Mohsen Khadem

61 papers A* 7A 11C 1Misc 2Journal 30Unranked 10
YearRankTypeTitle / Venue / Authors
2026 J jnl
A Single-Fiber Optical Frequency Domain Reflectometry (OFDR)-Based Shape Sensing of Concentric Tube Steerable Drilling Robots.
CoRR
Yash Kulkarni, Mobina Tavangarifard, Daniyal Maroufi, Mohsen Khadem, Justin E. Bird, Jeffrey H. Siewerdsen, Farshid Alambeigi
2025 A* conf
A Synergistic Framework for Learning Shape Estimation and Shape-Aware Whole-Body Control Policy for Continuum Robots.
ICRA
Mohammadreza Kasaei, Farshid Alambeigi, Mohsen Khadem
2025 J jnl
A Synergistic Framework for Learning Shape Estimation and Shape-Aware Whole-Body Control Policy for Continuum Robots.
CoRR
Mohammadreza Mohades Kasaei, Farshid Alambeigi, Mohsen Khadem
2025 A conf
Augmented Bridge Spinal Fixation: A New Concept for Addressing Pedicle Screw Pullout via a Steerable Drilling Robot and Flexible Pedicle Screws.
IROS
Yash Kulkarni, Susheela Sharma, Omid Rezayof, Siddhartha Kapuria, Jordan P. Amadio, Mohsen Khadem, Maryam Tilton, Farshid Alambeigi
2025 J jnl
Augmented Bridge Spinal Fixation: A New Concept for Addressing Pedicle Screw Pullout via a Steerable Drilling Robot and Flexible Pedicle Screws.
CoRR
Yash Kulkarni, Susheela Sharma, Omid Rezayof, Siddhartha Kapuria, Jordan P. Amadio, Mohsen Khadem, Maryam Tilton, Farshid Alambeigi
2025 J jnl
Automated Skill Evaluation of Bronchoscopy Operators Using Geometric Feature Analysis.
J. Medical Robotics Res.
Zhaoxing Deng, Mohsen Khadem, Kevin Dhaliwal, Adam D. L. Marshall, David Hanley
2025 — conf
BREA-Depth: Bronchoscopy Realistic Airway-Geometric Depth Estimation.
MICCAI (9)
Francis Xiatian Zhang, Emile Mackute, Mohammadreza Kasaei, Kevin Dhaliwal, Robert R. Thomson, Mohsen Khadem
2025 J jnl
BREA-Depth: Bronchoscopy Realistic Airway-geometric Depth Estimation.
CoRR
Francis Xiatian Zhang, Emile Mackute, Mohammadreza Mohades Kasaei, Kevin Dhaliwal, Robert R. Thomson, Mohsen Khadem
2025 — conf
Navigational Bronchoscopy in Critical Care via End-to-End Pose Regression.
MICCAI (9)
Emile Mackute, Francis Xiatian Zhang, Kevin Dhaliwal, Mohsen Khadem
2025 A* conf
On the Benefits of Hysteresis in Tendon Driven Continuum Robots.
ICRA
David Hanley, Farshid Alambeigi, Mohsen Khadem
2025 J jnl
ROOM: A Physics-Based Continuum Robot Simulator for Photorealistic Medical Datasets Generation.
CoRR
Salvatore Esposito, Matías Mattamala, Daniel Rebain, Francis Xiatian Zhang, Kevin Dhaliwal, Mohsen Khadem, Subramanian Ramamoorthy
2025 A conf
S
IROS
Daniyal Maroufi, Xinyuan Huang, Yash Kulkarni, Omid Rezayof, Susheela Sharma, Vaibhav Goggela, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
2025 J jnl
S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures.
CoRR
Daniyal Maroufi, Xinyuan Huang, Yash Kulkarni, Omid Rezayof, Susheela Sharma, Vaibhav Goggela, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
2025 J jnl
Shape-Aware Whole-Body Control for Continuum Robots with Application in Endoluminal Surgical Robotics.
