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Nabil Simaan
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2020 – today
- 2024
- [j29]Jared Lawson
, Madison Veliky
Endovascular Detection of Catheter-Thrombus Contact by Vacuum Excitation. IEEE Trans. Biomed. Eng. 71(6): 1926-1936 (2024) - [i17]Jared Lawson, Madison Veliky, Colette P. Abah, Mary S. Dietrich, Rohan Chitale, Nabil Simaan:
Endovascular Detection of Catheter-Thrombus Contact by Vacuum Excitation. CoRR abs/2401.10804 (2024) - [i16]Madison Veliky, Garrison L. H. Johnston, Ahmet Yildiz, Nabil Simaan:
A Feasibility Study of a Soft, Low-Cost, 6-Axis Load Cell for Haptics. CoRR abs/2410.03939 (2024) - 2023
- [j28]Giovanni Pittiglio
Closed Loop Static Control of Multi-Magnet Soft Continuum Robots. IEEE Robotics Autom. Lett. 8(7): 3980-3987 (2023) - [j27]Andrew L. Orekhov
Lie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots With General String Encoder Routing. IEEE Trans. Robotics 39(3): 2308-2324 (2023) - [c51]Yeonhee Chang, Elan Z. Ahronovich, Nabil Simaan, Cheol Song:
Exploring Robot-Assisted Optical Coherence Elastography for Surgical Palpation. ICRA 2023: 4768-4774 - [c50]Jared Lawson, Rohan Chitale, Nabil Simaan:
Model-Based Pose Estimation of Steerable Catheters under Bi-Plane Image Feedback. ICRA 2023: 4789-4796 - [c49]Elan Z. Ahronovich, Neel Shihora, Jin-Hui Shen, Karen M. Joos, Nabil Simaan:
Exploring An External Approach to Subretinal Drug Delivery via Robot Assistance and B-Mode OCT. ICRA 2023: 6795-6801 - [c48]Neel Shihora, Nabil Simaan:
Induced Vertex Motion As a Performance Measure for Surgery in Confined Spaces. ICRA 2023: 6837-6843 - [c47]Ramkumar Natarajan, Garrison L. H. Johnston
Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization. ICRA 2023: 8148-8154 - [c46]Andrew L. Orekhov, Garrison L. H. Johnston
Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations. IROS 2023: 590-597 - [i15]Jared Lawson, Rohan Chitale, Nabil Simaan:
Model-Based Pose Estimation of Steerable Catheters under Bi-Plane Image Feedback. CoRR abs/2304.12165 (2023) - [i14]Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan:
Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms. CoRR abs/2306.12971 (2023) - [i13]Andrew L. Orekhov, Garrison L. H. Johnston, Nabil Simaan:
Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations. CoRR abs/2306.13155 (2023) - [i12]Giuseppe Del Giudice, Garrison L. H. Johnston, Nabil Simaan:
Design Considerations for 3RRR Parallel Robots with Lightweight, Approximate Static-Balancing. CoRR abs/2306.13156 (2023) - 2022
- [j26]Russell H. Taylor
Surgical Robotics and Computer-Integrated Interventional Medicine [Scanning the Issue]. Proc. IEEE 110(7): 823-834 (2022) - [j25]Pierre E. Dupont
Continuum Robots for Medical Interventions. Proc. IEEE 110(7): 847-870 (2022) - [c45]Neel Shihora, Nabil Simaan:
Geometric Insights into Kinematically-Singular Configurations of Planar Continuum Robots. ARK 2022: 237-247 - [i11]Ramkumar Natarajan, Garrison L. H. Johnston, Nabil Simaan, Maxim Likhachev, Howie Choset:
Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization. CoRR abs/2210.08627 (2022) - [i10]Andrew L. Orekhov, Elan Z. Ahronovich, Nabil Simaan:
Lie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots with General String Encoder Routing. CoRR abs/2212.12523 (2022) - 2021
- [j24]Rashid Yasin
