Dr. Miller graduated from the University of Colorado Medical School in 1978. A Residency in Orthopedic surgery was completed in 1983, followed by a fellowship in Pediatric Orthopedics at the Hospital for Sick Children in Toronto, Ontario. After 4 years of general orthopedic practice in Goshen, Indiana, and in 1988 he was recruited specifically to develop the orthopedic component of the Cerebral Palsy Program. Dr Miller was Co-director of the Cerebral Palsy Program and the Clinical Director of the Gait Analysis Laboratory at the A.I. duPont Hospital for Children until his retirement in 2018. His clinical practice of pediatric orthopedics is limited to children with cerebral palsy. 

For 25 years Dr. Miller was Adjunct Professor appointments in the Departments of Mechanical Engineering and Physical Education at the University of Delaware and member of the University BIOMS program, which is an interdisciplinary graduate program in biomedical engineering. Dr Miller has been actively involved in supervision of graduate and undergraduate students at Delaware through these programs. Projects included investigation of surgical outcomes of CP surgery through gait analysis; mathematical modeling of the hip joint in children with CP. This project was an important advance in understanding the causes of hip subluxation in CP; design of a new walker for children with CP; total hip design from composite material; a composite material spinal rod and an instrumented leg lengthening device.

Dr. Miller has published over 200 articles in peer reviewed journals, multiple book chapters, and was the lead author on a book Cerebral Palsy: A Guide for Caregiving, which was published in 1995, a second edition in 2005 and the 3rd edition in 2015.  A medical reference textbook, Cerebral Palsy with 1080 pages outlining musculoskeletal care of the child with cerebral palsy was written by Dr. Miller and published in 2005 by Springer-Verlag and the second edition was expanded to include etiology, medical management and therapy treatments and was published in 3 volumes in 2020.