Nabil Simaan

Publication Activity (10 Years)

Years Active: 2001-2024
Publications (10 Years): 54

Top Topics

Design Considerations

Minimally Invasive

Nonparametric Estimation

Top Venues

IEEE Trans. Robotics

Publications

Jared Lawson, Madison Veliky, Colette P. Abah, Mary S. Dietrich, Rohan Chitale, Nabil Simaan
Endovascular Detection of Catheter-Thrombus Contact by Vacuum Excitation. IEEE Trans. Biomed. Eng. 71 (6) (2024)
Jared Lawson, Madison Veliky, Colette P. Abah, Mary S. Dietrich, Rohan Chitale, Nabil Simaan
Endovascular Detection of Catheter-Thrombus Contact by Vacuum Excitation. CoRR (2024)
Jared Lawson, Rohan Chitale, Nabil Simaan
Model-Based Pose Estimation of Steerable Catheters under Bi-Plane Image Feedback. CoRR (2023)
Yeonhee Chang, Elan Z. Ahronovich, Nabil Simaan, Cheol Song
Exploring Robot-Assisted Optical Coherence Elastography for Surgical Palpation. ICRA (2023)
Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms. CoRR (2023)
Elan Z. Ahronovich, Neel Shihora, Jin-Hui Shen, Karen M. Joos, Nabil Simaan
Exploring An External Approach to Subretinal Drug Delivery via Robot Assistance and B-Mode OCT. ICRA (2023)
Jared Lawson, Rohan Chitale, Nabil Simaan
Model-Based Pose Estimation of Steerable Catheters under Bi-Plane Image Feedback. ICRA (2023)
Ramkumar Natarajan, Garrison L. H. Johnston, Nabil Simaan, Maxim Likhachev, Howie Choset
Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization. ICRA (2023)
Neel Shihora, Nabil Simaan
Induced Vertex Motion As a Performance Measure for Surgery in Confined Spaces. ICRA (2023)
Giuseppe Del Giudice, Garrison L. H. Johnston, Nabil Simaan
Design Considerations for 3RRR Parallel Robots with Lightweight, Approximate Static-Balancing. CoRR (2023)
Andrew L. Orekhov, Garrison L. H. Johnston, Nabil Simaan
Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations. IROS (2023)
Giovanni Pittiglio, Andrew L. Orekhov, Tomas da Veiga, Simone Caló, James Henry Chandler, Nabil Simaan, Pietro Valdastri
Closed Loop Static Control of Multi-Magnet Soft Continuum Robots. IEEE Robotics Autom. Lett. 8 (7) (2023)
Andrew L. Orekhov, Garrison L. H. Johnston, Nabil Simaan
Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations. CoRR (2023)
Andrew L. Orekhov, Elan Z. Ahronovich, Nabil Simaan
Lie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots With General String Encoder Routing. IEEE Trans. Robotics 39 (3) (2023)
Pierre E. Dupont, Nabil Simaan, Howie Choset, D. Caleb Rucker
Continuum Robots for Medical Interventions. Proc. IEEE 110 (7) (2022)
Ramkumar Natarajan, Garrison L. H. Johnston, Nabil Simaan, Maxim Likhachev, Howie Choset
Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization. CoRR (2022)
Andrew L. Orekhov, Elan Z. Ahronovich, Nabil Simaan
Lie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots with General String Encoder Routing. CoRR (2022)
Neel Shihora, Nabil Simaan
Geometric Insights into Kinematically-Singular Configurations of Planar Continuum Robots. ARK (2022)
Russell H. Taylor, Nabil Simaan, Arianna Menciassi, Guang-Zhong Yang
Surgical Robotics and Computer-Integrated Interventional Medicine [Scanning the Issue]. Proc. IEEE 110 (7) (2022)
Neel Shihora, Rashid Yasin, Ryan Walsh, Nabil Simaan
