Sclera Force Evaluation During Vitreoretinal Surgeries in Ex Vivo Porcine Eye Model. - Niravkumar A. Patel; Muller Urias; Ali Ebrahimi; Changyan He; Peter Gehlbach; Iulian Iordachita (IEEE SENSORS, 2019)

Towards securing the sclera against patient involuntary head movement in robotic retinal surgery. - Ali Ebrahimi; Muller Urias; Niravkumar A. Patel; Changyan He; Russell H. Taylor; Peter Gehlbach; Iulian Iordachita (RO-MAN, 2019)

Scleral Force Evaluation During Vitreoretinal Surgery: in an In Vivo Rabbit Eye Model. - Niravkumar A. Patel; Muller Urias; Ali Ebrahimi; Peter Gehlbach; Iulian Iordachita (EMBC, 2020)

A Comparison of Manual and Robot Assisted Retinal Vein Cannulation in Chicken Chorioallantoic Membrane. - Niravkumar A. Patel; Muller Urias; Changyan He; Peter L. Gehlbach; Iulian Iordachita (EMBC, 2020)

Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller. - Changyan He; Ali Ebrahimi; Emily Yang; Muller Urias; Yang Yang 103; Peter Gehlbach; Iulian Iordachita (ICRA, 2020)

Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration. - Ji Woong Kim; Changyan He; Muller Urias; Peter Gehlbach; Gregory D. Hager; Iulian Iordachita; Marin Kobilarov (ICRA, 2020)

An Optimized Tilt Mechanism for a New Steady-Hand Eye Robot. - Jiahao Wu 002; Gang Li 018; Muller Urias; Niravkumar A. Patel; Yun-Hui Liu 001; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (IROS, 2020)

FBG-based Kalman Filtering and Control of Tool Insertion Depth For Safe Robot-assisted Vitrectomy. - Ali Ebrahimi; Muller Urias; Niravkumar A. Patel; Peter Gehlbach; Farshid Alambeigi; Iulian Iordachita (ISMR, 2020)

Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study. - Jiahao Wu 002; Changyan He; Mingchuan Zhou; Ali Ebrahimi; Muller Urias; Niravkumar A. Patel; Yunhui Liu 001; Peter Gehlbach; Iulian Iordachita (ISMR, 2020)

Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study. - Ali Ebrahimi; Müller G. Urias; Niravkumar A. Patel; Russell H. Taylor; Peter Gehlbach; Iulian Iordachita (IEEE Trans. Biomed. Eng., 2021)

Force and Velocity Based Puncture Detection in Robot Assisted Retinal Vein Cannulation: In-Vivo Study. - Alireza Alamdar; Niravkumar A. Patel; Muller Urias; Ali Ebrahimi; Peter Gehlbach; Iulian Iordachita (IEEE Trans. Biomed. Eng., 2022)