5 citations · 10 across the 14 of their papers we have counts for
14 papers
A Deep Learning-Driven Autonomous System for Retinal Vein Cannulation: Validation Using a Chicken Embryo Model
Yi Wang, Peiyao Zhang, Mojtaba Esfandiari +2
Retinal vein cannulation (RVC) is a minimally invasive microsurgical procedure for treating retinal vein occlusion (RVO), a leading cause of vision impairment. However, the small s…
Deep Learning-Enhanced Robotic Subretinal Injection with Real-Time Retinal Motion Compensation
Tianle Wu, Mojtaba Esfandiari, Peiyao Zhang +3
Subretinal injection is a critical procedure for delivering therapeutic agents to treat retinal diseases such as age-related macular degeneration (AMD). However, retinal motion cau…
An Extended Generalized Prandtl-Ishlinskii Hysteresis Model for I2RIS Robot
Yiyao Yue, Mojtaba Esfandiari, Pengyuan Du +5
Retinal surgery requires extreme precision due to constrained anatomical spaces in the human retina. To assist surgeons achieve this level of accuracy, the Improved Integrated Robo…
Model Predictive Path Integral Control of I2RIS Robot Using RBF Identifier and Extended Kalman Filter
Mojtaba Esfandiari, Pengyuan Du, Haochen Wei +4
Modeling and controlling cable-driven snake robots is a challenging problem due to nonlinear mechanical properties such as hysteresis, variable stiffness, and unknown friction betw…
Towards Motion Compensation in Autonomous Robotic Subretinal Injections
Demir Arikan, Peiyao Zhang, Michael Sommersperger +7
Exudative (wet) age-related macular degeneration (AMD) is a leading cause of vision loss in older adults, typically treated with intravitreal injections. Emerging therapies, such a…
Real-time Deformation-aware Control for Autonomous Robotic Subretinal Injection under iOCT Guidance
Demir Arikan, Peiyao Zhang, Michael Sommersperger +7
Robotic platforms provide consistent and precise tool positioning that significantly enhances retinal microsurgery. Integrating such systems with intraoperative optical coherence t…
Bimanual Manipulation of Steady Hand Eye Robots with Adaptive Sclera Force Control: Cooperative vs. Teleoperation Strategies
Mojtaba Esfandiari, Peter Gehlbach, Russell H. Taylor +1
Performing retinal vein cannulation (RVC) as a potential treatment for retinal vein occlusion (RVO) without the assistance of a surgical robotic system is very challenging to do sa…
Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study
Mojtaba Esfandiari, Ji Woong Kim, Botao Zhao +5
A surgeon's physiological hand tremor can significantly impact the outcome of delicate and precise retinal surgery, such as retinal vein cannulation (RVC) and epiretinal membrane p…
Human-Robot Interaction in Retinal Surgery: A Comparative Study of Serial and Parallel Cooperative Robots
Botao Zhao, Mojtaba Esfandiari, David E. Usevitch +2
Cooperative robots for intraocular surgery allow surgeons to perform vitreoretinal surgery with high precision and stability. Several robot structural designs have shown capabiliti…
Using an Improved Output Feedback MPC Approach for Developing a Haptic Virtual Training System
Soroush Sadeghnejad, Farshad Khadivar, Mojtaba Esfandiari +4
Haptic training simulators generally consist of three major components, namely a human operator, a haptic interface, and a virtual environment. Appropriate dynamic modeling of each…
A Virtual-Based Haptic Endoscopic Sinus Surgery (ESS) Training System: from Development to Validation
Soroush Sadeghnejad, Mojtaba Esfandiari, Farshad Khadivar
Simulated training platforms offer a suitable avenue for surgical students and professionals to build and improve upon their skills, without the hassle of traditional training meth…
A Data-Driven Model with Hysteresis Compensation for I2RIS Robot
Mojtaba Esfandiari, Yanlin Zhou, Shervin Dehghani +6
Retinal microsurgery is a high-precision surgery performed on an exceedingly delicate tissue. It now requires extensively trained and highly skilled surgeons. Given the restricted…
Design and Fabrication of a Fiber Bragg Grating Shape Sensor for Shape Reconstruction of a Continuum Manipulator
Golchehr Amirkhani, Anna Goodridge, Mojtaba Esfandiari +4
Continuum dexterous manipulators (CDMs) are suitable for performing tasks in a constrained environment due to their high dexterity and maneuverability. Despite the inherent advanta…
An Improved Approach for Output Feedback Model Predictive Control of Hybrid Systems
Soroush Sadeghnejad, Farshad Khadivar, Mojtaba Esfandiari +4
In this paper, a modified robust model predictive control scheme is proposed for linear parametric variable (LPV) and hybrid systems based on a quasi-min-max algorithm. Using a new…