Tracking intraocular microdevices based on colorspace evaluation and statistical color/shape information. - Christos Bergeles; Georgios Fagogenis; Jake J. Abbott; Bradley J. Nelson (ICRA, 2009)

Wide-angle localization of intraocular devices from focus. - Christos Bergeles; Kamran Shamaei; Jake J. Abbott; Bradley J. Nelson (IROS, 2009)

Wide-Angle Intraocular Imaging and Localization. - Christos Bergeles; Kamran Shamaei; Jake J. Abbott; Bradley J. Nelson (MICCAI (1), 2009)

Single-Camera Focus-Based Localization of Intraocular Devices. - Christos Bergeles; Kamran Shamaei; Jake J. Abbott; Bradley J. Nelson (IEEE Trans. Biomed. Eng., 2010)

Model-based localization of intraocular microrobots for wireless electromagnetic control. - Christos Bergeles; Bradley Kratochvil; Bradley J. Nelson (ICRA, 2011)

Steerable Intravitreal Inserts for Drug Delivery: In Vitro and Ex Vivo Mobility Experiments. - Christos Bergeles; Michael P. Kummer; Bradley Kratochvil; Carsten Framme; Bradley J. Nelson (MICCAI (1), 2011)

Wireless Microrobotic Oxygen Sensing for Retinal Hypoxia Monitoring. - Olgaç Ergeneman; George Chatzipirpiridis; Salvador Pané; Georgios A. Sotiriou; Christos Bergeles; Bradley J. Nelson (MobiHealth, 2011)

Tracking and position control of an MRI-powered needle-insertion robot. - Christos Bergeles; Lei Qin; Panagiotis Vartholomeos; Pierre E. Dupont (EMBC, 2012)

Localized viscoelasticity measurements with untethered intravitreal microrobots. - Juho Pokki; Olgaç Ergeneman; Christos Bergeles; Hamdi Torun; Bradley J. Nelson (EMBC, 2012)

Robust ℋ∞ control for electromagnetic steering of microrobots. - Hamal Marino; Christos Bergeles; Bradley J. Nelson (ICRA, 2012)

Visually Servoing Magnetic Intraocular Microdevices. - Christos Bergeles; Bradley Kratochvil; Bradley J. Nelson (IEEE Trans. Robotics, 2012)

Closed-loop commutation control of an MRI-powered robot actuator. - Christos Bergeles; Panagiotis Vartholomeos; Lei Qin; Pierre E. Dupont (ICRA, 2013)

Planning stable paths for concentric tube robots. - Christos Bergeles; Pierre E. Dupont (IROS, 2013)

An MRI-powered and controlled actuator technology for tetherless robotic interventions. - Panagiotis Vartholomeos; Christos Bergeles; Lei Qin; Pierre E. Dupont (Int. J. Robotics Res., 2013)

Multi-view Stereo and Advanced Navigation for Transanal Endoscopic Microsurgery. - Christos Bergeles; Philip Pratt; Robert D. Merrifield; Ara Darzi; Guang-Zhong Yang (MICCAI (2), 2014)

Practical Intraoperative Stereo Camera Calibration. - Philip Pratt; Christos Bergeles; Ara Darzi; Guang-Zhong Yang (MICCAI (2), 2014)

Development of a smartphone-enabled spirometer for personalised respiratory health. - Charalampos Michailidis; Ioannis Smanis; Kostas Stamatis; Christos Bergeles; Antonios Kouris (MobiHealth, 2014)

Robust Electromagnetic Control of Microrobots Under Force and Localization Uncertainties. - Hamal Marino; Christos Bergeles; Bradley J. Nelson (IEEE Trans Autom. Sci. Eng., 2014)

From Passive Tool Holders to Microsurgeons: Safer, Smaller, Smarter Surgical Robots. - Christos Bergeles; Guang-Zhong Yang (IEEE Trans. Biomed. Eng., 2014)

Biometry-based concentric tubes robot for vitreoretinal surgery. - Fang-Yu Lin; Christos Bergeles; Guang-Zhong Yang (EMBC, 2015)