Feasibility of Remote Landmark Identification for Cricothyrotomy Using Robotic Palpation. IROS (2021)
Pierre E. Dupont, Bradley J. Nelson, Michael Goldfarb, Blake Hannaford, Arianna Menciassi, Marcia K. O'Malley, Nabil Simaan, Pietro Valdastri, Guang-Zhong Yang
A decade retrospective of medical robotics research from 2010 to 2020. Sci. Robotics 6 (60) (2021)
Colette Abah, Rohan Chitale, Nabil Simaan
Image-Guided Optimization of Robotic Catheters for Patient-Specific Endovascular Intervention. ISMR (2021)
Rashid Yasin, Nabil Simaan
Joint-level force sensing for indirect hybrid force/position control of continuum robots with friction. Int. J. Robotics Res. 40 (4-5) (2021)
Neel Shihora, Rashid M. Yasin, Ryan Walsh, Nabil Simaan
Feasibility of Remote Landmark Identification for Cricothyrotomy Using Robotic Palpation. CoRR (2021)
Andrew L. Orekhov, Nabil Simaan
Solving Cosserat Rod Models via Collocation and the Magnus Expansion. CoRR (2020)
Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints. CoRR (2020)
Andrew L. Orekhov, Nabil Simaan
Solving Cosserat Rod Models via Collocation and the Magnus Expansion. IROS (2020)
Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints. ICRA (2020)
Long Wang, Nabil Simaan
Geometric Calibration of Continuum Robots: Joint Space and Equilibrium Shape Deviations. IEEE Trans. Robotics 35 (2) (2019)
Andrew L. Orekhov, Colette Abah, Nabil Simaan
Snake-Like Robots for Minimally Invasive, Single Port, and Intraluminal Surgeries. CoRR (2019)
Colette Abah, Andrew L. Orekhov, Garrison L. H. Johnston, Peng Yin, Howie Choset, Nabil Simaan
A Multi-modal Sensor Array for Safe Human-Robot Interaction and Mapping. ICRA (2019)
Piotr R. Slawinski, Nabil Simaan, Addisu Z. Taddese, Keith L. Obstein, Pietro Valdastri
Sensitivity Ellipsoids for Force Control of Magnetic Robots With Localization Uncertainty. IEEE Trans. Robotics 35 (5) (2019)
Piotr R. Slawinski, Nabil Simaan, Keith L. Obstein, Pietro Valdastri
Sensorless Estimation of the Planar Distal Shape of a Tip-Actuated Endoscope. IEEE Robotics Autom. Lett. 4 (4) (2019)
Long Wang, Giuseppe Del Giudice, Nabil Simaan
Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration. CoRR (2019)
Yue Chen, Long Wang, Kevin C. Galloway, Isuru S. Godage, Nabil Simaan, Eric J. Barth
Modal-based Kinematics and Contact Detection of Soft Robots. CoRR (2019)
Nicolo Garbin, Long Wang, James H. Chandler, Keith L. Obstein, Nabil Simaan, Pietro Valdastri
Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy. IEEE Trans. Biomed. Eng. 66 (7) (2019)
Preetham Chalasani, Long Wang, Rashid Yasin, Nabil Simaan, Russell H. Taylor
Preliminary Evaluation of an Online Estimation Method for Organ Geometry and Tissue Stiffness. IEEE Robotics Autom. Lett. 3 (3) (2018)
Hadi Salman, Elif Ayvali, Rangaprasad Arun Srivatsan, Yifei Ma, Nicolas Zevallos, Rashid Yasin, Long Wang, Nabil Simaan, Howie Choset
Trajectory-Optimized Sensing for Active Search of Tissue Abnormalities in Robotic Surgery. ICRA (2018)
Nabil Simaan, Rashid M. Yasin, Long Wang
Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics. Annu. Rev. Control. Robotics Auton. Syst. 1 (2018)
Rashid Yasin, Long Wang, Colette Abah, Nabil Simaan
Using continuum robots for force-controlled semi autonomous organ exploration and registration. ISMR (2018)
