Mohsen Khadem

Publication Activity (10 Years)

Years Active: 2015-2024
Publications (10 Years): 37

Top Topics

Feedback Control

Predictive Control

Minimally Invasive

Top Venues

IEEE Robotics Autom. Lett.

Publications

David Hanley, Kevin Dhaliwal, Mohsen Khadem
Towards Unified Shape and Biosensing: Multiplexing Tilted and Standard Fiber Bragg Gratings. ISMR (2024)
Susheela Sharma, Yuewan Sun, Jeff Bonyun, Mohsen Khadem, Jordan P. Amadio, Amir Hossein Eskandari, Farshid Alambeigi
A Biomechanics-Aware Robot-Assisted Steerable Drilling Framework for Minimally Invasive Spinal Fixation Procedures. IEEE Trans. Biomed. Eng. 71 (6) (2024)
Susheela Sharma, Sarah Go, Jeff Bonyun, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
Towards an Autonomous Minimally Invasive Spinal Fixation Surgery Using a Concentric Tube Steerable Drilling Robot. CoRR (2024)
Susheela Sharma, Sarah Go, Jeff Bonyun, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
Towards an Autonomous Minimally Invasive Spinal Fixation Surgery Using a Concentric Tube Steerable Drilling Robot. ISMR (2024)
Susheela Sharma, Sarah Go, Zeynep Yakay, Yash Kulkarni, Siddhartha Kapuria, Jordan P. Amadio, Reza Rajebi, Mohsen Khadem, Nassir Navab, Farshid Alambeigi
A Patient-Specific Framework for Autonomous Spinal Fixation via a Steerable Drilling Robot. CoRR (2024)
Susheela Sharma, Yash Kulkarni, Sarah Go, Jeff Bonyun, Jordan P. Amadio, Reza Rajebi, Maryam Tilton, Mohsen Khadem, Farshid Alambeigi
Spatial Spinal Fixation: A Transformative Approach Using a Unique Robot-Assisted Steerable Drilling System and Flexible Pedicle Screw. CoRR (2024)
Mohammadreza Kasaei, Keyhan Kouhkiloui Babarahmati, Zhibin Li, Mohsen Khadem
Data-efficient Non-parametric Modelling and Control of an Extensible Soft Manipulator. ICRA (2023)
Mohammadreza Mohades Kasaei, Keyhan Kouhkiloui Babarahmati, Zhibin Li, Mohsen Khadem
A Data-efficient Neural ODE Framework for Optimal Control of Soft Manipulators. CoRL (2023)
Balint Thamo, David Hanley, Kevin Dhaliwal, Mohsen Khadem
Data-Driven Steering of Concentric Tube Robots in Unknown Environments via Dynamic Mode Decomposition. IEEE Robotics Autom. Lett. 8 (2) (2023)
Susheela Sharma, Ji H. Park, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
A Novel Concentric Tube Steerable Drilling Robot for Minimally Invasive Treatment of Spinal Tumors Using Cavity and U-shape Drilling Techniques. CoRR (2023)
Jianning Deng, Peize Li, Kevin Dhaliwal, Chris Xiaoxuan Lu, Mohsen Khadem
Feature-based Visual Odometry for Bronchoscopy: A Dataset and Benchmark. IROS (2023)
Susheela Sharma, Tarunraj G. Mohanraj, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
A Concentric Tube Steerable Drilling Robot for Minimally Invasive Spinal Fixation of Osteoporotic Vertebrae. IEEE Trans. Biomed. Eng. 70 (11) (2023)
Susheela Sharma, Yuewan Sun, Sarah Go, Jordan P. Amadio, Mohsen Khadem, Amir Hossein Eskandari, Farshid Alambeigi
Towards Biomechanics-Aware Design of a Steerable Drilling Robot for Spinal Fixation Procedures with Flexible Pedicle Screws. CoRR (2023)
Susheela Sharma, Yuewan Sun, Sarah Go, Jordan P. Amadio, Mohsen Khadem, Amir Hossein Eskandari, Farshid Alambeigi
Towards Biomechanics-Aware Design of a Steerable Drilling Robot for Spinal Fixation Procedures with Flexible Pedicle Screws. ISMR (2023)
Susheela Sharma, Ji H. Park, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
A Novel Concentric Tube Steerable Drilling Robot for Minimally Invasive Treatment of Spinal Tumors Using Cavity and U-shape Drilling Techniques. ICRA (2023)
Emile Mackute, Balint Thamo, Kevin Dhaliwal, Mohsen Khadem
Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement. IROS (2022)
Zisos Mitros, Balint Thamo, Christos Bergeles, Lyndon Da Cruz, Kevin Dhaliwal, Mohsen Khadem
Design and Modelling of a Continuum Robot for Distal Lung Sampling in Mechanically Ventilated Patients in Critical Care. Frontiers Robotics AI 8 (2021)
Balint Thamo, Farshid Alambeigi, Kevin Dhaliwal, Mohsen Khadem