CoRR
Mohammadreza Mohades Kasaei, Mostafa Ghobadi, Mohsen Khadem
2025 A conf
Towards Design and Development of a Concentric Tube Steerable Drilling Robot for Creating S-shape Tunnels for Pelvic Fixation Procedures.
IROS
Yash Kulkarni, Susheela Sharma, Sarah Go, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
2025 J jnl
Towards Design and Development of a Concentric Tube Steerable Drilling Robot for Creating S-shape Tunnels for Pelvic Fixation Procedures.
CoRR
Yash Kulkarni, Susheela Sharma, Sarah Go, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
2025 A* conf
Towards Evaluating the User Comfort and Experience of a Novel Steerable Drilling Robotic System in Pedicle Screw Fixation Procedures: A User Study.
ICRA
Susheela Sharma, Frigyes Samuel Racz, Sarah Go, Siddhartha Kapuria, Omid Rezayof, Jordan P. Amadio, Mohsen Khadem, José del R. Millán, Farshid Alambeigi
2024 J jnl
A Biomechanics-Aware Robot-Assisted Steerable Drilling Framework for Minimally Invasive Spinal Fixation Procedures.
IEEE Trans. Biomed. Eng.
Susheela Sharma, Yuewan Sun, Jeff Bonyun, Mohsen Khadem, Jordan P. Amadio, Amir Hossein Eskandari, Farshid Alambeigi
2024 — conf
A Patient-Specific Framework for Autonomous Spinal Fixation via a Steerable Drilling Robot.
MICCAI (6)
Susheela Sharma, Sarah Go, Zeynep Yakay, Yash Kulkarni, Siddhartha Kapuria, Jordan P. Amadio, Reza Rajebi, Mohsen Khadem, Nassir Navab, Farshid Alambeigi
2024 J jnl
A Patient-Specific Framework for Autonomous Spinal Fixation via a Steerable Drilling Robot.
CoRR
Susheela Sharma, Sarah Go, Zeynep Yakay, Yash Kulkarni, Siddhartha Kapuria, Jordan P. Amadio, Reza Rajebi, Mohsen Khadem, Nassir Navab, Farshid Alambeigi
2024 A conf
Neural ODE-based Imitation Learning (NODE-IL): Data-Efficient Imitation Learning for Long-Horizon Multi-Skill Robot Manipulation.
IROS
Shiyao Zhao, Yucheng Xu, Mohammadreza Kasaei, Mohsen Khadem, Zhibin Li
2024 J jnl
On Challenges of Monocular Pose Estimation for Endoluminal Navigation.
J. Medical Robotics Res.
Emile Mackute, Ahad Abdalla, Stuart Dickson, Kevin Dhaliwal, Mohsen Khadem
2024 Misc conf
SoftManiSim: A Fast Simulation Framework for Multi-Segment Continuum Manipulators Tailored for Robot Learning.
CoRL
Mohammadreza Mohades Kasaei, Hamidreza Kasaei, Mohsen Khadem
2024 A conf
Spatial Spinal Fixation: A Transformative Approach Using a Unique Robot-Assisted Steerable Drilling System and Flexible Pedicle Screw.
IROS
Susheela Sharma, Yash Kulkarni, Sarah Go, Jeff Bonyun, Jordan P. Amadio, Maryam Tilton, Mohsen Khadem, Farshid Alambeigi
2024 J jnl
Spatial Spinal Fixation: A Transformative Approach Using a Unique Robot-Assisted Steerable Drilling System and Flexible Pedicle Screw.
CoRR
Susheela Sharma, Yash Kulkarni, Sarah Go, Jeff Bonyun, Jordan P. Amadio, Reza Rajebi, Maryam Tilton, Mohsen Khadem, Farshid Alambeigi
2024 — conf
Towards Unified Shape and Biosensing: Multiplexing Tilted and Standard Fiber Bragg Gratings.
