Electrical and Computer EngineeringWestern Engineering

Publications

Papers in Refereed Journal Publications (2010-Present)

  1. B. Poursartip , M.E. LeBel* , L.C. McCracken, A. Escoto, R.V. Patel, M.D. Naish and A.L. Trejos, “Energy-based metrics for arthroscopic skills assessment,” Sensors: Special Issue on ‘Force and Pressure Based Sensing Medical Applications; accepted, July 2017.

  2. L.C. McCracken, A.L. Trejos, M.E. LeBel*, B. Poursartip, A. Escoto, R.V. Patel and M.D. Naish, “Development of a physical shoulder simulator for the training of basic arthroscopic skills,” International Journal of Medical Robotics and Computer Assisted Surgery; accepted July 2017.

  3. A.L. Trejos, A. Escoto, M.D. Naish, and R.V. Patel, “Design and evaluation of a sterilizable force-sensing instrument for laparoscopic surgery,” IEEE Sensors Journal, vol. 17, no. 13, pp. 3983–3993, July 2017.

  4. P. Yadmellat and R.V. Patel, "Frequency response analysis of magneto-rheological clutch designs," Journal of Intelligent Material Systems and Structures, accepted June 2017.

  5. B. Poursartip, M.E. LeBel*, R.V. Patel, M.D. Naish and A.L. Trejos, “Energy-based metrics for laparoscopic skills assessment,” IEEE Transactions on Biomedical Engineering; accepted, May 2017.

  6. K. Siroen, C.D.W. Ward, A. Escoto, M.D. Naish, Y. Bureau, R.V. Patel, C.M. Schlachta*, S.M. Cristancho, and A.L. Trejos, “Mastery learning—does method of learning make a difference in skill acquisition for robotic surgery?” International Journal of Medical Robotics and Computer Assisted Surgery; accepted May 2017.

  7. M. Khoshnam and R.V. Patel, “Robotics-Assisted Control of Steerable Ablation Catheters Based on the Analysis of Tendon-Sheath Transmission Mechanisms,” IEEE/ASME Transactions on Mechatronics, vol. 22, no. 3, pp. 1473-1484, June 2017.

  8. S.F. Atashzar, M. Shahbazi, M. Tavakoli, R.V. Patel, “A Grasp-based Passivity Signature for Haptics-enabled Human-Robot Interaction: Application to Design of a New Safety Mechanism for Robotic Rehabilitation,” International Journal of Robotics Research: Special Issue on Human-Robot Interaction, vol. 36, no. 5-7, pp. 778-799, June 2017.

  9. S.F. Atashzar, M. Shahbazi, M. Tavakoli, R.V. Patel, “A Passivity-based approach for Stable Patient-Robot Interaction in Haptics-enabled Rehabilitation Systems: Modulated Time-domain Passivity Control (M-TDPC),” IEEE Transactions on Control Systems Technology, vol. 25, no. 3, pp. 991-1006, May 2017.

  10. G-Z Yang, J. Cambias, K. Cleary, E. Daimler, J. Drake*, P.E. Dupont, N. Hata, P. Kazanzides, S. Martel, R.V. Patel, V.J. Santos, R.H. Taylor, “Medical robotics—Regulatory, ethical, and legal considerations for increasing levels of autonomy,” Editorial in Science Robotics, vol. 2, no. 4, March 2017.

  11. A. Naidu, R.V. Patel and M.D. Naish, “Low-Cost Disposable Tactile Sensors for Palpation in Minimally Invasive Surgery,” IEEE/ASME Transactions on Mechatronics. vol. 22, no. 1, pp, 127-137, Feb. 2017.

  12. A. Naidu, M.D. Naish and R.V. Patel, “A Breakthrough in Tumor Localization: Combining Tactile Sensing and Ultrasound to Improve Tumor Localization in Robotics-Assisted Minimally Invasive Surgery,” IEEE Robotics and Automation Magazine, vol 24, no. 2, pp. 54-62, June 2017.

  13. A. Talasaz, A.L. Trejos, R.V. Patel, “The Role of Direct and Visual Force Feedback in Suturing using a 7-DOF Dual-Arm Teleoperated System,” IEEE Transactions on Haptics, vol. 10, no. 2, pp. 276-287, 2017.

  14. S.F. Atashzar, N. Jafari, M. Shahbazi, H. Janz, M. Tavakoli, R.V. Patel, and K. Adams, “Telerobotics-assisted Platform for Enhancing Interaction with Physical Environments for People Living with Cerebral Palsy”, Journal of Medical Robotics Research, vol. 02, 1740001 (2017) [15 pages] https://doi.org/10.1142/S2424905X17400013.

