Marek Wartenberg

Contact Information


Research Interests

About Me

Marek was born and raised in Portland, Maine and enjoys returning home regularly to visit his family and friends. He attended The University of Connecticut where he received his B.S. in Biomedical Engineering then went on to complete dual-masters under an international exchange program. He earned an M.S. in Biomedical Engineering at The University of Connecticut and an M.S. in Automation and Control Engineering at Politecnico di Milano in Milan, Italy. Marek met Prof. Fischer while attending a robotics course at WPI and subsequently joined the AIM lab for his Ph.D. in Robotics Engineering.

His current research is in developing closed-loop control of needle trajectory for pelvic needle placement procedures such as prostate biopsy. Targeting is based on automatic adjustment of bevel-tipped steerable needles under interventional-MRI guidance alongside admittance-based cooperatively controlled insertion. This allows for incorporation of virtual fixtures in the robot workspace to avoid delicate biological structures, while leaving ultimate control of the procedure to the physician.


Refereed Journal Publications

  1. Moreira P, Patel N, Wartenberg Marek, Li G, Tuncali K, Heffter T, Burdette EC, Iordachita I, Fischer GS, Hata N, Tempany CM, Tokuda J, Evaluation of Robot-Assisted MRI-Guided Prostate Biopsy: Needle Path Analysis During Clinical Trials, Physics in Medicine and Biology, Vol 63, No 20, Oct 2018. IOP, PubMed
  2. Wartenberg M, Schornak J, Gandomi K, Carvalho PA, Nycz CJ, Patel N, Iordachita I, Tempany C, Hata N, Tokuda J, Fischer GS, Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion, Annals of Biomedical Engineering (ABME), Vol 46, No 10, pp 1582-1594, Oct 2018. Springer, PubMed
  3. Patel NA, Li G, Shang W, Wartenberg M, Heffter T, Burdette EC, Iordachita I, Tokuda J, Hata N, Tempany CM, Fischer GS, System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy, Journal of Medical Robotics Research (JMRR), May 2018. WorldSci

Refereed Conference Proceedings

  1. Wartenberg M, Gandomi KY, Carvalho PA, Schornak J, Patel N, Iordachita I, Tempany CM, Hata N, Tokuda J, Fischer GS, In-Bore Experimental Validation of Active Compensation and Membrane Puncture Detection for Targeted MRI-Guided Robotic Prostate Biopsy, Proceedings of the 2018 International Symposium on Experimental Robotics - ISER 2018, Buenos Aires, Argentina, Nov 2018, Published Jan 2020. Springer, eBook
  2. Nycz CJ, Gondokaryono R, Carvalho P, Patel N, Wartenberg M, Pilitsis JG, Fischer GS, Mechanical Validation of an MRI Compatible Stereotactic Neurosurgery Robot in Preparation for Pre-Clinical Trials, IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2017, Vancouver, BC, Canada, Sept 2017. IEEE
  3. Wartenberg M, Schornak J, Carvalho PA, Patel NA, Iordachita I, Tempany CM, Hata N, Tokuda J, Fischer GS, Closed-loop Autonomous Needle Steering during Cooperatively Controlled Needle Insertions for MRI-guided Pelvic Interventions, Hamlyn Symposium, London, UK, July 2017.
  4. Wartenberg M, Patel N, Li G, Fischer GS, Towards Synergistic Control of Hands-on Needle Insertion with Automated Needle Steering for MRI-Guided Prostate Interventions, IEEE EMBC 2016, Orlando, FL, USA, pp 5116-5119, Aug. 2016. IEEE

Conference Abstracts, Workshops and Non Peer-Reviewed Papers

  1. Moreira P, Patel N, Wartenberg M, Li G, Heffter T, Burdette EC, Iordachita I, Fischer GS, Hata N, Tempany CM, Tokuda J, Transperineal MR-Guided Prostate Biopsy: The Contribution of Needle Deflection to the Targeting Error, International Symposium on Biomedical Imaging - ISBI'18, Washington, DC, April 2018.
  2. Fischer GS, Wartenberg M, Patel NA, Tokuda J, Tempany CM, Hata N, Towards Cooperative Control of MRI-guided Pelvic Needle Placement Procedures, 9th NCIGT Image Guided Therapy Workshop, Bethesda, MD, Mar 2017.

Lab Members