Publications
2023
On the Trade-Off Between Spatial Resolution and High Curvature Bending in FBG-based Shape Sensing, D Hanley, K Dhaliwal, M Khadem, IEEE Sensors Journal.
Towards Robotics-Assisted Endomicroscopy in Percutaneous Needle-based Interventions, B Thamo, V Voulgaridou, H Wood, J Stone, K Dhaliwal, M Khadem, IEEE Transactions on Medical Robotics and Bionics, 1-10.
A Data-efficient Neural ODE Framework for Optimal Control of Soft Manipulators, M Kasaei, KK Babarahmati, Z Li, M Khadem The Conference on Robot Learning 2023, 1-14
Feature-based Visual Odometry for Bronchoscopy: A Dataset and Benchmark, J Deng, P Li, K Dhaliwal, CX Lu, M Khadem 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems
Data-efficient non-parametric modelling and control of an extensible soft manipulator, M Kasaei, KK Babarahmati, Z Li, M Khadem 2023 IEEE International Conference on Robotics and Automation (ICRA), 2641-2647 1
A novel concentric tube steerable drilling robot for minimally invasive treatment of spinal tumors using cavity and u-shape drilling techniques, S Sharma, JH Park, JP Amadio, M Khadem, F Alambeigi 2023 IEEE International Conference on Robotics and Automation (ICRA), 4710-4716 1
A Concentric Tube Steerable Drilling Robot for Minimally Invasive Spinal Fixation of Osteoporotic Vertebrae, S Sharma, TG Mohanraj, JP Amadio, M Khadem, F Alambeigi IEEE Transactions on Biomedical Engineering 1
Towards Biomechanics-Aware Design of a Steerable Drilling Robot for Spinal Fixation Procedures with Flexible Pedicle Screws, S Sharma, Y Sun, S Go, JP Amadio, M Khadem, AH Eskandari, F Alambeigi, 2023 International Symposium on Medical Robotics (ISMR), 1-6
2022
Data-driven Steering of Concentric Tube Robots in Unknown Environments via Dynamic Mode Decomposition, B Thamo, D Hanley, K Dhaliwal, M Khadem, IEEE Robotics and Automation Letters, 2022, 10.1109/LRA.2022.3231490.
Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement, E Mackute, B Thamo, K Dhaliwal, M Khadem, IEEE International Conference on Intelligent Robots and Systems (IROS) 2022.
An Ultrasound-Guided Mechatronics-Assisted System for Semi-Automated Seed Implantation and Tracking in Prostate Brachytherapy, C Rossa, J Carriere, M Khadem, R Sloboda, N Usmani, M Tavakoli, Brain and Cognitive Intelligence Control in Robotics, 21-46
2021
A Hybrid Dual Jacobian Approach for Autonomous Control of Concentric Tube Robots in Unknown Constrained Environments, B Thamo, F Alambeigi, K Dhaliwal, M Khadem, IEEE International Conference on Intelligent Robots and Systems (IROS) 2021.
Design and Modelling of a Continuum Robot for Distal Lung Sampling in Mechanically Ventilated Patients in Critical Care, Z Mitros, B Thamo, C Bergeles, L Da Cruz, K Dhaliwal, M Khadem, Frontiers in Robotics and AI, 8(94), 2021
Rapid Solution of Cosserat Rod Equations via a Nonlinear Partial Observer, B Thamo, K Dhaliwal, M Khadem, IEEE International Conference on Robotics and Automation, 2021.
2020
Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control, M Khadem, J O’Neill, Z Mitros, L da Cruz, C Bergeles, IEEE Transactions on Robotics 36 (5), 1595-1602.
Physical Human-Robot Cooperation Based on Robust Motion Intention Estimation, A Torabi, M Khadem, K Zareinia, GR Sutherland, M Tavakoli, ROBOTICA 38 (10), 1880-1894.
Using a redundant user interface in teleoperated surgical systems for task performance enhancement, A Torabi, M Khadem, K Zareinia, GR Sutherland, M Tavakoli, Robotica 38 (10), 1880-1894.
Optic Nerve Sheath Fenestration with a Multi-Arm Continuum Robot, Z Mitros, S Sadati, C Seneci, E Bloch, K Leibrandt, M Khadem, L da Cruz, C Bergeles, IEEE Robotics and Automation Letters 5 (3), 4874-4881.
2019
Autonomous Steering of Concentric Tube Robots for Enhanced Force/Velocity Manipulability, M Khadem, J O’Neill, Z Mitros, L Da Cruz, C Bergeles IEEE/RSJ International Conference on Intelligent Robots and Systems, 2197-2204.
Event-triggered 3d needle control using a reduced-order computationally efficient bicycle model in a constrained optimization framework, J Carriere, M Khadem, C Rossa, N Usmani, R Sloboda, M Tavakoli, Journal of Medical Robotics Research 4 (01), 1842004.
Geometric control of 3D needle steering in soft-tissue, M Khadem, C Rossa, N Usmani, RS Sloboda, M Tavakoli, Automatica 101, 36-43.
Application of a redundant haptic interface in enhancing soft-tissue stiffness discrimination, A Torabi, M Khadem, K Zareinia, GR Sutherland, M Tavakoli, IEEE Robotics and Automation Letters 4 (2), 1037-1044.
2018
Force/velocity manipulability analysis for 3D continuum robots, M Khadem, L Da Cruz, C Bergeles, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems.
Towards modeling multi-arm robots: Eccentric arrangement of concentric tubes, Z Mitros, M Khadem, C Seneci, S Ourselin, L Da Cruz, C Bergeles, 2018 7th IEEE International Conference on Biomedical Robotics.
Robotic-assisted needle steering around anatomical obstacles using notched steerable needles, M Khadem, C Rossa, N Usmani, RS Sloboda, M Tavakoli, IEEE Journal of biomedical and health informatics 22 (6), 1917-1928.
2017
Surgeon-in-the-loop 3D needle steering through ultrasound-guided feedback control, J Carriere, M Khadem, C Rossa, N Usmani, R Sloboda, M Tavakol, IEEE Robotics and Automation Letters 3 (1), 469-476.
Feedback-linearization-based 3D needle steering in a Frenet-Serret frame using a reduced order bicycle model, M Khadem, C Rossa, N Usmani, RS Sloboda, M Tavakoli, 2017 American Control Conference (ACC), 1438-1443.
Semi-automated needle steering in biological tissue using an ultrasound-based deflection predictor, M Khadem, C Rossa, N Usmani, RS Sloboda, M Tavakoli, Annals of biomedical engineering 45 (4), 924-938.
A modular force‐controlled robotic instrument for minimally invasive surgery–efficacy for being used in autonomous grasping against a variable pull force, SM Khadem, S Behzadipour, A Mirbagheri, F Farahmand, The International Journal of Medical Robotics and Computer Assisted Surgery.