  15. M.E. Currie*, A. Talasaz, R. Rayman*, M.W.A. Chu*, B. Kiaii*, T. Peters, A.L. Trejos, and R.V. Patel, “The Role of Visual and Direct Force Feedback in Robotics-Assisted Mitral Valve Annuloplasty”, The International Journal of Medical Robotics and Computer Assisted Surgery, vol. 10, no. 2, pp 276–287, April–June 2017.

  16. R. Xu, A. Yurkewich, and R.V. Patel, “Curvature, torsion, and force sensing in continuum robots using helically wrapped FBG sensors,” IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 1052–1059, 2016.

  17. M. Jackman, M. Delrobaei, F. Rahimi, S.F. Atashzar, M. Shahbazi, R.V. Patel, M. Jog*, “Predicting Improvement in Writer’s Cramp Symptoms Following Botulinum Neurotoxin Injection Therapy,” Tremor and Other Hyperkinetic Movements, vol. 6: doi: 10.7916/D82Z15Q, 2016.

  18. M. Shahbazi, S.F. Atashzar, M. Tavakoli and R.V. Patel, “Robotics-Assisted Mirror Rehabilitation Therapy: A Therapist-in-the-Loop Assist-as-Needed Architecture”, IEEE/ASME Transactions on Mechatronics, vol. 21, no. 4, pp. 1954 - 1965, 2016.

  19. S.F. Atashzar, M. Shahbazi, C.D.W. Ward, O. Samotus, M. Delrobaei, F. Rahimi, J. Lee, M. Jackman, M. Jog*, R.V. Patel, “Haptic Feedback Manipulation During Botulinium Toxin Injection Therapy for Focal Hand Dystonia Patients: A Possible New Assistive Strategy,” IEEE Transactions on Haptics: Special Issue on Haptics in Neuroscience, 2016, vol. 9, no. 4, pp. 523-535, 2016.

  20. M. Delrobaei, F. Rahimi, M. Jackman, S.F. Atashzar, M. Shahbazi; R.V. Patel, M, Jog*, “Kinematic and Kinetic Assessment of Upper Limb Movements in Patients with Writer's Cramp”, Journal of NeuroEngineering and Rehabilitation, vol. 13, no.15, pp. 1-10, Feb. 2016.

  21. S.F. Atashzar, I.G. Polushin, R.V. Patel, “A Small-Gain Approach for Non-Passive Bilateral Telerobotic Rehabilitation: Stability Analysis and Controller Synthesis”, IEEE Transactions on Robotics, vol. 33, no. 1, pp. 49-66, Feb. 2017.

  22. S.F. Atashzar, M. Shahbazi, O. Samotus, M. Tavakoli, M. Jog*, R.V. Patel, “Characterization of Upper-limb Pathological Tremors: Application to Design of an Augmented Haptic Rehabilitation System”, IEEE Journal of Selected Topics in Signal Processing: Special Issue on Person-Centered Signal Processing for Assistive, Rehabilitative and Wearable Technologies. vol. 10. no. 5, pp. 888-903, Jan. 2016.

  23. N. Najmaei, A. Asadian, M.R. Kermani, R.V. Patel, " Design and Performance Evaluation of a Prototype MRF-based Haptic Interface for Medical Applications", IEEE/ASME Transactions on Mechatronics, vol. 21, no. 1, pp. 110-121, Feb. 2016.

  24. A.L. Trejos, K. Siroen, C.D.W. Ward, S. Hossain, M.D. Naish, R.V. Patel, C.M. Schlachta*, “Randomized control trial for evaluation of a hands-free pointer for surgical instruction during laparoscopic cholecystectomy,” Surgical Endoscopy, vol. 29, no. 12, pp. 3655-3665.

  25. M. Khoshnam, A. Skanes*, R.V. Patel, “Modeling and Estimation of Tip Contact Force for Steerable Ablation Catheters,” IEEE Transactions on Biomedical Engineering; vol. 62, no. 5, pp. 1404-1415, 2015.

  26. A. Takhmar, I.G. Polushin, A. Talasaz, R.V. Patel, “Cooperative Teleoperation with Projection-Based Force Reflection for MIS,” IEEE Transactions on Control Systems Technology, vol. 23, no. 4, pp. 1411-1426, July 2015.

  27. N. Najmaei, M.R. Kermani, R.V. Patel, "Suitability of Small-Scale Magneto-Rheological Fluid Based Clutches in Haptic Interfaces for Improved Performance", IEEE/ASME Transactions on Mechatronics, vol. 20, no. 4, pp. 1863-1974, 2015.

