11 papers
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…
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;…
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…
Helical Tendon-Driven Continuum Robot with Programmable Follow-the-Leader Operation
Behnam Moradkhani, Raghav Sankaranarayanan, Pejman Kheradmand +4
Spinal cord stimulation (SCS) is primarily utilized for pain management and has recently demonstrated efficacy in promoting functional recovery in patients with spinal cord injury.…
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…