Joint-level force sensing for indirect hybrid force/position control of continuum robots with friction. Int. J. Robotics Res. 40(4-5) (2021) - [j23]Pierre E. Dupont
A decade retrospective of medical robotics research from 2010 to 2020. Sci. Robotics 6(60) (2021) - [c44]Neel Shihora, Rashid Yasin, Ryan Walsh, Nabil Simaan:
Feasibility of Remote Landmark Identification for Cricothyrotomy Using Robotic Palpation. IROS 2021: 1808-1814 - [c43]Colette Abah, Rohan Chitale, Nabil Simaan:
Image-Guided Optimization of Robotic Catheters for Patient-Specific Endovascular Intervention. ISMR 2021: 1-8 - [i9]Neel Shihora, Rashid M. Yasin, Ryan Walsh, Nabil Simaan:
Feasibility of Remote Landmark Identification for Cricothyrotomy Using Robotic Palpation. CoRR abs/2110.12078 (2021) - 2020
- [c42]Garrison L. H. Johnston
Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints. ICRA 2020: 4709-4716 - [c41]Andrew L. Orekhov, Nabil Simaan:
Solving Cosserat Rod Models via Collocation and the Magnus Expansion. IROS 2020: 8653-8660 - [i8]Andrew L. Orekhov, Nabil Simaan:
Solving Cosserat Rod Models via Collocation and the Magnus Expansion. CoRR abs/2008.01054 (2020) - [i7]Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan:
Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints. CoRR abs/2008.05032 (2020)
2010 – 2019
- 2019
- [j22]Piotr R. Slawinski
Sensorless Estimation of the Planar Distal Shape of a Tip-Actuated Endoscope. IEEE Robotics Autom. Lett. 4(4): 3371-3377 (2019) - [j21]Nicolo Garbin
Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy. IEEE Trans. Biomed. Eng. 66(7): 1963-1974 (2019) - [j20]Long Wang
Geometric Calibration of Continuum Robots: Joint Space and Equilibrium Shape Deviations. IEEE Trans. Robotics 35(2): 387-402 (2019) - [j19]Piotr R. Slawinski
Sensitivity Ellipsoids for Force Control of Magnetic Robots With Localization Uncertainty. IEEE Trans. Robotics 35(5): 1123-1135 (2019) - [c40]Colette Abah, Andrew L. Orekhov, Garrison L. H. Johnston
A Multi-modal Sensor Array for Safe Human-Robot Interaction and Mapping. ICRA 2019: 3768-3774 - [i6]Long Wang, Giuseppe Del Giudice, Nabil Simaan:
Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration. CoRR abs/1906.03582 (2019) - [i5]Andrew L. Orekhov, Colette Abah, Nabil Simaan:
Snake-Like Robots for Minimally Invasive, Single Port, and Intraluminal Surgeries. CoRR abs/1906.04852 (2019) - [i4]Yue Chen, Long Wang, Kevin C. Galloway, Isuru S. Godage, Nabil Simaan, Eric J. Barth:
Modal-based Kinematics and Contact Detection of Soft Robots. CoRR abs/1906.11654 (2019) - 2018
- [j18]Nabil Simaan, Rashid M. Yasin, Long Wang
Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics. Annu. Rev. Control. Robotics Auton. Syst. 1: 465-490 (2018) - [j17]Preetham Chalasani
Preliminary Evaluation of an Online Estimation Method for Organ Geometry and Tissue Stiffness. IEEE Robotics Autom. Lett. 3(3): 1816-1823 (2018) - [c39]Hadi Salman, Elif Ayvali, Rangaprasad Arun Srivatsan, Yifei Ma, Nicolas Zevallos, Rashid Yasin, Long Wang
Trajectory-Optimized Sensing for Active Search of Tissue Abnormalities in Robotic Surgery. ICRA 2018: 1-5 - [c38]Colette Abah, Andrew L. Orekhov, Nabil Simaan:
Design Considerations and Redundancy Resolution for Variable Geometry Continuum Robots. ICRA 2018: 767-774 - [c37]Nicolo Garbin, Long Wang