A cooperative control framework for haptic guidance of bimanual surgical tasks based on Learning From Demonstration. - Maura Power; Hedyeh Rafii-Tari; Christos Bergeles; Valentina Vitiello; Guang-Zhong Yang (ICRA, 2015)

On-line collision-free inverse kinematics with frictional active constraints for effective control of unstable concentric tube robots. - Konrad Leibrandt; Christos Bergeles; Guang-Zhong Yang (IROS, 2015)

Vision-based intraoperative shape sensing of concentric tube robots. - Alessandro Vandini; Christos Bergeles; Fang-Yu Lin; Guang-Zhong Yang (IROS, 2015)

Accessible Digital Ophthalmoscopy Based on Liquid-Lens Technology. - Christos Bergeles; Pierre Berthet-Rayne; Philip McCormac; Luis C. García-Peraza-Herrera; Kosy Onyenso; Fan Cao; Khushi Vyas; Melissa Berthelot; Guang-Zhong Yang (MICCAI (2), 2015)

Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints. - Christos Bergeles; Andrew H. C. Gosline; Nikolay V. Vasilyev; Patrick J. Codd; Pedro J. del Nido; Pierre E. Dupont (IEEE Trans. Robotics, 2015)

Achieving Commutation Control of an MRI-Powered Robot Actuator. - Ouajdi Felfoul; Aaron T. Becker; Christos Bergeles; Pierre E. Dupont (IEEE Trans. Robotics, 2015)

Design and analysis of a wire-driven flexible manipulator for bronchoscopic interventions. - Ning Liu; Christos Bergeles; Guang-Zhong Yang (ICRA, 2016)

Adaptive nonparametric kinematic modeling of concentric tube robots. - Georgios Fagogenis; Christos Bergeles; Pierre E. Dupont (IROS, 2016)

Implicit active constraints for safe and effective guidance of unstable concentric tube robots. - Konrad Leibrandt; Christos Bergeles; Guang-Zhong Yang (IROS, 2016)

Corner-Based Geometric Calibration of Multi-focus Plenoptic Cameras. - Sotiris Nousias; François Chadebecq; Jonas Pichat; Pearse A. Keane; Sébastien Ourselin; Christos Bergeles (ICCV, 2017)

Implicit active constraints for concentric tube robots based on analysis of the safe and dexterous workspace. - Konrad Leibrandt; Christos Bergeles; Guang-Zhong Yang (IROS, 2017)

A Continuum Robot and Control Interface for Surgical Assist in Fetoscopic Interventions. - George Dwyer; François Chadebecq; Marcel Tella-Amo; Christos Bergeles; Efthymios Maneas; Vijay Pawar; Emmanuel B. Vander Poorten; Jan Deprest; Sébastien Ourselin; Paolo De Coppi; Tom Vercauteren; Danail Stoyanov (IEEE Robotics Autom. Lett., 2017)

Concentric Tube Robots: Rapid, Stable Path-Planning and Guidance for Surgical Use. - Konrad Leibrandt; Christos Bergeles; Guang-Zhong Yang (IEEE Robotics Autom. Mag., 2017)

Unified Tracking and Shape Estimation for Concentric Tube Robots. - Alessandro Vandini; Christos Bergeles; Ben Glocker; Petros Giataganas; Guang-Zhong Yang (IEEE Trans. Robotics, 2017)

Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes. - Zisos Mitros; Mohsen Khadem; Carlo Seneci; Sébastien Ourselin; Lyndon Da Cruz; Christos Bergeles (BioRob, 2018)

Requirements Based Design and End-to-End Dynamic Modeling of a Robotic Tool for Vitreoretinal Surgery. - Anestis Mablekos-Alexiou; Sébastien Ourselin; Lyndon Da Cruz; Christos Bergeles (ICRA, 2018)

Force/Velocity Manipulability Analysis for 3D Continuum Robots. - Mohsen Khadem; Lyndon Da Cruz; Christos Bergeles (IROS, 2018)

Retinal surgery with flexible robots: Biomechanical advantages. - Christos Bergeles; Malindie Sugathapala; Guang-Zhong Yang (ISMR, 2018)

Large-Scale, Metric Structure From Motion for Unordered Light Fields. - Sotiris Nousias; Manolis I. A. Lourakis; Christos Bergeles (CVPR, 2019)

