Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance. - Niravkumar A. Patel; Tim van Katwijk; Gang Li 018; Pedro Moreira; Weijian Shang; Sarthak Misra; Gregory S. Fischer (EMBC, 2015)

Towards synergistic control of hands-on needle insertion with automated needle steering for MRI-guided prostate interventions. - Marek Wartenberg; Niravkumar A. Patel; Gang Li 018; Gregory S. Fischer (EMBC, 2016)

Mechanical validation of an MRI compatible stereotactic neurosurgery robot in preparation for pre-clinical trials. - Christopher J. Nycz; Radian Gondokaryono; Paulo A. W. G. Carvalho; Niravkumar A. Patel; Marek Wartenberg; Julie G. Pilitsis; Gregory S. Fischer (IROS, 2017)

ROS-IGTL-Bridge: an open network interface for image-guided therapy using the ROS environment. - Tobias Frank; Axel Krieger; Simon Léonard; Niravkumar A. Patel; Junichi Tokuda (Int. J. Comput. Assist. Radiol. Surg., 2017)

Real-Time Sclera Force Feedback for Enabling Safe Robot-Assisted Vitreoretinal Surgery. - Ali Ebrahimi; Changyan He; Marina Roizenblatt; Niravkumar A. Patel; Shahriar Sefati; Peter Gehlbach; Iulian Iordachita (EMBC, 2018)

Evaluation of a Force-Sensing Handheld Robot for Assisted Retinal Vein Cannulation. - Berk Gonenc; Niravkumar A. Patel; Iulian Iordachita (EMBC, 2018)

Towards Bimanual Robot-Assisted Retinal Surgery: Tool-to-Sclera Force Evaluation. - Changyan He; Marina Roizenblatt; Niravkumar A. Patel; Ali Ebrahimi; Yang Yang 103; Peter L. Gehlbach; Lulian lordachita (IEEE SENSORS, 2018)

Body-Mounted Robot for Image-Guided Percutaneous Interventions: Mechanical Design and Preliminary Accuracy Evaluation. - Niravkumar A. Patel; Jiawen Yan; David Levi; Reza Monfaredi; Kevin Cleary; Iulian Iordachita (IROS, 2018)

In-Bore Experimental Validation of Active Compensation and Membrane Puncture Detection for Targeted MRI-Guided Robotic Prostate Biopsy. - Marek Wartenberg; Katie Y. Gandomi; Paulo A. W. G. Carvalho; Joseph Schornak; Niravkumar A. Patel; Iulian Iordachita; Clare M. Tempany; Nobuhiko Hata; Junichi Tokuda; Gregory S. Fischer (ISER, 2018)

Robotic system for MRI-guided shoulder arthrography: Accuracy evaluation. - Niravkumar A. Patel; Ehsan Azimi; Reza Monfaredi; Karun Sharma; Kevin Cleary; Iulian Iordachita (ISMR, 2018)

User Behavior Evaluation in Robot-Assisted Retinal Surgery. - Changyan He; Ali Ebrahimi; Marina Roizenblatt; Niravkumar A. Patel; Yang Yang 103; Peter L. Gehlbach; Iulian Iordachita (RO-MAN, 2018)

Shoulder-mounted Robot for MRI-Guided Arthrography: Clinically Optimized System. - Gyeong Hu Kim; Niravkumar A. Patel; Jiawen Yan; Di Wu 053; Gang Li 018; Kevin Cleary; Iulian Iordachita (EMBC, 2019)

Remotely Actuated Needle Driving Device for MRI-Guided Percutaneous Interventions: Force and Accuracy Evaluation. - Di Wu 053; Gang Li 018; Niravkumar A. Patel; Jiawen Yan; Gyeong Hu Kim; Reza Monfaredi; Kevin Cleary; Iulian Iordachita (EMBC, 2019)

Body-Mounted MRI-Conditional Parallel Robot for Percutaneous Interventions Structural Improvement, Calibration, and Accuracy Analysis. - Jiawen Yan; Niravkumar A. Patel; Gang Li 018; Di Wu 053; Kevin Cleary; Iulian Iordachita (EMBC, 2019)

Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery. - Ali Ebrahimi; Niravkumar A. Patel; Changyan He; Peter Gehlbach; Marin Kobilarov; Iulian Iordachita (ICRA, 2019)

Enabling Technology for Safe Robot-Assisted Retinal Surgery: Early Warning for Unsafe Scleral Force. - Changyan He; Niravkumar A. Patel; Iulian Iordachita; Marin Kobilarov (ICRA, 2019)

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)

A Novel Semi-Autonomous Control Framework for Retina Confocal Endomicroscopy Scanning*. - Zhaoshuo Li; Guang-Zhong Yang; Russell H. Taylor; Mahya Shahbazi; Niravkumar A. Patel; Eimear O' Sullivan; Haojie Zhang; Khushi Vyas; Preetham Chalasani; Peter L. Gehlbach; Iulian Iordachita (IROS, 2019)

Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback. - Ali Ebrahimi; Changyan He; Niravkumar A. Patel; Marin Kobilarov; Peter Gehlbach; Iulian Iordachita (ISMR, 2019)

Remotely Actuated Needle Driving Device for MRI-Guided Percutaneous Interventions. - Di Wu 053; Gang Li 018; Niravkumar A. Patel; Jiawen Yan; Reza Monfaredi; Kevin Cleary; Iulian Iordachita (ISMR, 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)

