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 (ICRA, 2015)

Extended bicycle model for needle steering in soft tissue. - Bita Fallahi; Mohsen Khadem; Carlos Rossa; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (IROS, 2015)

Introducing notched flexible needles with increased deflection curvature in soft tissue. - Mohsen Khadem; Carlos Rossa; Nawaid Usmani; Ron S. Sloboda; Mahdi Tavakoli (AIM, 2016)

Constrained optimal control of needle deflection for semi-manual steering. - Carlos Rossa; Mohsen Khadem; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (AIM, 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)

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)

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)

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 (ACC, 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)

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

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)

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)

Geometric control of 3D needle steering in soft-tissue. - Mohsen Khadem; Carlos Rossa; Nawaid Usmani; Ron S. Sloboda; Mahdi Tavakoli (Autom., 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)

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)

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)

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)

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)

Rapid Solution of Cosserat Rod Equations via a Nonlinear Partial Observer. - Balint Thamo; Kevin Dhaliwal; Mohsen Khadem (ICRA, 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 (IROS, 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)

Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement. - Emile Mackute; Balint Thamo; Kevin Dhaliwal; Mohsen Khadem (IROS, 2022)

A Data-efficient Neural ODE Framework for Optimal Control of Soft Manipulators. - Mohammadreza Mohades Kasaei; Keyhan Kouhkiloui Babarahmati; Zhibin Li 001; Mohsen Khadem (CoRL, 2023)

Data-efficient Non-parametric Modelling and Control of an Extensible Soft Manipulator. - Mohammadreza Kasaei 001; Keyhan Kouhkiloui Babarahmati; Zhibin Li 001; Mohsen Khadem (ICRA, 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 Hwan Park; Jordan P. Amadio; Mohsen Khadem; Farshid Alambeigi (ICRA, 2023)

Feature-based Visual Odometry for Bronchoscopy: A Dataset and Benchmark. - Jianning Deng; Peize Li; Kevin Dhaliwal; Chris Xiaoxuan Lu; Mohsen Khadem (IROS, 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 (ISMR, 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)

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., 2023)

SoftManiSim: A Fast Simulation Framework for Multi-Segment Continuum Manipulators Tailored for Robot Learning. - Mohammadreza Mohades Kasaei; Hamidreza Kasaei 001; Mohsen Khadem (CoRL, 2024)

Spatial Spinal Fixation: A Transformative Approach Using a Unique Robot-Assisted Steerable Drilling System and Flexible Pedicle Screw. - Susheela Sharma; Yash Kulkarni; Sarah Go; Jeff Bonyun; Jordan P. Amadio; Maryam Tilton; Mohsen Khadem; Farshid Alambeigi (IROS, 2024)

Neural ODE-based Imitation Learning (NODE-IL): Data-Efficient Imitation Learning for Long-Horizon Multi-Skill Robot Manipulation. - Shiyao Zhao; Yucheng Xu; Mohammadreza Kasaei 001; Mohsen Khadem; Zhibin Li 001 (IROS, 2024)

Towards Unified Shape and Biosensing: Multiplexing Tilted and Standard Fiber Bragg Gratings. - David Hanley; Kevin Dhaliwal; Mohsen Khadem (ISMR, 2024)

Towards an Autonomous Minimally Invasive Spinal Fixation Surgery Using a Concentric Tube Steerable Drilling Robot. - Susheela Sharma; Sarah Go; Jeff Bonyun; Jordan P. Amadio; Mohsen Khadem; Farshid Alambeigi (ISMR, 2024)

A Patient-Specific Framework for Autonomous Spinal Fixation via a Steerable Drilling Robot. - Susheela Sharma; Sarah Go; Zeynep Yakay; Yash Kulkarni; Siddhartha Kapuria; Jordan P. Amadio; Reza Rajebi; Mohsen Khadem; Nassir Navab; Farshid Alambeigi (MICCAI (6), 2024)

Spatial Spinal Fixation: A Transformative Approach Using a Unique Robot-Assisted Steerable Drilling System and Flexible Pedicle Screw. - Susheela Sharma; Yash Kulkarni; Sarah Go; Jeff Bonyun; Jordan P. Amadio; Reza Rajebi; Maryam Tilton; Mohsen Khadem; Farshid Alambeigi (CoRR, 2024)

On Challenges of Monocular Pose Estimation for Endoluminal Navigation. - Emile Mackute; Ahad Abdalla; Stuart Dickson; Kevin Dhaliwal; Mohsen Khadem (J. Medical Robotics Res., 2024)

A Biomechanics-Aware Robot-Assisted Steerable Drilling Framework for Minimally Invasive Spinal Fixation Procedures. - Susheela Sharma; Yuewan Sun; Jeff Bonyun; Mohsen Khadem; Jordan P. Amadio; Amir Hossein Eskandari; Farshid Alambeigi (IEEE Trans. Biomed. Eng., 2024)

A Synergistic Framework for Learning Shape Estimation and Shape-Aware Whole-Body Control Policy for Continuum Robots. - Mohammadreza Mohades Kasaei; Farshid Alambeigi; Mohsen Khadem (CoRR, 2025)

Augmented Bridge Spinal Fixation: A New Concept for Addressing Pedicle Screw Pullout via a Steerable Drilling Robot and Flexible Pedicle Screws. - Yash Kulkarni; Susheela Sharma; Omid Rezayof; Siddhartha Kapuria; Jordan P. Amadio; Mohsen Khadem; Maryam Tilton; Farshid Alambeigi (CoRR, 2025)

S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures. - Daniyal Maroufi; Xinyuan Huang; Yash Kulkarni; Omid Rezayof; Susheela Sharma; Vaibhav Goggela; Jordan P. Amadio; Mohsen Khadem; Farshid Alambeigi (CoRR, 2025)

Towards Design and Development of a Concentric Tube Steerable Drilling Robot for Creating S-shape Tunnels for Pelvic Fixation Procedures. - Yash Kulkarni; Susheela Sharma; Sarah Go; Jordan P. Amadio; Mohsen Khadem; Farshid Alambeigi (CoRR, 2025)