5 citations · 10 across the 14 of their papers we have counts for
7 papers · 1 filter
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…