Bio-compatible Piezoresistive Pressure Sensing Skin Sleeve for Millimetre-Scale Flexible Robots: Design, Manufacturing and Pitfalls. - Piotr Wasylczyk; Filip Ozimek; Manish K. Tiwari; Lyndon Da Cruz; Christos Bergeles (EMBC, 2019)

Autonomous Steering of Concentric Tube Robots for Enhanced Force/Velocity Manipulability. - Mohsen Khadem; John J. O'Neill; Zisos Mitros; Lyndon Da Cruz; Christos Bergeles (IROS, 2019)

A Matlab-Internal DSL for Modelling Hybrid Rigid-Continuum Robots with TMTDyn. - S. M. Hadi Sadati; Steffen Zschaler; Christos Bergeles (MoDELS (Companion), 2019)

Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators. - Seyedmohammadhadi Sadati; Ali Shiva; Seyedeh Elnaz Naghibi; D. Caleb Rucker; Ludovic Renson; Christos Bergeles; Kaspar Althoefer; D. P. Thrishantha Nanayakkara; Helmut Hauser; Ian D. Walker (Robotics: Science and Systems, 2019)

A Linear Approach to Absolute Pose Estimation for Light Fields. - Sotiris Nousias; Manolis I. A. Lourakis; Pearse A. Keane; Sébastien Ourselin; Christos Bergeles (3DV, 2020)

Exploiting the Morphology of a Shape Memory Spring as the Active Backbone of a Highly Dexterous Tendril Robot (ATBR). - Kayode Sonaike; S. M. Hadi Sadati; Christos Bergeles; Ian D. Walker (IROS, 2020)

Learned optical flow for intra-operative tracking of the retinal fundus. - Claudio S. Ravasio; Theodoros Pissas; Edward Bloch; Blanca Flores; Sepehr Jalali; Danail Stoyanov; M. Jorge Cardoso; Lyndon Da Cruz; Christos Bergeles (Int. J. Comput. Assist. Radiol. Surg., 2020)

Design, Modeling, and Implementation of a 7-DOF Cable-Driven Haptic Device With a Configurable Cable Platform. - Patrice Lambert; Lyndon Da Cruz; Christos Bergeles (IEEE Robotics Autom. Lett., 2020)

Optic Nerve Sheath Fenestration With a Multi-Arm Continuum Robot. - Zisos Mitros; Seyedmohammadhadi Sadati; Carlo Seneci; Edward Bloch; Konrad Leibrandt; Mohsen Khadem; Lyndon Da Cruz; Christos Bergeles (IEEE Robotics Autom. Lett., 2020)

Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings. - S. M. Hadi Sadati; Ali Shiva; Nicolas Herzig; D. Caleb Rucker; Helmut Hauser; Ian D. Walker; Christos Bergeles; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (IEEE Robotics Autom. Lett., 2020)

Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control. - Mohsen Khadem; John J. O'Neill; Zisos Mitros; Lyndon Da Cruz; Christos Bergeles (IEEE Trans. Robotics, 2020)

Homography-based Visual Servoing with Remote Center of Motion for Semi-autonomous Robotic Endoscope Manipulation. - Martin Huber; John Bason Mitchell; Ross Henry; Sébastien Ourselin; Tom Vercauteren; Christos Bergeles (ISMR, 2021)

Intra-operative OCT (iOCT) Image Quality Enhancement: A Super-Resolution Approach Using High Quality iOCT 3D Scans. - Charalampos Komninos; Theodoros Pissas; Blanca Flores; Edward Bloch; Tom Vercauteren; Sébastien Ourselin; Lyndon Da Cruz; Christos Bergeles (OMIA@MICCAI, 2021)

Effective Semantic Segmentation in Cataract Surgery: What Matters Most? - Theodoros Pissas; Claudio S. Ravasio; Lyndon Da Cruz; Christos Bergeles (MICCAI (4), 2021)

Growing Robotic Endoscope for Early Breast Cancer Detection: Robot Motion Control. - Carmen Larrea; Pierre Berthet-Rayne; S. M. Hadi Sadati; Daniel Richard Leff; Christos Bergeles; Ioannis Georgilas (TAROS, 2021)

