Mohsen Khadem

According to our database, Mohsen Khadem authored at least 31 papers between 2015 and 2023.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2023

A Concentric Tube Steerable Drilling Robot for Minimally Invasive Spinal Fixation of Osteoporotic Vertebrae.

Susheela Sharma, Tarunraj G. Mohanraj, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi

IEEE Trans. Biomed. Eng., November, 2023

Data-Driven Steering of Concentric Tube Robots in Unknown Environments via Dynamic Mode Decomposition.

Balint Thamo, David Hanley, Kevin Dhaliwal, Mohsen Khadem

IEEE Robotics Autom. Lett., 2023

Towards Biomechanics-Aware Design of a Steerable Drilling Robot for Spinal Fixation Procedures with Flexible Pedicle Screws.

Susheela Sharma, Yuewan Sun, Sarah Go, Jordan P. Amadio, Mohsen Khadem, Amir Hossein Eskandari, Farshid Alambeigi

Proceedings of the International Symposium on Medical Robotics, 2023

Feature-based Visual Odometry for Bronchoscopy: A Dataset and Benchmark.

Jianning Deng, Peize Li, Kevin Dhaliwal, Chris Xiaoxuan Lu, Mohsen Khadem

IROS, 2023

A Novel Concentric Tube Steerable Drilling Robot for Minimally Invasive Treatment of Spinal Tumors Using Cavity and U-shape Drilling Techniques.

Susheela Sharma, Ji H. Park, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Data-efficient Non-parametric Modelling and Control of an Extensible Soft Manipulator.

Mohammadreza Kasaei, Keyhan Kouhkiloui Babarahmati, Zhibin Li, Mohsen Khadem

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

A Data-efficient Neural ODE Framework for Optimal Control of Soft Manipulators.

Mohammadreza Mohades Kasaei, Keyhan Kouhkiloui Babarahmati, Zhibin Li, Mohsen Khadem

Proceedings of the Conference on Robot Learning, 2023

2022

Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement.

Emile Mackute, Balint Thamo, Kevin Dhaliwal, Mohsen Khadem

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

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

A Hybrid Dual Jacobian Approach for Autonomous Control of Concentric Tube Robots in Unknown Constrained Environments.

Balint Thamo, Farshid Alambeigi, Kevin Dhaliwal, Mohsen Khadem

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Rapid Solution of Cosserat Rod Equations via a Nonlinear Partial Observer.

Balint Thamo, Kevin Dhaliwal, Mohsen Khadem

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

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

Using a Redundant User Interface in Teleoperated Surgical Systems for Task Performance Enhancement.

Ali Torabi, Mohsen Khadem, Kourosh Zareinia, Garnette Roy Sutherland, Mahdi Tavakoli

Robotica, 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

2019

Application of a Redundant Haptic Interface in Enhancing Soft-Tissue Stiffness Discrimination.

Ali Torabi, Mohsen Khadem, Kourosh Zareinia, Garnette Roy Sutherland, Mahdi Tavakoli

IEEE Robotics Autom. Lett., 2019

Event-Triggered 3D Needle Control Using a Reduced-Order Computationally Efficient Bicycle Model in a Constrained Optimization Framework.

Jay Carriere, Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli

J. Medical Robotics Res., 2019

Geometric control of 3D needle steering in soft-tissue.

Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli

Autom., 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

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

2018

Robotic-Assisted Needle Steering Around Anatomical Obstacles Using Notched Steerable Needles.

Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli

IEEE J. Biomed. Health Informatics, 2018

Surgeon-in-the-Loop 3-D Needle Steering Through Ultrasound-Guided Feedback Control.

Jay Carriere, Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli

IEEE Robotics Autom. Lett., 2018

Manipulability of teleoperated surgical robots with application in design of master/slave manipulators.

Ali Torabi, Mohsen Khadem, Kourosh Zareinia, Garnette Roy Sutherland, Mahdi Tavakoli

Proceedings of the International Symposium on Medical Robotics, 2018

Force/Velocity Manipulability Analysis for 3D Continuum Robots.

Mohsen Khadem, Lyndon Da Cruz, Christos Bergeles

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes.

Zisos Mitros, Mohsen Khadem, Carlo Seneci, Sébastien Ourselin, Lyndon Da Cruz, Christos Bergeles

Proceedings of the 7th IEEE International Conference on Biomedical Robotics and Biomechatronics, 2018

2017

Feedback-linearization-based 3D needle steering in a Frenet-Serret frame using a reduced order bicycle model.

Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli

Proceedings of the 2017 American Control Conference, 2017

2016

Adaptive Quasi-Static Modelling of Needle Deflection During Steering in Soft Tissue.

Carlos Rossa, Mohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli

IEEE Robotics Autom. Lett., 2016

Mechanics of Tissue Cutting During Needle Insertion in Biological Tissue.

Mohsen Khadem, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli

IEEE Robotics Autom. Lett., 2016

Ultrasound-Guided Model Predictive Control of Needle Steering in Biological Tissue.

Mohsen Khadem, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli

J. Medical Robotics Res., 2016

Constrained optimal control of needle deflection for semi-manual steering.

Carlos Rossa, Mohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli

Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, 2016

Introducing notched flexible needles with increased deflection curvature in soft tissue.

Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli

Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, 2016

2015

Extended bicycle model for needle steering in soft tissue.

Bita Fallahi, Mohsen Khadem, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

A mechanics-based model for simulation and control of flexible needle insertion in soft tissue.

Mohsen Khadem, Bita Fallahi, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli

Proceedings of the IEEE International Conference on Robotics and Automation, 2015