6 citations · 13 across the 12 of their papers we have counts for
13 papers · 1 filter
Bilinear Model Predictive Control Framework of the OncoReach, a Tendon-Driven Steerable Stylet for Brachytherapy
Pejman Kheradmand, Behnam Moradkhani, Mir Masoud Ale Ali +3
Steerable needles have the potential to improve interstitial brachytherapy by enabling curved trajectories that avoid sensitive anatomical structures. However, existing modeling an…
Towards Autonomous Instrument Tray Assembly for Sterile Processing Applications
Raghavasimhan Sankaranarayanan, Paul Stuart, Nicholas Ahn +2
The Sterile Processing and Distribution (SPD) department is responsible for cleaning, disinfecting, inspecting, and assembling surgical instruments between surgeries. Manual inspec…
Towards a Novel Wearable Robotic Vest for Hemorrhage Suppression
Harshith Jella, Pejman Kheradmand, Joseph Klein +2
This paper introduces a novel robotic system designed to manage severe bleeding in emergency scenarios, including unique environments like space stations. The robot features a shap…
Helical Tendon-Driven Continuum Robot with Programmable Follow-the-Leader Operation
Behnam Moradkhani, Raghav Sankaranarayanan, Pejman Kheradmand +4
Spinal cord stimulation (SCS) is widely used for pain management and has recently shown promise in promoting functional recovery following spinal cord injury. Effective activation…
The OncoReach Stylet for Brachytherapy: Design Evaluation and Pilot Study
Pejman Kheradmand, Kent K. Yamamoto, Emma Webster +9
Cervical cancer accounts for a significant portion of the global cancer burden among women. Interstitial brachytherapy (ISBT) is a standard procedure for treating cervical cancer;…
A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons
Pejman Kheradmand, Behnam Moradkhani, Raghavasimhan Sankaranarayanan +5
Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They o…
Tendon-Actuated Concentric Tube Endonasal Robot (TACTER)
Kent K. Yamamoto, Tanner J. Zachem, Pejman Kheradmand +6
Endoscopic endonasal approaches (EEA) have become more prevalent for minimally invasive skull base and sinus surgeries. However, rigid scopes and tools significantly decrease the s…
ExoNav II: Design of a Robotic Tool with Follow-the-Leader Motion Capability for Lateral and Ventral Spinal Cord Stimulation (SCS)
Behnam Moradkhani, Pejman Kheradmand, Harshith Jella +3
Spinal cord stimulation (SCS) electrodes are traditionally placed in the dorsal epidural space to stimulate the dorsal column fibers for pain therapy. Recently, SCS has gained atte…
Towards the Development of a Tendon-Actuated Galvanometer for Endoscopic Surgical Laser Scanning
Kent K. Yamamoto, Tanner J. Zachem, Behnam Moradkhani +2
There is a need for precision pathological sensing, imaging, and tissue manipulation in neurosurgical procedures, such as brain tumor resection. Precise tumor margin identification…
An FBG-based Stiffness Estimation Sensor for In-vivo Diagnostics
Behnam Moradkhani, Pejman Kheradmand, Harshith Jella +4
In-vivo tissue stiffness identification can be useful in pulmonary fibrosis diagnostics and minimally invasive tumor identification, among many other applications. In this work, we…
Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots
Yuan Wang, Max McCandless, Abdulhamit Donder +4
The ability to accurately model mechanical hysteretic behavior in tendon-actuated continuum robots using deep learning approaches is a growing area of interest. In this paper, we i…
Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions
Giovanni Pittiglio, Margherita Mencattelli, Abdulhamit Donder +2
A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated usin…
3D Human Pose Estimation on a Configurable Bed from a Pressure Image
Henry M. Clever, Ariel Kapusta, Daehyung Park +3
Robots have the potential to assist people in bed, such as in healthcare settings, yet bedding materials like sheets and blankets can make observation of the human body difficult f…