ISMR
David Hanley, Kevin Dhaliwal, Mohsen Khadem
2024 — conf
Towards an Autonomous Minimally Invasive Spinal Fixation Surgery Using a Concentric Tube Steerable Drilling Robot.
ISMR
Susheela Sharma, Sarah Go, Jeff Bonyun, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
2024 J jnl
Towards an Autonomous Minimally Invasive Spinal Fixation Surgery Using a Concentric Tube Steerable Drilling Robot.
CoRR
Susheela Sharma, Sarah Go, Jeff Bonyun, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
2023 J jnl
A Concentric Tube Steerable Drilling Robot for Minimally Invasive Spinal Fixation of Osteoporotic Vertebrae.
IEEE Trans. Biomed. Eng.
Susheela Sharma, Tarunraj G. Mohanraj, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
2023 Misc conf
A Data-efficient Neural ODE Framework for Optimal Control of Soft Manipulators.
CoRL
Mohammadreza Mohades Kasaei, Keyhan Kouhkiloui Babarahmati, Zhibin Li, Mohsen Khadem
2023 A* conf
A Novel Concentric Tube Steerable Drilling Robot for Minimally Invasive Treatment of Spinal Tumors Using Cavity and U-shape Drilling Techniques.
ICRA
Susheela Sharma, Ji Hwan Park, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
2023 J jnl
A Novel Concentric Tube Steerable Drilling Robot for Minimally Invasive Treatment of Spinal Tumors Using Cavity and U-shape Drilling Techniques.
CoRR
Susheela Sharma, Ji Hwan Park, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
2023 J jnl
Data-Driven Steering of Concentric Tube Robots in Unknown Environments via Dynamic Mode Decomposition.
IEEE Robotics Autom. Lett.
Balint Thamo, David Hanley, Kevin Dhaliwal, Mohsen Khadem
2023 A* conf
Data-efficient Non-parametric Modelling and Control of an Extensible Soft Manipulator.
ICRA
Mohammadreza Kasaei, Keyhan Kouhkiloui Babarahmati, Zhibin Li, Mohsen Khadem
2023 A conf
Feature-based Visual Odometry for Bronchoscopy: A Dataset and Benchmark.
IROS
Jianning Deng, Peize Li, Kevin Dhaliwal, Chris Xiaoxuan Lu, Mohsen Khadem
2023 — conf
Towards Biomechanics-Aware Design of a Steerable Drilling Robot for Spinal Fixation Procedures with Flexible Pedicle Screws.
ISMR
Susheela Sharma, Yuewan Sun, Sarah Go, Jordan P. Amadio, Mohsen Khadem, Amir Hossein Eskandari, Farshid Alambeigi
2023 J jnl
Towards Biomechanics-Aware Design of a Steerable Drilling Robot for Spinal Fixation Procedures with Flexible Pedicle Screws.
CoRR
Susheela Sharma, Yuewan Sun, Sarah Go, Jordan P. Amadio, Mohsen Khadem, Amir Hossein Eskandari, Farshid Alambeigi
2022 A conf
Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement.
IROS
Emile Mackute, Balint Thamo, Kevin Dhaliwal, Mohsen Khadem
2021 A conf
A Hybrid Dual Jacobian Approach for Autonomous Control of Concentric Tube Robots in Unknown Constrained Environments.
IROS
Balint Thamo, Farshid Alambeigi, Kevin Dhaliwal, Mohsen Khadem
2021 J jnl
Design and Modelling of a Continuum Robot for Distal Lung Sampling in Mechanically Ventilated Patients in Critical Care.
Frontiers Robotics AI
Zisos Mitros, Balint Thamo, Christos Bergeles, Lyndon Da Cruz, Kevin Dhaliwal, Mohsen Khadem
2021 A* conf
Rapid Solution of Cosserat Rod Equations via a Nonlinear Partial Observer.
