Leonard, Simon

Assistant Research Professor
Computer Science

Hackerman Hall 128
sleonard@jhu.edu

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About

Education
  • Ph.D. 2008, Univ Alberta

Publications

Journal Articles
  • Leonard S, Sinha A, Reiter A, Ishii M, Gallia GL, Taylor RH, Hager GD (2018).  Evaluation and Stability Analysis of Video-Based Navigation System for Functional Endoscopic Sinus Surgery on In Vivo Clinical Data.  IEEE Transactions on Medical Imaging.  37(10).
  • Le HND, Wei S, Leonard S, Opfermann J, Krieger A, Kang JU (2018).  Suture maps based on structural enhanced imaging endoscope for laparoscopic robotic surgery.  2018 Conference on Lasers and Electro-Optics, CLEO 2018 - Proceedings.
  • Le HND, Nguyen H, Wang Z, Opfermann J, Leonard S, Krieger A, Kang JU (2018).  Demonstration of a laparoscopic structuredillumination three-dimensional imaging system for guiding reconstructive bowel anastomosis.  Journal of Biomedical Optics.  23(5).
  • Le HND, Wei S, Leonard S, Opfermann J, Krieger A, Kang JU (2018).  Suture maps based on structural enhanced imaging endoscope for laparoscopic robotic surgery.  Optics InfoBase Conference Papers.  Part F92-CLEO_AT 2018.
  • Opfermann JD, Leonard S, Decker RS, Uebele NA, Bayne CE, Joshi AS, Krieger A (2017).  Semi-autonomous electrosurgery for tumor resection using a multi-degree of freedom electrosurgical tool and visual servoing.  IEEE International Conference on Intelligent Robots and Systems.  2017-September.
  • Frank T, Krieger A, Leonard S, Patel NA, Tokuda J (2017).  ROS-IGTL-Bridge: an open network interface for image-guided therapy using the ROS environment.  International Journal of Computer Assisted Radiology and Surgery.  12(8).
  • Decker RS, Shademan A, Opfermann JD, Leonard S, Kim PCW, Krieger A (2017).  Biocompatible Near-Infrared Three-Dimensional Tracking System.  IEEE Transactions on Biomedical Engineering.  64(3).
  • Sinha A, Reiter A, Leonard S, Ishii M, Hager GD, Taylor RH (2017).  Simultaneous segmentation and correspondence improvement using statistical modes.  Progress in Biomedical Optics and Imaging - Proceedings of SPIE.  10133.
  • Shademan A, Decker RS, Opfermann J, Leonard S, Kim PCW, Krieger A (2016).  Plenoptic cameras in surgical robotics: Calibration, registration, and evaluation.  Proceedings - IEEE International Conference on Robotics and Automation.  2016-June.
  • Shademan A, Decker RS, Opfermann JD, Leonard S, Krieger A, Kim PCW (2016).  Supervised autonomous robotic soft tissue surgery.  Science Translational Medicine.  8(337).
  • Leonard S, Reiter A, Sinha A, Ishii M, Taylor RH, Hager GD (2016).  Image-based navigation for functional endoscopic sinus surgery using structure from motion.  Progress in Biomedical Optics and Imaging - Proceedings of SPIE.  9784.
  • Reiter A, Leonard S, Sinha A, Ishii M, Taylor RH, Hager GD (2016).  Endoscopic-CT: Learning-based photometric reconstruction for endoscopic sinus surgery.  Progress in Biomedical Optics and Imaging - Proceedings of SPIE.  9784.
  • Sinha A, Leonard S, Reiter A, Ishii M, Taylor RH, Hager GD (2016).  Automatic segmentation and statistical shape modeling of the paranasal sinuses to estimate natural variations.  Progress in Biomedical Optics and Imaging - Proceedings of SPIE.  9784.
  • Billings SD, Sinha A, Reiter A, Leonard S, Ishii M, Hager GD, Taylor RH (2016).  Anatomically constrained video-CT registration via the V-IMLOP algorithm.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  9902 LNCS.
  • Leonard S (2015).  Registration of planar virtual fixtures by using augmented reality with dynamic textures.  Proceedings - IEEE International Conference on Robotics and Automation.  2015-June(June).
  • Otake Y, Leonard S, Reiter A, Rajan P, Siewerdsen JH, Ishii M, Taylor RH, Hager GD (2015).  Rendering-based video-CT registration with physical constraints for image-guided endoscopic sinus surgery.  Progress in Biomedical Optics and Imaging - Proceedings of SPIE.  9415.
  • Decker R, Shademan A, Opfermann J, Leonard S, Kim PCW, Krieger A (2015).  Performance evaluation and clinical applications of 3D plenoptic cameras.  Proceedings of SPIE - The International Society for Optical Engineering.  9494.