A disposable continuum endoscope using piston-driven parallel bellow actuator. ISMR 2018: 1-6 - [c36]Rashid Yasin, Long Wang
Using continuum robots for force-controlled semi autonomous organ exploration and registration. ISMR 2018: 1-6 - [i3]Nabil Simaan, Rashid M. Yasin, Long Wang:
Medical Technologies and Challenges of Robot Assisted Minimally Invasive Intervention and Diagnostics. CoRR abs/1807.03731 (2018) - 2017
- [j16]Elif Ayvali, Alexander R. Ansari, Long Wang
Utility-Guided Palpation for Locating Tissue Abnormalities. IEEE Robotics Autom. Lett. 2(2): 864-871 (2017) - [j15]Jason Pile, George B. Wanna, Nabil Simaan:
Robot-assisted perception augmentation for online detection of insertion failure during cochlear implant surgery. Robotica 35(7): 1598-1615 (2017) - [c35]Giuseppe Del Giudice, Long Wang
Continuum robots for multi-scale motion: Micro-scale motion through equilibrium modulation. IROS 2017: 2537-2542 - [c34]Nima Sarli
Minimal visual occlusion redundancy resolution of continuum robots in confined spaces. IROS 2017: 6448-6454 - [i2]Hadi Salman, Elif Ayvali, Rangaprasad Arun Srivatsan, Yifei Ma, Nicolas Zevallos, Rashid Yasin, Long Wang, Nabil Simaan, Howie Choset:
Trajectory-Optimized Sensing for Active Search of Tissue Abnormalities in Robotic Surgery. CoRR abs/1711.07063 (2017) - 2016
- [j14]Andrea Bajo, Nabil Simaan:
Hybrid motion/force control of multi-backbone continuum robots. Int. J. Robotics Res. 35(4): 422-434 (2016) - [j13]Christian Di Natali
Jacobian-Based Iterative Method for Magnetic Localization in Robotic Capsule Endoscopy. IEEE Trans. Robotics 32(2): 327-338 (2016) - [c33]Rangaprasad Arun Srivatsan, Elif Ayvali, Long Wang
Complementary model update: A method for simultaneous registration and stiffness mapping in flexible environments. ICRA 2016: 924-930 - [c32]Elif Ayvali, Rangaprasad Arun Srivatsan, Long Wang
Using Bayesian optimization to guide probing of a flexible environment for simultaneous registration and stiffness mapping. ICRA 2016: 931-936 - [c31]Rajarshi Roy, Long Wang
Investigation of effects of dynamics on intrinsic wrench sensing in continuum robots. ICRA 2016: 2052-2059 - [c30]Preetham Chalasani, Long Wang
Concurrent nonparametric estimation of organ geometry and tissue stiffness using continuous adaptive palpation. ICRA 2016: 4164-4171 - 2015
- [j12]Jienan Ding, Nabil Simaan:
Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots. Robotica 33(8): 1775-1793 (2015) - [c29]Nima Sarli
Characterization of resection dexterity in transurethral resection of bladder tumor: A kinematic study. ICRA 2015: 5324-5329 - [i1]Elif Ayvali, Rangaprasad Arun Srivatsan, Long Wang, Rajarshi Roy, Nabil Simaan, Howie Choset:
Using Bayesian Optimization to Guide Probing of a Flexible Environment for Simultaneous Registration and Stiffness Mapping. CoRR abs/1509.05830 (2015) - 2014
- [j11]Roger E. Goldman, Andrea Bajo, Nabil Simaan:
Compliant Motion Control for Multisegment Continuum Robots With Actuation Force Sensing. IEEE Trans. Robotics 30(4): 890-902 (2014) - [c28]Jason Pile, George B. Wanna, Nabil Simaan:
Force-based flexible path plans for robotic electrode insertion. ICRA 2014: 297-303 - [c27]Siddharth Sanan, Stephen Tully, Andrea Bajo, Nabil Simaan, Howie Choset:
Simultaneous Compliance and Registration Estimation for Robotic Surgery. Robotics: Science and Systems 2014 - 2013
- [j10]Roger E. Goldman, Andrea Bajo, Nabil Simaan:
