Nawaid Usmani

Publication Activity (10 Years)

Years Active: 2013-2021
Publications (10 Years): 32

Top Topics

Needle Insertion

Top Venues

IEEE Robotics Autom. Lett.

J. Medical Robotics Res.

Publications

Mojtaba Akbari, Jay Carriere, Tyler Meyer, Ron Sloboda, Siraj Husain, Nawaid Usmani, Mahdi Tavakoli
Robotic Ultrasound Scanning With Real-Time Image-Based Force Adjustment: Quick Response for Enabling Physical Distancing During the COVID-19 Pandemic. Frontiers Robotics AI 8 (2021)
Mojtaba Akbari, Jay Carriere, Ron Sloboda, Tyler Meyer, Nawaid Usmani, Siraj Husain, Mahdi Tavakoli
Robot-assisted Breast Ultrasound Scanning Using Geometrical Analysis of the Seroma and Image Segmentation. IROS (2021)
Wanyu Liu, Jay Carriere, Tyler Meyer, Ron Sloboda, Siraj Husain, Nawaid Usmani, Zhiyong Yang, Mahdi Tavakoli
Intraoperative optimization of seed implantation plan in breast brachytherapy. Int. J. Comput. Assist. Radiol. Surg. 16 (6) (2021)
Mehrnoosh Afshar, Jay Carriere, Tyler Meyer, Ron Sloboda, Siraj Husain, Nawaid Usmani, Mahdi Tavakoli
Optimal Design of a Novel Spherical Scissor Linkage Remote Center of Motion Mechanism for Medical Robotics. IROS (2020)
Mehrnoosh Afshar, Jay Carriere, Tyler Meyer, Ron Sloboda, Siraj Husain, Nawaid Usmani, Wanyu Liu, Mahdi Tavakoli
Autonomous Ultrasound Scanning to Localize Needle Tip in Breast Brachytherapy. ISMR (2020)
Bita Fallahi, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
Image-Guided Observer-Based Control for Needle Steering. IEEE Trans. Control. Syst. Technol. 28 (6) (2020)
Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli
Geometric control of 3D needle steering in soft-tissue. Autom. 101 (2019)
Jay Carriere, Jason Fong, Tyler Meyer, Ron Sloboda, Siraj Husain, Nawaid Usmani, Mahdi Tavakoli
An Admittance-Controlled Robotic Assistant for Semi-Autonomous Breast Ultrasound Scanning. ISMR (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)
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)
Thomas Lehmann, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
Human-Machine Collaboration Modalities for Semi-Automated Needle Insertion Into Soft Tissue. IEEE Robotics Autom. Lett. 3 (1) (2018)
Thomas Lehmann, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
Model-Based Needle Steering in Soft Tissue via Lateral Needle Actuation. IEEE Robotics Autom. Lett. 3 (4) (2018)
Thomas Lehmann, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli
Intraoperative Tissue Young's Modulus Identification During Needle Insertion Using a Laterally Actuated Needle. IEEE Trans. Instrum. Meas. 67 (2) (2018)
Bita Fallahi, Ron Sloboda, Nawaid Usmani, Mahdi Tavakoli
Model Averaging and Input Transformation for 3D Needle Steering. J. Medical Robotics Res. 3 (3-4) (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)
Carlos Rossa, Thomas Lehmann, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
A data-driven soft sensor for needle deflection in heterogeneous tissue using just-in-time modelling. Medical Biol. Eng. Comput. 55 (8) (2017)
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)
Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli
A Hand-Held Assistant for Semiautomated Percutaneous Needle Steering. IEEE Trans. Biomed. Eng. 64 (3) (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)
Michael Waine, Carlos Rossa, Nawaid Usmani, Ron Sloboda, Mahdi Tavakoli
An integrator-backstepping control approach for out-of-plane needle deflection minimization. AIM (2016)
Carlos Rossa, Mohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
Constrained optimal control of needle deflection for semi-manual steering. AIM (2016)
Michael Waine, Carlos Rossa, Ron Sloboda, Nawaid Usmani, Mahdi Tavakoli
Three-Dimensional Needle Shape Estimation in TRUS-Guided Prostate Brachytherapy Using 2-D Ultrasound Images. IEEE J. Biomed. Health Informatics 20 (6) (2016)
Bita Fallahi, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli
Sliding-Based Switching Control for Image-Guided Needle Steering in Soft Tissue. IEEE Robotics Autom. Lett. 1 (2) (2016)
Carlos Rossa, Jason Fong, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli
Multiactuator Haptic Feedback on the Wrist for Needle Steering Guidance in Brachytherapy. IEEE Robotics Autom. Lett. 1 (2) (2016)
Jay Carriere, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
Real-time needle shape prediction in soft-tissue based on image segmentation and particle filtering. AIM (2016)
Michael Waine, Carlos Rossa, Ron Sloboda, Nawaid Usmani, Mahdi Tavakoli
Needle Tracking and Deflection Prediction for Robot-Assisted Needle Insertion Using 2D Ultrasound Images. J. Medical Robotics Res. 1 (1) (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)
Bita Fallahi, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
Partial estimation of needle tip orientation in generalized coordinates in ultrasound image-guided needle insertion. AIM (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)
Thomas Lehmann, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
Needle path control during insertion in soft tissue using a force-sensor-based deflection estimator. AIM (2016)
Carlos Rossa, Ron Sloboda, Nawaid Usmani, Mahdi Tavakoli
Estimating needle tip deflection in biological tissue from a single transverse ultrasound image: application to brachytherapy. Int. J. Comput. Assist. Radiol. Surg. 11 (7) (2016)
Michael Waine, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
3D shape visualization of curved needles in tissue from 2D ultrasound images using RANSAC. ICRA (2015)
Bita Fallahi, Mohsen Khadem, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
Extended bicycle model for needle steering in soft tissue. IROS (2015)
Jay Carriere, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli
Needle shape estimation in soft tissue based on partial ultrasound image observation. ICRA (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)
Ran Tao, Mahdi Tavakoli, Ron Sloboda, Nawaid Usmani
A Comparison of US- Versus MR-Based 3-D Prostate Shapes Using Radial Basis Function Interpolation and Statistical Shape Models. IEEE J. Biomed. Health Informatics 19 (2) (2015)
Thomas Lehmann, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli
A virtual sensor for needle deflection estimation during soft-tissue needle insertion. ICRA (2015)
Arefeh Boroomand, Mahdi Tavakoli, Ron Sloboda, Nawaid Usmani
Dynamical modeling and controllability analysis of a flexible needle in soft tissue. Int. J. Model. Simul. Sci. Comput. 5 (2) (2014)
Thomas Lehmann, Mahdi Tavakoli, Nawaid Usmani, Ronald Sloboda
Force-Sensor-Based Estimation of Needle Tip Deflection in Brachytherapy. J. Sensors 2013 (2013)