  • Vozar S, Leonard S, Kazanzides P, Whitcomb LL (2015).  Experimental evaluation of force control for virtual-fixture-assisted teleoperation for on-orbit manipulation of satellite thermal blanket insulation.  Proceedings - IEEE International Conference on Robotics and Automation.  2015-June(June).
  • Kim Y, Leonard S, Shademan A, Krieger A, Kim PCW (2014).  Kinect technology for hand tracking control of surgical robots: Technical and surgical skill comparison to current robotic masters.  Surgical Endoscopy.  28(6).
  • Leonard S, Wu KL, Kim Y, Krieger A, Kim PCW (2014).  Smart tissue anastomosis robot (STAR): A vision-guided robotics system for laparoscopic suturing.  IEEE Transactions on Biomedical Engineering.  61(4).
  • Leonard S, Shademan A, Kim Y, Krieger A, Kim PCW (2014).  Smart Tissue Anastomosis Robot (STAR): Accuracy evaluation for supervisory suturing using near-infrared fluorescent markers.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Shademan A, Dumont MF, Leonard S, Krieger A, Kim PCW (2013).  Feasibility of near-infrared markers for guiding surgical robots.  Proceedings of SPIE - The International Society for Optical Engineering.  8840.
  • Xia T, Leonard S, Kandaswamy I, Blank A, Whitcomb LL, Kazanzides P (2013).  Model-based telerobotic control with virtual fixtures for satellite servicing tasks.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Xia T, Leonard S, Deguet A, Whitcomb L, Kazanzides P (2012).  Augmented reality environment with virtual fixtures for robotic telemanipulation in space.  IEEE International Conference on Intelligent Robots and Systems.
  • Brucker M, Léonard S, Bodenmüller T, Hager GD (2012).  Sequential scene parsing using range and intensity information.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Chan A, Leonard S, Croft EA, Little JJ (2011).  Collision-free visual servoing of an eye-in-hand manipulator via constraint-aware planning and control.  Proceedings of the American Control Conference.
  • Baumann M, Léonard S, Croft EA, Little JJ (2010).  Path planning for improved visibility using a probabilistic road map.  IEEE Transactions on Robotics.  26(1).
  • De Carli D, Hohert E, Parker CAC, Zoghbi S, Leonard S, Croft E, Bicchi A (2009).  Measuring intent in human-robot cooperative manipulation.  2009 IEEE International Workshop on Haptic Audio Visual Environments and Games, HAVE 2009 - Proceedings.
  • Léonard S, Croft EA, Little JJ (2009).  Planning collision-free and occlusion-free paths for industrial manipulators with eye-to-hand configuration.  2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009.
  • Baumann MA, Dupuis DC, Léonard S, Croft EA, Little JJ (2008).  Occlusion-free path planning with a probabilistic roadmap.  2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS.
  • Léonard S, Croft EA, Little JJ (2008).  Dynamic visibility checking for vision-based motion planning.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Leonard S, Croft E, Chan A, Little JJ (2008).  Robust motion generation for vision-guided robot bin-picking.  ASME International Mechanical Engineering Congress and Exposition, Proceedings.  9 PART A.
  • Léonard S, Jägersand M (2007).  On with the visuomotor function: A 6DOF adaptive approach for modeling image-based variations and visual servoing.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Léonard S, Jägersand M (2006).  Adaptive control for estimating translations from image-based variations.  Proceedings - IEEE International Conference on Robotics and Automation.  2006.
  • Léonard S, Jägersand M (2005).  Incremental learning for mapping image variations to actions.  Proceedings - IEEE International Conference on Robotics and Automation.  2005.
  • Léonard S, Jägersand M (2004).  Learning based visual servoing.  2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).  1.
  • Léonard S, Jägersand M (2004).  Approximating the visuomotor function for visual servoing.  Proceedings - 1st Canadian Conference on Computer and Robot Vision.
  • Leonard S, Jägersand M (2003).  Tracking the pose of objects through subspace.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  2749.
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