Algorithms for autonomous exploration and estimation in compliant environments. Robotica 31(1): 71-87 (2013) - [j9]Roger E. Goldman, Andrea Bajo, Lara S. MacLachlan, Ryan B. Pickens, S. Duke Herrell, Nabil Simaan:
Design and Performance Evaluation of a Minimally Invasive Telerobotic Platform for Transurethral Surveillance and Intervention. IEEE Trans. Biomed. Eng. 60(4): 918-925 (2013) - [c26]Haoran Yu, Jin-Hui Shen, Karen M. Joos, Nabil Simaan:
Design, calibration and preliminary testing of a robotic telemanipulator for OCT guided retinal surgery. ICRA 2013: 225-231 - [c25]Andrea Bajo, Latif M. Dharamsi, James L. Netterville, C. Gaelyn Garrett, Nabil Simaan:
Robotic-assisted micro-surgery of the throat: The trans-nasal approach. ICRA 2013: 232-238 - [c24]Samrat Bhattacharyya, Nabil Simaan:
Characterization of constraints in flexible unknown environments. ICRA 2013: 3994-3999 - [c23]Jason Pile, Nabil Simaan:
Characterization of friction and speed effects and methods for detection of cochlear implant electrode tip fold-over. ICRA 2013: 4409-4414 - [c22]Andrea Bajo, Ryan B. Pickens, S. Duke Herrell, Nabil Simaan:
Constrained motion control of multisegment continuum robots for transurethral bladder resection and surveillance. ICRA 2013: 5837-5842 - 2012
- [j8]Youhua Chen, Hongliang Wang, Jian Zhang, Guy Garty
Automated recognition of robotic manipulation failures in high-throughput biodosimetry tool. Expert Syst. Appl. 39(10): 9602-9611 (2012) - [j7]Andrea Bajo, Nabil Simaan:
Kinematics-Based Detection and Localization of Contacts Along Multisegment Continuum Robots. IEEE Trans. Robotics 28(2): 291-302 (2012) - [c21]Andrea Bajo, Roger E. Goldman, Long Wang
Integration and preliminary evaluation of an Insertable Robotic Effectors Platform for Single Port Access Surgery. ICRA 2012: 3381-3387 - [c20]Stephen Tully, Andrea Bajo, George Kantor, Howie Choset, Nabil Simaan:
Constrained filtering with contact detection data for the localization and registration of continuum robots in flexible environments. ICRA 2012: 3388-3394 - [c19]H. Tutkun Sen, Nishikant P. Deshmukh, Roger E. Goldman, Peter Kazanzides
Enabling technologies for natural orifice transluminal endoscopic surgery (N.O.T.E.S) using robotically guided elasticity imaging. Medical Imaging: Image-Guided Procedures 2012: 83161Y - 2011
- [c18]Roger E. Goldman, Andrea Bajo, Nabil Simaan:
Compliant motion control for continuum robots with intrinsic actuation sensing. ICRA 2011: 1126-1132 - [c17]Jason Pile, Mei Yi Cheung, Jian Zhang, Nabil Simaan:
Algorithms and design considerations for robot assisted insertion of Perimodiolar Electrode Arrays. ICRA 2011: 2898-2904 - [c16]Andrea Bajo, Roger E. Goldman, Nabil Simaan:
Configuration and joint feedback for enhanced performance of multi-segment continuum robots. ICRA 2011: 2905-2912 - [c15]Austin Reiter, Roger E. Goldman, Andrea Bajo, Konstantinos Iliopoulos, Nabil Simaan, Peter K. Allen:
A learning algorithm for visual pose estimation of continuum robots. IROS 2011: 2390-2396 - [c14]Kai Xu, Dong Qiu, Nabil Simaan:
A pilot investigation of continuum robots as a design alternative for upper extremity exoskeletons. ROBIO 2011: 656-662 - 2010
- [j6]Kai Xu, Nabil Simaan:
Intrinsic Wrench Estimation and Its Performance Index for Multisegment Continuum Robots. IEEE Trans. Robotics 26(3): 555-561 (2010) - [c13]Jienan Ding, Kai Xu, Roger E. Goldman, Peter K. Allen, Dennis L. Fowler, Nabil Simaan:
Design, simulation and evaluation of kinematic alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery. ICRA 2010: 1053-1058 - [c12]Andrea Bajo, Nabil Simaan:
Finding lost wrenches: Using continuum robots for contact detection and estimation of contact location. ICRA 2010: 3666-3673
2000 – 2009
- 2009
- [j5]Nabil Simaan, Kai Xu, Wei Wei, Ankur Kapoor, Peter Kazanzides
Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat. Int. J. Robotics Res. 28(9): 1134-1153 (2009) - [j4]Wei Wei, Roger E. Goldman, Howard F. Fine, Stanley Chang, Nabil Simaan:
Performance Evaluation for Multi-arm Manipulation of Hollow Suspended Organs. IEEE Trans. Robotics 25(1): 147-157 (2009) - [c11]Saleem Abdul Hamid, Nabil Simaan:
Design and synthesis of wire-actuated universal-joint wrists for surgical applications. ICRA 2009: 1807-1813 - [c10]Jian Zhang, Samrat Bhattacharyya, Nabil Simaan:
Model and parameter identification of friction during robotic insertion of cochlear-implant electrode arrays. ICRA 2009: 3859-3864 - [c9]Kai Xu, Roger E. Goldman, Jienan Ding, Peter K. Allen, Dennis L. Fowler, Nabil Simaan:
System design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery. IROS 2009: 5546-5552 - 2008
- [j3]Kai Xu, Nabil Simaan:
An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots. IEEE Trans. Robotics 24(3): 576-587 (2008) - [c8]Jian Zhang, Wei Wei, Spiros Manolidis, J. Thomas Roland, Nabil Simaan:
Path Planning and Workspace Determination for Robot-Assisted Insertion of Steerable Electrode Arrays for Cochlear Implant Surgery. MICCAI (2) 2008: 692-700 - 2007
- [c7]Alessio Salerno, Jian Zhang, Anubha Bhatla, Oleksandra V. Lyulko, Aparajita Dutta, Guy Garty, Nabil Simaan, Gerhard Randers Pehrson, Y. Lawrence Yao, David J. Brenner, Jing Nie:
Design Considerations for a Minimally Invasive High-Throughput Automation System for Radiation Biodosimetry. CASE 2007: 846-852 - [c6]Wei Wei, Roger E. Goldman, Nabil Simaan, Howard F. Fine, Stanley Chang:
Design and Theoretical Evaluation of Micro-Surgical Manipulators for Orbital Manipulation and Intraocular Dexterity. ICRA 2007: 3389-3395 - 2006
- [c5]Kai Xu, Nabil Simaan:
Actuation Compensation for Flexible Surgical Snake-like Robots with Redundant Remote Actuation. ICRA 2006: 4148-4154 - [c4]Jian Zhang, Kai Xu, Nabil Simaan, Spiros Manolidis:
A Pilot Study of Robot-Assisted Cochlear Implant Surgery Using Steerable Electrode Arrays. MICCAI (1) 2006: 33-40 - 2005
- [c3]Nabil Simaan:
Snake-Like Units Using Flexible Backbones and Actuation Redundancy for Enhanced Miniaturization. ICRA 2005: 3012-3017 - 2004
- [c2]Nabil Simaan, Russell H. Taylor, Paul Flint:
A Dexterous System for Laryngeal Surgery. ICRA 2004: 351-357 - [c1]Nabil Simaan, Russell H. Taylor, Paul Flint:
High Dexterity Snake-Like Robotic Slaves for Minimally Invasive Telesurgery of the Upper Airway. MICCAI (2) 2004: 17-24 - 2003
- [j2]Nabil Simaan, Moshe Shoham:
Stiffness Synthesis of a Variable Geometry Six-Degrees-of-Freedom Double Planar Parallel Robot. Int. J. Robotics Res. 22(9): 757-778 (2003) - 2001
- [j1]Nabil Simaan, Moshe Shoham:
Singularity analysis of a class of composite serial in-parallel robots. IEEE Trans. Robotics Autom. 17(3): 301-311 (2001)
Coauthor Index
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