  28. M. Shahbazi, S.F. Atashzar, H.A. Talebi, R.V. Patel, "Novel Cooperative Teleoperation Framework: Multi-Master/Single-Slave System", IEEE/ASME Transactions on Mechatronics, vol. 20, no. 4, pp. 1668-1679, 2015.

  29. A. Azimian, M.D. Naish, B. Kiaii*, R.V. Patel, "A Chance Constrained Programming Approach To Preoperatve Planning of Robotic Cardiac Surgery Under Task-Level Uncertainty", IEEE Journal of Biomedical and Health Informatics, vol. 19, no. 2, pp. 612-622, March 2015.

  30. A. Talasaz, A.L. Trejos, S. Perrault, H. Bassan, R.V. Patel, “A Dual-Arm 7-DOF Haptics-Enabled Teleoperation Test Bed for Minimally Invasive Surgery,” ASME Journal of Medical Devices, vol. 8, no. 4, pp. 041004-1–041002-15, Dec. 2014; Best Paper Award 2014.

  31. M. Azizian, N. Najmaei, M. Khoshnam, and R.V. Patel, “Visual Servoing in Medical Robotics; Part II: Tomographic Imaging Modalities – Techniques and Applications,” International Journal of Medical Robotics and Computer-Assisted Surgery, vol. 10, no. 3, pp. 263-274, sep. 2014.

  32. A. Escoto, A.L. Trejos, R.V. Patel, A. Goela*, B. Kiaii*, “Anatomy-based Eligibility Measure for Robotics-assisted Bypass Surgery,” Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery; vol. 9, no. 5, pp. 349–353, Sept.–Oct. 2014.

  33. A.L. Trejos, R.V. Patel, R.A. Malthaner*, C.M. Schlachta*, “Development of force-based metrics for skills assessment in minimally invasive surgery,” Surgical Endoscopy, vol. 28, no. 7, pp. 2106-2119, 2014.

  34. I.G. Polushin, A. Takhmar, R.V. Patel, “Projection-Based Force Reflection Algorithms with Frequency Separation for Bilateral Teleoperation,” IEEE/ASME Transactions on Mechatronics, vol. 20, no. 1, pp. 143-154, 2015.

  35. A. Asadian R.V. Patel and M.R. Kermani, “Dynamics of Translational Friction in Needle-Tissue Interaction During Needle Insertion,” Annals of Biomedical Engineering, vol. 42, no.1, pp. 72-85, 2014.

  36. M. Azizian, M. Khoshnam, N. Najmaei, and R.V. Patel, “Visual Servoing in Medical Robotics: A Survey. Part I: Endoscopic and Direct Vision Imaging – Techniques and Applications,” International Journal of Medical Robotics and Computer-Assisted Surgery, published online: Sept 2013.

  37. A. Talasaz and R.V. Patel, “Integration of Force Reflection with Tactile Sensing for Minimally Invasive Robotics-Assisted Tumor Localization,” IEEE Trans. on Haptics; vol. 6, no. 2, pp. 217-228, Apr. 2013.

  38. A. Azimian, R.V. Patel, M.D. Naish and B. Kiaii*, “A Semi-Infinite Programming Approach to Preoperative Planning of Robotic Cardiac Surgery Under Geometric Uncertainty,” IEEE Transactions on Information Technology in BioMedicine, vol. 17, no. 1, pp. 172-182, Jan. 2013.

  39. J.T. Moore, M.W.A. Chu, B. Kiaii*, D. Bainbridge*, G. Guiraudon*, C. Wedlake, M. Currie*, M. Rajchl, R.V. Patel, and T.M. Peters, “A Navigation Platform for Guidance of Beating Heart Transapical Mitral Valve Repair,” IEEE Transactions on Biomedical Engineering, vol. 60, no. 4, pp. 1034-1040, Apr. 2013.

  40. I.G. Polushin, S.N. Dashkovskiy, A. Takhmar, R.V. Patel, “A Small Gain Framework for Networked Cooperative Force-Reflecting Teleoperation,” Automatica, vol 49, no, 2, pp. 338-348, 2013.

  41. M.E. Currie*, A.L. Trejos, R. Rayman*, M.W.A. Chu*, R.V. Patel, T.M. Peters, B. Kiaii*, “Is 3D better? Evaluating the effect of three-dimensional visualization on force application and performance time during robotics-assisted Mitral valve repair,” Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery, vol. 8, no. 3, pp.199-205, May/June, 2013.