ICRA
Balint Thamo, Kevin Dhaliwal, Mohsen Khadem
2020 J jnl
Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control.
IEEE Trans. Robotics
Mohsen Khadem, John J. O'Neill, Zisos Mitros, Lyndon Da Cruz, Christos Bergeles
2020 J jnl
Optic Nerve Sheath Fenestration With a Multi-Arm Continuum Robot.
IEEE Robotics Autom. Lett.
Zisos Mitros, Seyedmohammadhadi Sadati, Carlo Seneci, Edward Bloch, Konrad Leibrandt, Mohsen Khadem, Lyndon Da Cruz, Christos Bergeles
2020 J jnl
Using a Redundant User Interface in Teleoperated Surgical Systems for Task Performance Enhancement.
Robotica
Ali Torabi, Mohsen Khadem, Kourosh Zareinia, Garnette Roy Sutherland, Mahdi Tavakoli
2019 J jnl
Application of a Redundant Haptic Interface in Enhancing Soft-Tissue Stiffness Discrimination.
IEEE Robotics Autom. Lett.
Ali Torabi, Mohsen Khadem, Kourosh Zareinia, Garnette Roy Sutherland, Mahdi Tavakoli
2019 A conf
Autonomous Steering of Concentric Tube Robots for Enhanced Force/Velocity Manipulability.
IROS
Mohsen Khadem, John J. O'Neill, Zisos Mitros, Lyndon Da Cruz, Christos Bergeles
2019 J jnl
Event-Triggered 3D Needle Control Using a Reduced-Order Computationally Efficient Bicycle Model in a Constrained Optimization Framework.
J. Medical Robotics Res.
Jay Carriere, Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli
2019 J jnl
Geometric control of 3D needle steering in soft-tissue.
Autom.
Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli
2018 A conf
Force/Velocity Manipulability Analysis for 3D Continuum Robots.
IROS
Mohsen Khadem, Lyndon Da Cruz, Christos Bergeles
2018 — conf
Manipulability of teleoperated surgical robots with application in design of master/slave manipulators.
ISMR
Ali Torabi, Mohsen Khadem, Kourosh Zareinia, Garnette Roy Sutherland, Mahdi Tavakoli
2018 J jnl
Robotic-Assisted Needle Steering Around Anatomical Obstacles Using Notched Steerable Needles.
IEEE J. Biomed. Health Informatics
Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli
2018 J jnl
Surgeon-in-the-Loop 3-D Needle Steering Through Ultrasound-Guided Feedback Control.
IEEE Robotics Autom. Lett.
Jay Carriere, Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli
2018 — conf
Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes.
BioRob
Zisos Mitros, Mohsen Khadem, Carlo Seneci, Sébastien Ourselin, Lyndon Da Cruz, Christos Bergeles
2017 C conf
Feedback-linearization-based 3D needle steering in a Frenet-Serret frame using a reduced order bicycle model.
ACC
Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli
2016 J jnl
Adaptive Quasi-Static Modelling of Needle Deflection During Steering in Soft Tissue.
IEEE Robotics Autom. Lett.
Carlos Rossa, Mohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
2016 — conf
Constrained optimal control of needle deflection for semi-manual steering.
AIM
Carlos Rossa, Mohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli
2016 — conf
Introducing notched flexible needles with increased deflection curvature in soft tissue.
AIM
Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli
2016 J jnl
Mechanics of Tissue Cutting During Needle Insertion in Biological Tissue.
IEEE Robotics Autom. Lett.
Mohsen Khadem, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli
2016 J jnl
Ultrasound-Guided Model Predictive Control of Needle Steering in Biological Tissue.
J. Medical Robotics Res.
Mohsen Khadem, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli
2015 A* conf
A mechanics-based model for simulation and control of flexible needle insertion in soft tissue.
ICRA
Mohsen Khadem, Bita Fallahi, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli
2015 A conf
Extended bicycle model for needle steering in soft tissue.
IROS
Bita Fallahi, Mohsen Khadem, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli