An FBG-based Stiffness Estimation Sensor for In-vivo Diagnostics. - Behnam Moradkhani; Pejman Kheradmand; Harshith Jella; Kent K. Yamamoto; Alireza Tofangchi; Patrick J. Codd; Yash Chitalia (ISMR, 2024)

Towards a Tendon-Assisted Magnetically Steered (TAMS) Robotic Stylet for Brachytherapy. - Pejman Kheradmand; Behnam Moradkhani; Harshith Jella; Keith Sowards; Scott R. Silva; Yash Chitalia (IEEE Robotics Autom. Lett., 2024)

ExoNav II: Design of a Robotic Tool with Follow-the-Leader Motion Capability for Lateral and Ventral Spinal Cord Stimulation (SCS). - Behnam Moradkhani; Pejman Kheradmand; Harshith Jella; Joseph Klein; Ajmal Zemmar; Yash Chitalia (CoRR, 2025)