Preliminary study of an RNN-based active interventional robotic system (AIRS) in retinal microsurgery. - Changyan He; Niravkumar A. Patel; Ali Ebrahimi; Marin Kobilarov; Iulian Iordachita (Int. J. Comput. Assist. Radiol. Surg., 2019)

Hybrid Robotic-assisted Frameworks for Endomicroscopy Scanning in Retinal Surgeries. - Zhaoshuo Li; Mahya Shahbazi; Niravkumar A. Patel; Eimear O' Sullivan; Haojie Zhang; Khushi Vyas; Preetham Chalasani; Anton Deguet; Peter L. Gehlbach; Iulian Iordachita; Guang-Zhong Yang; Russell H. Taylor (CoRR, 2019)

System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy. - Niravkumar A. Patel; Gang Li 018; Weijian Shang; Marek Wartenberg; Tamas Heffter; Everette Clif Burdette; Iulian Iordachita; Junichi Tokuda; Nobuhiko Hata; Clare M. Tempany; Gregory S. Fischer (J. Medical Robotics Res., 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)

A Fully Actuated Body-Mounted Robotic Assistant for MRI-Guided Low Back Pain Injection. - Gang Li 018; Niravkumar A. Patel; Weiqiang Liu 006; Di Wu 053; Karun Sharma; Kevin Cleary; Jan Fritz; Iulian Iordachita (ICRA, 2020)

Auditory Feedback Effectiveness for Enabling Safe Sclera Force in Robot-Assisted Vitreoretinal Surgery: a Multi-User Study. - Ali Ebrahimi; Marina Roizenblatt; Niravkumar A. Patel; Peter Gehlbach; Iulian Iordachita (IROS, 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)

Spotlight-based 3D Instrument Guidance for Retinal Surgery. - Mingchuan Zhou; Jiahao Wu 002; Ali Ebrahimi; Niravkumar A. Patel; Changyan He; Peter Gehlbach; Russell H. Taylor; Alois C. Knoll; M. Ali Nasseri; Iulian Iordachita (ISMR, 2020)

Body-mounted robotic assistant for MRI-guided low back pain injection. - Gang Li 018; Niravkumar A. Patel; Jan Hagemeister; Jiawen Yan; Di Wu 053; Karun Sharma; Kevin Cleary; Iulian Iordachita (Int. J. Comput. Assist. Radiol. Surg., 2020)

Fully Actuated Body-Mounted Robotic System for MRI-Guided Lower Back Pain Injections: Initial Phantom and Cadaver Studies. - Gang Li 018; Niravkumar A. Patel; Yanzhou Wang; Charles Dumoulin; Wolfgang Loew; Olivia Loparo; Katherine Schneider; Karun Sharma; Kevin Cleary; Jan Fritz; Iulian Iordachita (IEEE Robotics Autom. Lett., 2020)

Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-Based Active Interventional Control Framework. - Changyan He; Niravkumar A. Patel; Mahya Shahbazi; Yang Yang 103; Peter Gehlbach; Marin Kobilarov; Iulian Iordachita (IEEE Trans. Biomed. Eng., 2020)

An Integrated Robotic System for MRI-Guided Neuroablation: Preclinical Evaluation. - Niravkumar A. Patel; Christopher J. Nycz; Paulo A. W. G. Carvalho; Katie Y. Gandomi; Radian Gondokaryono; Gang Li 018; Tamas Heffter; Everette Clif Burdette; Julie G. Pilitsis; Gregory S. Fischer (IEEE Trans. Biomed. Eng., 2020)

Wearable Technology for Evaluation of Risk of Falls. - Priya Pallavi; Shashi Ranjan; Niravkumar A. Patel; Uttama Lahiri (EMBC, 2021)

An Integrated High-dexterity Cooperative Robotic Assistant for Intraocular Micromanipulation*. - Makoto Jinno; Gang Li 018; Niravkumar A. Patel; Iulian Iordachita (ICRA, 2021)

Body-Mounted Robotic System for MRI-Guided Shoulder Arthrography: Cadaver and Clinical Workflow Studies. - Niravkumar A. Patel; Jiawen Yan; Gang Li 018; Reza Monfaredi; Lukasz Priba; Helen Donald-Simpson; Joyce Joy; Andrew Dennison; Andreas Melzer; Karun Sharma; Iulian Iordachita; Kevin Cleary (Frontiers Robotics AI, 2021)

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)

Spotlight-Based 3D Instrument Guidance for Autonomous Task in Robot-Assisted Retinal Surgery. - Mingchuan Zhou; Jiahao Wu 002; Ali Ebrahimi; Niravkumar A. Patel; Yunhui Liu 001; Nassir Navab; Peter Gehlbach; Alois C. Knoll; M. Ali Nasseri; Iulian Iordachita (IEEE Robotics Autom. Lett., 2021)

Smart Wearable Device for Quantification of Risk of Fall: Exploring Role of Gait Phases and Knee Bending Angle for Parkinson's Patients. - Priya Pallavi; Shashi Ranjan; Niravkumar A. Patel; Manasi Kanetkar; Uttama Lahiri (EMBC, 2022)

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)

FNPG-NH: A Reinforcement Learning Framework for Flexible Needle Path Generation With Nonholonomic Constraints. - Mukund Shah; Niravkumar A. Patel (IEEE Robotics Autom. Lett., 2023)

Preliminary Evaluation of an Ultrasound-Guided Robotic System for Autonomous Percutaneous Intervention. - Pratima Mohan; Aayush Agrawal; Niravkumar A. Patel (CoRR, 2024)