Nabil Simaan, Rashid M. Yasin, Long Wang
Medical Technologies and Challenges of Robot Assisted Minimally Invasive Intervention and Diagnostics. CoRR (2018)
Colette Abah, Andrew L. Orekhov, Nabil Simaan
Design Considerations and Redundancy Resolution for Variable Geometry Continuum Robots. ICRA (2018)
Nicolo Garbin, Long Wang, James H. Chandler, Keith L. Obstein, Nabil Simaan, Pietro Valdastri
A disposable continuum endoscope using piston-driven parallel bellow actuator. ISMR (2018)
Hadi Salman, Elif Ayvali, Rangaprasad Arun Srivatsan, Yifei Ma, Nicolas Zevallos, Rashid Yasin, Long Wang, Nabil Simaan, Howie Choset
Trajectory-Optimized Sensing for Active Search of Tissue Abnormalities in Robotic Surgery. CoRR (2017)
Elif Ayvali, Alexander R. Ansari, Long Wang, Nabil Simaan, Howie Choset
Utility-Guided Palpation for Locating Tissue Abnormalities. IEEE Robotics Autom. Lett. 2 (2) (2017)
Giuseppe Del Giudice, Long Wang, Jin-Hui Shen, Karen M. Joos, Nabil Simaan
Continuum robots for multi-scale motion: Micro-scale motion through equilibrium modulation. IROS (2017)
Jason Pile, George B. Wanna, Nabil Simaan
Robot-assisted perception augmentation for online detection of insertion failure during cochlear implant surgery. Robotica 35 (7) (2017)
Nima Sarli, Nabil Simaan
Minimal visual occlusion redundancy resolution of continuum robots in confined spaces. IROS (2017)
Rajarshi Roy, Long Wang, Nabil Simaan
Investigation of effects of dynamics on intrinsic wrench sensing in continuum robots. ICRA (2016)
Andrea Bajo, Nabil Simaan
Hybrid motion/force control of multi-backbone continuum robots. Int. J. Robotics Res. 35 (4) (2016)
Elif Ayvali, Rangaprasad Arun Srivatsan, Long Wang, Rajarshi Roy, Nabil Simaan, Howie Choset
Using Bayesian optimization to guide probing of a flexible environment for simultaneous registration and stiffness mapping. ICRA (2016)
Christian Di Natali, Marco Beccani, Nabil Simaan, Pietro Valdastri
Jacobian-Based Iterative Method for Magnetic Localization in Robotic Capsule Endoscopy. IEEE Trans. Robotics 32 (2) (2016)
Rangaprasad Arun Srivatsan, Elif Ayvali, Long Wang, Rajarshi Roy, Nabil Simaan, Howie Choset
Complementary model update: A method for simultaneous registration and stiffness mapping in flexible environments. ICRA (2016)
Preetham Chalasani, Long Wang, Rajarshi Roy, Nabil Simaan, Russell H. Taylor, Marin Kobilarov
Concurrent nonparametric estimation of organ geometry and tissue stiffness using continuous adaptive palpation. ICRA (2016)
Jienan Ding, Nabil Simaan
Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots. Robotica 33 (8) (2015)
Elif Ayvali, Rangaprasad Arun Srivatsan, Long Wang, Rajarshi Roy, Nabil Simaan, Howie Choset
Using Bayesian Optimization to Guide Probing of a Flexible Environment for Simultaneous Registration and Stiffness Mapping. CoRR (2015)
Nima Sarli, Tracy Marien, S. Duke Herrell, Nabil Simaan
Characterization of resection dexterity in transurethral resection of bladder tumor: A kinematic study. ICRA (2015)
Roger E. Goldman, Andrea Bajo, Nabil Simaan
Compliant Motion Control for Multisegment Continuum Robots With Actuation Force Sensing. IEEE Trans. Robotics 30 (4) (2014)