2020 CATARACTS Semantic Segmentation Challenge. - Imanol Luengo; Maria Grammatikopoulou; Rahim Mohammadi; Chris Walsh; Chinedu Innocent Nwoye; Deepak Alapatt; Nicolas Padoy; Zhen-Liang Ni; Chen-Chen Fan; Gui-Bin Bian; Zeng-Guang Hou; Heonjin Ha; et al. (CoRR, 2021)

Gripe-Needle: A Sticky Suction Cup Gripper Equipped Needle for Targeted Therapeutics Delivery. - Kieran Joymungul; Zisos Mitros; Lyndon Da Cruz; Christos Bergeles; S. M. Hadi Sadati (Frontiers Robotics AI, 2021)

Design and Modelling of a Continuum Robot for Distal Lung Sampling in Mechanically Ventilated Patients in Critical Care. - Zisos Mitros; Balint Thamo; Christos Bergeles; Lyndon Da Cruz; Kevin Dhaliwal; Mohsen Khadem (Frontiers Robotics AI, 2021)

TMTDyn: A Matlab package for modeling and control of hybrid rigid-continuum robots based on discretized lumped systems and reduced-order models. - S. M. Hadi Sadati; S. Elnaz Naghibi; Ali Shiva; Brendan Michael; Ludovic Renson; Matthew Howard 001; D. Caleb Rucker; Kaspar Althoefer; Thrishantha Nanayakkara; Steffen Zschaler; Christos Bergeles; Helmut Hauser; et al. (Int. J. Robotics Res., 2021)

MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection. - Pierre Berthet-Rayne; S. M. Hadi Sadati; Georgios Petrou; Neel Patel; Stamatia Giannarou; Daniel Richard Leff; Christos Bergeles (IEEE Robotics Autom. Lett., 2021)

Friction-Inclusive Modeling of Sliding Contact Transmission Systems in Robotics. - Anestis Mablekos-Alexiou; Lyndon Da Cruz; Christos Bergeles (IEEE Trans. Robotics, 2021)

ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction. - Christopher E. Mower; Theodoros Stouraitis; João Moura 003; Christian Rauch 002; Lei Yan 011; Nazanin Zamani Behabadi; Michael Gienger; Tom Vercauteren; Christos Bergeles; Sethu Vijayakumar (CoRL, 2022)

Multi-scale and Cross-scale Contrastive Learning for Semantic Segmentation. - Theodoros Pissas; Claudio S. Ravasio; Lyndon Da Cruz; Christos Bergeles (ECCV (29), 2022)

Design and Quasistatic Modelling of Hybrid Continuum Multi-Arm Robots. - Zisos Mitros; S. M. Hadi Sadati; Sotirios Nousias; Lyndon Da Cruz; Christos Bergeles (ICRA, 2022)

Intra-operative OCT (iOCT) Super Resolution: A Two-Stage Methodology Leveraging High Quality Pre-operative OCT Scans. - Charalampos Komninos; Theodoros Pissas; Blanca Flores; Edward Bloch; Tom Vercauteren; Sébastien Ourselin; Lyndon Da Cruz; Christos Bergeles (OMIA@MICCAI, 2022)

From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots. - Zisos Mitros; S. M. Hadi Sadati; Ross Henry; Lyndon Da Cruz; Christos Bergeles (Annu. Rev. Control. Robotics Auton. Syst., 2022)

Surgical biomicroscopy-guided intra-operative optical coherence tomography (iOCT) image super-resolution. - Charalampos Komninos; Theodoros Pissas; Lina Mekki; Blanca Flores; Edward Bloch; Tom Vercauteren; Sébastien Ourselin; Lyndon Da Cruz; Christos Bergeles (Int. J. Comput. Assist. Radiol. Surg., 2022)

Deep homography estimation in dynamic surgical scenes for laparoscopic camera motion extraction. - Martin Huber; Sébastien Ourselin; Christos Bergeles; Tom Vercauteren (Comput. methods Biomech. Biomed. Eng. Imaging Vis., 2022)

