Force-Sensor-Based Estimation of Needle Tip Deflection in Brachytherapy. - Thomas Lehmann 002; Mahdi Tavakoli; Nawaid Usmani; Ronald Sloboda (J. Sensors, 2013)

Dynamical modeling and controllability analysis of a flexible needle in soft tissue. - Arefeh Boroomand; Mahdi Tavakoli; Ron Sloboda; Nawaid Usmani (Int. J. Model. Simul. Sci. Comput., 2014)

Needle shape estimation in soft tissue based on partial ultrasound image observation. - Jay Carriere; Carlos Rossa; Nawaid Usmani; Ronald Sloboda; Mahdi Tavakoli (ICRA, 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 (ICRA, 2015)

A virtual sensor for needle deflection estimation during soft-tissue needle insertion. - Thomas Lehmann 002; Carlos Rossa; Nawaid Usmani; Ronald Sloboda; Mahdi Tavakoli (ICRA, 2015)

3D shape visualization of curved needles in tissue from 2D ultrasound images using RANSAC. - Michael Waine; Carlos Rossa; Ronald 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)

A Comparison of US- Versus MR-Based 3-D Prostate Shapes Using Radial Basis Function Interpolation and Statistical Shape Models. - Ran Tao; Mahdi Tavakoli; Ron Sloboda; Nawaid Usmani (IEEE J. Biomed. Health Informatics, 2015)

Real-time needle shape prediction in soft-tissue based on image segmentation and particle filtering. - Jay Carriere; Carlos Rossa; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (AIM, 2016)

Partial estimation of needle tip orientation in generalized coordinates in ultrasound image-guided needle insertion. - Bita Fallahi; Carlos Rossa; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (AIM, 2016)

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

Needle path control during insertion in soft tissue using a force-sensor-based deflection estimator. - Thomas Lehmann 002; Carlos Rossa; Ronald Sloboda; Nawaid Usmani; 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)

An integrator-backstepping control approach for out-of-plane needle deflection minimization. - Michael Waine; Carlos Rossa; Nawaid Usmani; Ron Sloboda; Mahdi Tavakoli (AIM, 2016)

Estimating needle tip deflection in biological tissue from a single transverse ultrasound image: application to brachytherapy. - Carlos Rossa; Ron Sloboda; Nawaid Usmani; Mahdi Tavakoli (Int. J. Comput. Assist. Radiol. Surg., 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)

Needle Tracking and Deflection Prediction for Robot-Assisted Needle Insertion Using 2D Ultrasound Images. - Michael Waine; Carlos Rossa; Ron Sloboda; Nawaid Usmani; Mahdi Tavakoli (J. Medical Robotics Res., 2016)

Sliding-Based Switching Control for Image-Guided Needle Steering in Soft Tissue. - Bita Fallahi; Carlos Rossa; Ron S. 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)

Multiactuator Haptic Feedback on the Wrist for Needle Steering Guidance in Brachytherapy. - Carlos Rossa; Jason Fong; Nawaid Usmani; Ronald Sloboda; 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)

Three-Dimensional Needle Shape Estimation in TRUS-Guided Prostate Brachytherapy Using 2-D Ultrasound Images. - Michael Waine; Carlos Rossa; Ron Sloboda; Nawaid Usmani; Mahdi Tavakoli (IEEE J. Biomed. Health Informatics, 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)

A data-driven soft sensor for needle deflection in heterogeneous tissue using just-in-time modelling. - Carlos Rossa; Thomas Lehmann 002; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (Medical Biol. Eng. Comput., 2017)

A Hand-Held Assistant for Semiautomated Percutaneous Needle Steering. - Carlos Rossa; Nawaid Usmani; Ronald Sloboda; Mahdi Tavakoli (IEEE Trans. Biomed. Eng., 2017)

Applications of observers in medical robotics. - Bita Fallahi; Ron S. Sloboda; Mahdi Tavakoli (Autom., 2018)

Model Averaging and Input Transformation for 3D Needle Steering. - Bita Fallahi; Ron Sloboda; Nawaid Usmani; Mahdi Tavakoli (J. Medical Robotics Res., 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)

Human-Machine Collaboration Modalities for Semi-Automated Needle Insertion Into Soft Tissue. - Thomas Lehmann 002; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (IEEE Robotics Autom. Lett., 2018)

Model-Based Needle Steering in Soft Tissue via Lateral Needle Actuation. - Thomas Lehmann 002; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (IEEE Robotics Autom. Lett., 2018)

Intraoperative Tissue Young's Modulus Identification During Needle Insertion Using a Laterally Actuated Needle. - Thomas Lehmann 002; Carlos Rossa; Nawaid Usmani; Ron S. Sloboda; Mahdi Tavakoli (IEEE Trans. Instrum. Meas., 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)

An Admittance-Controlled Robotic Assistant for Semi-Autonomous Breast Ultrasound Scanning. - Jay Carriere; Jason Fong; Tyler Meyer; Ron Sloboda; Siraj Husain; Nawaid Usmani; Mahdi Tavakoli (ISMR, 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)

Optimal Design of a Novel Spherical Scissor Linkage Remote Center of Motion Mechanism for Medical Robotics. - Mehrnoosh Afshar; Jay Carriere; Tyler Meyer; Ron Sloboda; Siraj Husain; Nawaid Usmani; Mahdi Tavakoli (IROS, 2020)

Autonomous Ultrasound Scanning to Localize Needle Tip in Breast Brachytherapy. - Mehrnoosh Afshar; Jay Carriere; Tyler Meyer; Ron Sloboda; Siraj Husain; Nawaid Usmani; Wanyu Liu; Mahdi Tavakoli (ISMR, 2020)

Image-Guided Observer-Based Control for Needle Steering. - Bita Fallahi; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (IEEE Trans. Control. Syst. Technol., 2020)

Robot-assisted Breast Ultrasound Scanning Using Geometrical Analysis of the Seroma and Image Segmentation. - Mojtaba Akbari; Jay Carriere; Ron Sloboda; Tyler Meyer; Nawaid Usmani; Siraj Husain; Mahdi Tavakoli (IROS, 2021)

Intraoperative optimization of seed implantation plan in breast brachytherapy. - Wanyu Liu; Jay Carriere; Tyler Meyer; Ron Sloboda; Siraj Husain; Nawaid Usmani; Zhiyong Yang 002; Mahdi Tavakoli (Int. J. Comput. Assist. Radiol. Surg., 2021)

Robotic Ultrasound Scanning With Real-Time Image-Based Force Adjustment: Quick Response for Enabling Physical Distancing During the COVID-19 Pandemic. - Mojtaba Akbari; Jay Carriere; Tyler Meyer; Ron Sloboda; Siraj Husain; Nawaid Usmani; Mahdi Tavakoli (Frontiers Robotics AI, 2021)