Siddharth Sanan, Stephen Tully, Andrea Bajo, Nabil Simaan, Howie Choset
Simultaneous Compliance and Registration Estimation for Robotic Surgery. Robotics: Science and Systems (2014)
Jason Pile, George B. Wanna, Nabil Simaan
Force-based flexible path plans for robotic electrode insertion. ICRA (2014)
Samrat Bhattacharyya, Nabil Simaan
Characterization of constraints in flexible unknown environments. ICRA (2013)
Andrea Bajo, Latif M. Dharamsi, James L. Netterville, C. Gaelyn Garrett, Nabil Simaan
Robotic-assisted micro-surgery of the throat: The trans-nasal approach. ICRA (2013)
Jason Pile, Nabil Simaan
Characterization of friction and speed effects and methods for detection of cochlear implant electrode tip fold-over. ICRA (2013)
Haoran Yu, Jin-Hui Shen, Karen M. Joos, Nabil Simaan
Design, calibration and preliminary testing of a robotic telemanipulator for OCT guided retinal surgery. ICRA (2013)
Andrea Bajo, Ryan B. Pickens, S. Duke Herrell, Nabil Simaan
Constrained motion control of multisegment continuum robots for transurethral bladder resection and surveillance. ICRA (2013)
Roger E. Goldman, Andrea Bajo, Lara S. MacLachlan, Ryan B. Pickens, S. Duke Herrell, Nabil Simaan
Design and Performance Evaluation of a Minimally Invasive Telerobotic Platform for Transurethral Surveillance and Intervention. IEEE Trans. Biomed. Eng. 60 (4) (2013)
Roger E. Goldman, Andrea Bajo, Nabil Simaan
Algorithms for autonomous exploration and estimation in compliant environments. Robotica 31 (1) (2013)
H. Tutkun Sen, Nishikant P. Deshmukh, Roger E. Goldman, Peter Kazanzides, Russell H. Taylor, Emad Boctor, Nabil Simaan
Enabling technologies for natural orifice transluminal endoscopic surgery (N.O.T.E.S) using robotically guided elasticity imaging. Medical Imaging: Image-Guided Procedures (2012)
Youhua Chen, Hongliang Wang, Jian Zhang, Guy Garty, Nabil Simaan, Y. Lawrence Yao, David J. Brenner
Automated recognition of robotic manipulation failures in high-throughput biodosimetry tool. Expert Syst. Appl. 39 (10) (2012)
Andrea Bajo, Nabil Simaan
Kinematics-Based Detection and Localization of Contacts Along Multisegment Continuum Robots. IEEE Trans. Robotics 28 (2) (2012)
Andrea Bajo, Roger E. Goldman, Long Wang, Dennis L. Fowler, Nabil Simaan
Integration and preliminary evaluation of an Insertable Robotic Effectors Platform for Single Port Access Surgery. ICRA (2012)
Stephen Tully, Andrea Bajo, George Kantor, Howie Choset, Nabil Simaan
Constrained filtering with contact detection data for the localization and registration of continuum robots in flexible environments. ICRA (2012)
Austin Reiter, Roger E. Goldman, Andrea Bajo, Konstantinos Iliopoulos, Nabil Simaan, Peter K. Allen
A learning algorithm for visual pose estimation of continuum robots. IROS (2011)
Jason Pile, Mei Yi Cheung, Jian Zhang, Nabil Simaan
Algorithms and design considerations for robot assisted insertion of Perimodiolar Electrode Arrays. ICRA (2011)
Roger E. Goldman, Andrea Bajo, Nabil Simaan
Compliant motion control for continuum robots with intrinsic actuation sensing. ICRA (2011)
Kai Xu, Dong Qiu, Nabil Simaan
A pilot investigation of continuum robots as a design alternative for upper extremity exoskeletons. ROBIO (2011)
Andrea Bajo, Roger E. Goldman, Nabil Simaan