Oflib: Facilitating Operations with and on Optical Flow Fields in Python. - Claudio S. Ravasio; Lyndon Da Cruz; Christos Bergeles (CoRR, 2022)

Real-Time Dynamics of Concentric Tube Robots With Reduced-Order Kinematics Based on Shape Interpolation. - S. M. Hadi Sadati; Zisos Mitros; Ross Henry; Lingyun Zeng; Lyndon Da Cruz; Christos Bergeles (IEEE Robotics Autom. Lett., 2022)

OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control. - Christopher E. Mower; João Moura 003; Nazanin Zamani Behabadi; Sethu Vijayakumar; Tom Vercauteren; Christos Bergeles (ICRA, 2023)

Koopman Operator-based Extended Kalman Filter for Cosserat Rod Wrench Estimation. - Lingyun Zeng; S. M. Hadi Sadati; Christos Bergeles (ISMR, 2023)

Deep Homography Prediction for Endoscopic Camera Motion Imitation Learning. - Martin Huber; Sébastien Ourselin; Christos Bergeles; Tom Vercauteren (MICCAI (9), 2023)

Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas. - Joelle Sogunro; Xiaochong Wu; Carlo Saija; Basma Alabdullah; Joseph Rowell; Anhao Liu; Cristina Sanchez Fernandez; Kawal S. Rhode; Christos Bergeles; S. M. Hadi Sadati (TAROS, 2023)

Towards a Physics-Based Model for Steerable Eversion Growing Robots. - Zicong Wu; Mikel De Iturrate Reyzabal; S. M. Hadi Sadati; Hongbin Liu 001; Sébastien Ourselin; Daniel Richard Leff; Robert K. Katzschmann; Kawal S. Rhode; Christos Bergeles (IEEE Robotics Autom. Lett., 2023)

Reduced order modeling and model order reduction for continuum manipulators: an overview. - S. M. Hadi Sadati; S. Elnaz Naghibi; Lyndon Da Cruz; Christos Bergeles (Frontiers Robotics AI, 2023)

Continuum Robots: An Overview. - Matteo Russo 001; Seyedmohammadhadi Sadati; Xin Dong 011; Abdelkhalick Mohammad; Ian D. Walker; Christos Bergeles; Kai Xu; Dragos Axinte (Adv. Intell. Syst., 2023)

Designing Robots for Reachability and Dexterity: Continuum Surgical Robots as a Pretext Application. - Konrad Leibrandt; Lyndon Da Cruz; Christos Bergeles (IEEE Trans. Robotics, 2023)

Sim2Real Transfer of Reinforcement Learning for Concentric Tube Robots. - Keshav Iyengar; S. M. Hadi Sadati; Christos Bergeles; Sarah K. Spurgeon; Danail Stoyanov (IEEE Robotics Autom. Lett., 2023)

Comparative verification of control methodology for robotic interventional neuroradiology procedures. - Benjamin Jackson; William Crinnion; Mikel De Iturrate Reyzabal; Harry Robertshaw; Christos Bergeles; Kawal S. Rhode; Thomas C. Booth (Int. J. Comput. Assist. Radiol. Surg., 2023)

Vision-Based Autonomous Steering of a Miniature Eversion Growing Robot. - Zicong Wu; S. M. Hadi Sadati; Kawal S. Rhode; Christos Bergeles (IEEE Robotics Autom. Lett., 2023)

Semiautonomous Robotic Manipulator for Minimally Invasive Aortic Valve Replacement. - Izadyar Tamadon; S. M. Hadi Sadati; Virginia Mamone; Vincenzo Ferrari; Christos Bergeles; Arianna Menciassi (IEEE Trans. Robotics, 2023)

CO2 Laser Welding of Low-Density Polyethylene for Soft Linear Eversion Robot Fabrication. - Brandon Saldarriaga; Carlo A. Seneci; S. M. Hadi Sadati; Zicong Wu; Kawal S. Rhode; Christos Bergeles (CASE, 2024)

Concentric-Tube-Eccentric-Rod: a Continuum Actuator for Macro-/Micro-Scale Translational Actuation. - Lingyun Zeng; S. M. Hadi Sadati; Mirroyal Ismayilov; Lukas Lindenroth; Christos Bergeles (CASE, 2024)

