cameron N. Riviere
Journal Article, International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 12, No. 1, pp. 85 - 95, March, 2016
Comparative evaluation of handheld robot-aided intraocular laser surgery
Sungwook Yang, Robert A. MacLachlan, Joseph N. Martel, Louis A. Lobes Jr., and Cameron N. Riviere
Journal Article, IEEE Transactions on Robotics, Vol. 32, No. 1, pp. 246 - 251, February, 2016

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