Configuration and joint feedback for enhanced performance of multi-segment continuum robots. ICRA (2011)
Jienan Ding, Kai Xu, Roger E. Goldman, Peter K. Allen, Dennis L. Fowler, Nabil Simaan
Design, simulation and evaluation of kinematic alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery. ICRA (2010)
Kai Xu, Nabil Simaan
Intrinsic Wrench Estimation and Its Performance Index for Multisegment Continuum Robots. IEEE Trans. Robotics 26 (3) (2010)
Andrea Bajo, Nabil Simaan
Finding lost wrenches: Using continuum robots for contact detection and estimation of contact location. ICRA (2010)
Saleem Abdul Hamid, Nabil Simaan
Design and synthesis of wire-actuated universal-joint wrists for surgical applications. ICRA (2009)
Jian Zhang, Samrat Bhattacharyya, Nabil Simaan
Model and parameter identification of friction during robotic insertion of cochlear-implant electrode arrays. ICRA (2009)
Kai Xu, Roger E. Goldman, Jienan Ding, Peter K. Allen, Dennis L. Fowler, Nabil Simaan
System design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery. IROS (2009)
Wei Wei, Roger E. Goldman, Howard F. Fine, Stanley Chang, Nabil Simaan
Performance Evaluation for Multi-arm Manipulation of Hollow Suspended Organs. IEEE Trans. Robotics 25 (1) (2009)
Nabil Simaan, Kai Xu, Wei Wei, Ankur Kapoor, Peter Kazanzides, Russell H. Taylor, Paul Flint
Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat. Int. J. Robotics Res. 28 (9) (2009)
Jian Zhang, Wei Wei, Spiros Manolidis, J. Thomas Roland, Nabil Simaan
Path Planning and Workspace Determination for Robot-Assisted Insertion of Steerable Electrode Arrays for Cochlear Implant Surgery. MICCAI (2) (2008)
Kai Xu, Nabil Simaan
An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots. IEEE Trans. Robotics 24 (3) (2008)
Wei Wei, Roger E. Goldman, Nabil Simaan, Howard F. Fine, Stanley Chang
Design and Theoretical Evaluation of Micro-Surgical Manipulators for Orbital Manipulation and Intraocular Dexterity. ICRA (2007)
Alessio Salerno, Jian Zhang, Anubha Bhatla, Oleksandra V. Lyulko, Aparajita Dutta, Guy Garty, Nabil Simaan, Gerhard Randers Pehrson, Y. Lawrence Yao, David J. Brenner, Jing Nie
Design Considerations for a Minimally Invasive High-Throughput Automation System for Radiation Biodosimetry. CASE (2007)
Jian Zhang, Kai Xu, Nabil Simaan, Spiros Manolidis
A Pilot Study of Robot-Assisted Cochlear Implant Surgery Using Steerable Electrode Arrays. MICCAI (1) (2006)
Kai Xu, Nabil Simaan
Actuation Compensation for Flexible Surgical Snake-like Robots with Redundant Remote Actuation. ICRA (2006)
Nabil Simaan
Snake-Like Units Using Flexible Backbones and Actuation Redundancy for Enhanced Miniaturization. ICRA (2005)
Nabil Simaan, Russell H. Taylor, Paul Flint
A Dexterous System for Laryngeal Surgery. ICRA (2004)
Nabil Simaan, Russell H. Taylor, Paul Flint
High Dexterity Snake-Like Robotic Slaves for Minimally Invasive Telesurgery of the Upper Airway. MICCAI (2) (2004)
Nabil Simaan, Moshe Shoham
Stiffness Synthesis of a Variable Geometry Six-Degrees-of-Freedom Double Planar Parallel Robot. Int. J. Robotics Res. 22 (9) (2003)
Nabil Simaan, Moshe Shoham
Singularity analysis of a class of composite serial in-parallel robots. IEEE Trans. Robotics Autom. 17 (3) (2001)