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ORCIDMohsen Khadem
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2020 – today
- 2024
[j15]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): 1810-1819 (2024)- [c22]Shiyao Zhao, Yucheng Xu, Mohammadreza Kasaei, Mohsen Khadem, Zhibin Li:
Neural ODE-based Imitation Learning (NODE-IL): Data-Efficient Imitation Learning for Long-Horizon Multi-Skill Robot Manipulation. IROS 2024: 8524-8530 - [c21]Susheela Sharma, Yash Kulkarni, Sarah Go, Jeff Bonyun, Jordan P. Amadio, Maryam Tilton, Mohsen Khadem, Farshid Alambeigi:
Spatial Spinal Fixation: A Transformative Approach Using a Unique Robot-Assisted Steerable Drilling System and Flexible Pedicle Screw. IROS 2024: 11018-11023 - [c20]David Hanley, Kevin Dhaliwal, Mohsen Khadem:
Towards Unified Shape and Biosensing: Multiplexing Tilted and Standard Fiber Bragg Gratings. ISMR 2024: 1-7 - [c19]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: 1-6 - [c18]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. MICCAI (6) 2024: 35-45 - [i5]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 abs/2405.17600 (2024) - [i4]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 abs/2405.17606 (2024) - [i3]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 abs/2405.19438 (2024) - 2023
- [j14]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): 856-863 (2023) - [j13]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): 3017-3027 (2023) - [c17]Mohammadreza Mohades Kasaei, Keyhan Kouhkiloui Babarahmati, Zhibin Li, Mohsen Khadem:
A Data-efficient Neural ODE Framework for Optimal Control of Soft Manipulators. CoRL 2023: 2700-2713 - [c16]Mohammadreza Kasaei, Keyhan Kouhkiloui Babarahmati, Zhibin Li, Mohsen Khadem:
Data-efficient Non-parametric Modelling and Control of an Extensible Soft Manipulator. ICRA 2023: 2641-2647 - [c15]Susheela Sharma, Ji Hwan 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: 4710-4716 - [c14]Jianning Deng, Peize Li, Kevin Dhaliwal, Chris Xiaoxuan Lu, Mohsen Khadem:
Feature-based Visual Odometry for Bronchoscopy: A Dataset and Benchmark. IROS 2023: 6557-6564 - [c13]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: 1-6 - [i2]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 abs/2305.15304 (2023) - [i1]Susheela Sharma, Ji Hwan 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 abs/2305.15570 (2023) - 2022
- [c12]Emile Mackute, Balint Thamo, Kevin Dhaliwal, Mohsen Khadem:
Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement. IROS 2022: 3972-3978 - 2021
- [j12]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: 611866 (2021) - [c11]Balint Thamo, Kevin Dhaliwal, Mohsen Khadem:
Rapid Solution of Cosserat Rod Equations via a Nonlinear Partial Observer. ICRA 2021: 9433-9438 - [c10]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: 2809-2815 - 2020
- [j11]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): 4874-4881 (2020) - [j10]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): 1880-1894 (2020) - [j9]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): 1595-1602 (2020)
2010 – 2019
- 2019
- [j8]Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli:
Geometric control of 3D needle steering in soft-tissue. Autom. 101: 36-43 (2019) - [j7]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): 1842004:1-1842004:16 (2019) - [j6]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): 1037-1044 (2019) - [c9]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: 2197-2204 - 2018
- [j5]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): 469-476 (2018) - [j4]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): 1917-1928 (2018) - [c8]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: 43-48 - [c7]Mohsen Khadem, Lyndon Da Cruz, Christos Bergeles:
Force/Velocity Manipulability Analysis for 3D Continuum Robots. IROS 2018: 4920-4926 - [c6]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: 1-6 - 2017
- [c5]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: 1438-1443 - 2016
- [j3]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): 1640007:1-1640007:17 (2016) - [j2]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): 800-807 (2016) - [j1]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): 916-923 (2016) - [c4]Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli:
Introducing notched flexible needles with increased deflection curvature in soft tissue. AIM 2016: 1186-1191 - [c3]Carlos Rossa, Mohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli:
Constrained optimal control of needle deflection for semi-manual steering. AIM 2016: 1198-1203 - 2015
- [c2]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: 2264-2269 - [c1]Bita Fallahi, Mohsen Khadem, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli:
Extended bicycle model for needle steering in soft tissue. IROS 2015: 4375-4380
Coauthor Index
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