Excitation Trajectory Optimization for Dynamic Parameter Identification Using Virtual Constraints in Hands-on Robotic System. - Huanyu Tian; Martin Huber; Christopher E. Mower; Zhe Han; Changsheng Li; Xingguang Duan; Christos Bergeles (ICRA, 2024)

Lumped Parameter Dynamic Model of an Eversion Growing Robot: Analysis, Simulation and Experimental Validation. - Panagiotis Vartholomeos; Zicong Wu; S. M. Hadi Sadati; Christos Bergeles (ICRA, 2024)

Variable Stiffness Soft Eversion Growing Robot via Temperature Control of Low-Melting Point Alloy Pressurised Medium. - Shamsa Al Harthy; S. M. Hadi Sadati; Zicong Wu; Carlo A. Seneci; Christos Bergeles (ISMR, 2024)

ArcSin: Adaptive ranged cosine Similarity injected noise for Language-Driven Visual Tasks. - Yang Liu 271; Xiaomin Yu; Gongyu Zhang; Christos Bergeles; Prokar Dasgupta; Alejandro Granados; Sébastien Ourselin (CoRR, 2024)

Rethinking Low-quality Optical Flow in Unsupervised Surgical Instrument Segmentation. - Peiran Wu; Yang Liu 271; Jiayu Huo; Gongyu Zhang; Christos Bergeles; Rachel Sparks; Prokar Dasgupta; Alejandro Granados; Sébastien Ourselin (CoRR, 2024)

RetiGen: A Framework for Generalized Retinal Diagnosis Using Multi-View Fundus Images. - Ze Chen; Gongyu Zhang; Jiayu Huo; Joan M. Nunez Do Rio; Charalampos Komninos; Yang Liu 271; Rachel Sparks; Sébastien Ourselin; Christos Bergeles; Timothy Jackson (CoRR, 2024)

Vision and Contact based Optimal Control for Autonomous Trocar Docking. - Christopher E. Mower; Martin Huber; Huanyu Tian; Ayoob Davoodi; Emmanuel B. Vander Poorten; Tom Vercauteren; Christos Bergeles (CoRR, 2024)

Learning-Based Autonomous Navigation, Benchmark Environments and Simulation Framework for Endovascular Interventions. - Lennart Karstensen; Harry Robertshaw; Johannes Hatzl; Benjamin Jackson; Jens Langejürgen; Katharina Breininger; Christian Uhl; S. M. Hadi Sadati; Thomas C. Booth; Christos Bergeles; Franziska Mathis-Ullrich (CoRR, 2024)

Trocar localisation for robot-assisted vitreoretinal surgery. - Jeremy Birch; Lyndon Da Cruz; Kawal S. Rhode; Christos Bergeles (Int. J. Comput. Assist. Radiol. Surg., 2024)

LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots. - Martin Huber; Christopher E. Mower; Sébastien Ourselin; Tom Vercauteren; Christos Bergeles (J. Open Source Softw., 2024)

A Generalized Modeling Approach to Liquid-driven Ballooning Membranes. - Mirroyal Ismayilov; Jeref Merlin; Christos Bergeles; Lukas Lindenroth (RoboSoft, 2025)

Evaluating Robotic Approach Techniques for the Insertion of a Straight Instrument into a Vitreoretinal Surgery Trocar. - Ross Henry; Martin Huber; Anestis Mablekos-Alexiou; Carlo Seneci; Mohamed Abdelaziz; Hans Natalius; Lyndon Da Cruz; Christos Bergeles (CoRR, 2025)

Hydra: Marker-Free RGB-D Hand-Eye Calibration. - Martin Huber; Huanyu Tian; Christopher E. Mower; Lucas-Raphael Müller; Sébastien Ourselin; Christos Bergeles; Tom Vercauteren (CoRR, 2025)

Semi-Autonomous Laparoscopic Robot Docking With Learned Hand-Eye Information Fusion. - Huanyu Tian; Martin Huber; Christopher E. Mower; Zhe Han; Changsheng Li; Xingguang Duan; Christos Bergeles (IEEE Trans. Biomed. Eng., 2025)