A Hybrid Dual Jacobian Approach for Autonomous Control of Concentric Tube Robots in Unknown Constrained Environments. IROS (2021)
Balint Thamo, Kevin Dhaliwal, Mohsen Khadem
Rapid Solution of Cosserat Rod Equations via a Nonlinear Partial Observer. ICRA (2021)
Ali Torabi, Mohsen Khadem, Kourosh Zareinia, Garnette Roy Sutherland, Mahdi Tavakoli
Using a Redundant User Interface in Teleoperated Surgical Systems for Task Performance Enhancement. Robotica 38 (10) (2020)
Zisos Mitros, Seyedmohammadhadi Sadati, Carlo Seneci, Edward Bloch, Konrad Leibrandt, Mohsen Khadem, Lyndon Da Cruz, Christos Bergeles
Optic Nerve Sheath Fenestration With a Multi-Arm Continuum Robot. IEEE Robotics Autom. Lett. 5 (3) (2020)
Mohsen Khadem, John J. O'Neill, Zisos Mitros, Lyndon Da Cruz, Christos Bergeles
Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control. IEEE Trans. Robotics 36 (5) (2020)
Ali Torabi, Mohsen Khadem, Kourosh Zareinia, Garnette Roy Sutherland, Mahdi Tavakoli
Application of a Redundant Haptic Interface in Enhancing Soft-Tissue Stiffness Discrimination. IEEE Robotics Autom. Lett. 4 (2) (2019)
Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli
Geometric control of 3D needle steering in soft-tissue. Autom. 101 (2019)
Mohsen Khadem, John J. O'Neill, Zisos Mitros, Lyndon Da Cruz, Christos Bergeles
Autonomous Steering of Concentric Tube Robots for Enhanced Force/Velocity Manipulability. IROS (2019)
Jay Carriere, Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli
Event-Triggered 3D Needle Control Using a Reduced-Order Computationally Efficient Bicycle Model in a Constrained Optimization Framework. J. Medical Robotics Res. 4 (1) (2019)
Ali Torabi, Mohsen Khadem, Kourosh Zareinia, Garnette Roy Sutherland, Mahdi Tavakoli
Manipulability of teleoperated surgical robots with application in design of master/slave manipulators. ISMR (2018)
Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli
Robotic-Assisted Needle Steering Around Anatomical Obstacles Using Notched Steerable Needles. IEEE J. Biomed. Health Informatics 22 (6) (2018)
Mohsen Khadem, Lyndon Da Cruz, Christos Bergeles
Force/Velocity Manipulability Analysis for 3D Continuum Robots. IROS (2018)
Jay Carriere, Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli
Surgeon-in-the-Loop 3-D Needle Steering Through Ultrasound-Guided Feedback Control. IEEE Robotics Autom. Lett. 3 (1) (2018)
Zisos Mitros, Mohsen Khadem, Carlo Seneci, Sébastien Ourselin, Lyndon Da Cruz, Christos Bergeles
Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes. BioRob (2018)
Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli
Feedback-linearization-based 3D needle steering in a Frenet-Serret frame using a reduced order bicycle model. ACC (2017)
Mohsen Khadem, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli
Mechanics of Tissue Cutting During Needle Insertion in Biological Tissue. IEEE Robotics Autom. Lett. 1 (2) (2016)
Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli
Introducing notched flexible needles with increased deflection curvature in soft tissue. AIM (2016)
Carlos Rossa, Mohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
Constrained optimal control of needle deflection for semi-manual steering. AIM (2016)
Carlos Rossa, Mohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
Adaptive Quasi-Static Modelling of Needle Deflection During Steering in Soft Tissue. IEEE Robotics Autom. Lett. 1 (2) (2016)
Mohsen Khadem, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli
Ultrasound-Guided Model Predictive Control of Needle Steering in Biological Tissue. J. Medical Robotics Res. 1 (1) (2016)
Bita Fallahi, Mohsen Khadem, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
Extended bicycle model for needle steering in soft tissue. IROS (2015)
Mohsen Khadem, Bita Fallahi, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli
A mechanics-based model for simulation and control of flexible needle insertion in soft tissue. ICRA (2015)