  42. C.D.W. Ward, A.L. Trejos, M.D. Naish, R.V. Patel, and C.M. Schlachta*, ”The WHaSP: A Wireless Hands-Free Surgical Pointer for Minimally Invasive Surgery,” IEEE/ASME Transactions on Mechatronics – Focused Section on Wireless Mechatronics, vol. 17, no. 3, pp. 434-442, June 2012.

  43. D.S. Cho, C.A. Linte, E. Chen, D. Bainbridge*, C. Wedlake, J. Moore, J. Barron, R.V. Patel, T.M. Peters, “Predicting target vessel location on robot-assisted coronary artery bypass graft using CT to ultrasound registration,” Medical Physics, vol. 39, no. 3, pp. 1579-1587, 2012.

  44. A. Asadian, M.R. Kermani, and R.V. Patel, “A Novel Force Modeling Scheme for Needle Insertion Using Multiple Kalman Filters”, IEEE Transactions on Instrumentation and Measurement, vol. 61, no. 2, pp. 429-438, 2012.

  45. A. Escoto, A.L. Trejos, M.D. Naish, R.V. Patel, M.E. Lebel*, “Force sensing-based simulator for arthroscopic skills assessment in orthopaedic knee surgery,“ Studies in Health Technology and Informatics, vol. 173, pp. 129-135, 2012.

  46. A. Sadeghi Naini, R.V. Patel and A. Samani, “Measurement of Lung Hyperelastic Properties Using Inverse Finite Element Approach,” IEEE Transactions on Biomedical Engineering, vol. 58, pp. 2852-2859, 2011.

  47. J. Jayender, R.V. Patel, G. F. Michaud*, and N. Hata, “Optimal transseptal puncture location for robot-assisted left atrial catheter ablation,” International Journal of Medical Robotics and Computer Assisted Surgery, vol. 7, pp. 193-201, 2011.

  48. E. Yu*, C. Lewis, A.L. Trejos, R.V. Patel, and R.A. Malthaner*, “Lung cancer brachytherapy: robotics-assisted minimally invasive approach,” Curr Respir Med Rev. vol. 7, no. 5, pp. 340–353, Oct. 2011.

  49. A. Sadeghi Naini, G. Pierce, T.Y. Lee, R.V. Patel, and A. Samani, “CT image construction of a totally deflated lung using deformable model extrapolation,” Medical Physics, vol. 38, pp. 872-883, 2011.

  50. A. Sadeghi Naini, T.Y. Lee, R.V. Patel, and A. Samani, “Estimation of lung’s air volume and its variations throughout respiratory CT image sequences,” IEEE Transactions on Biomedical Engineering, vol. 58, pp. 152-158, 2011.

  51. M.T. Perri, A.L. Trejos, M.D. Naish, R.V. Patel, and R.A. Malthaner*, “Initial Evaluation of a Tactile/Kinesthetic Force Feedback System for Minimally Invasive Tumor Localization,” IEEE/ASME Transactions in Mechatronics, vol. 15, no. 6, pp. 923-931, Dec. 2010.

  52. B.F. Yousef, R.V. Patel and M. Moallem, “A manipulator for medical applications: design and control,” ASME Journal of Medical Devices, vol.4, pp. 041991 (10 pages), 2010.

  53. S. Jayaraman*, A.L. Trejos, M.D. Naish, A. Lyle, R.V. Patel, and C.M. Schlachta*, “Toward construct validity for a novel sensorized instrument-based minimally invasive surgery (SIMIS) simulation system,” Surgical Endoscopy, vol. 25, no. 5, pp. 1439-1445, Oct. 2011.

  54. A.L. Trejos, S. Jayaraman*, R.V. Patel, M.D. Naish, and C.M. Schlachta*, “Force sensing in natural orifice transluminal endoscopic surgery,” Surgical Endoscopy, vol. 25, no. 1, pp. 186-192, Jan. 2011.

  55. A.L. Trejos, I. Ross*, C. Scalesse, R.V. Patel, M.D. Naish and B. Kiaii*, “Preoperative evaluation of patient anatomy to increase the success of robotics-assisted bypass surgery,” Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery, vol. 5, no. 5, pp. 335-340, 2010.

  56. A. Asadian, M.R. Kermani and R.V. Patel, “Robot-Assisted Needle Steering Using a Control Theoretic Approach,” Journal of Intelligent and Robotic Systems, vol. 62, pp. 397-418, 2011.

  57. A. Sadeghi Naini, R.V. Patel and A. Samani, “CT Enhanced Ultrasound Image of a Totally Deflated Lung for Image-guided Minimally Invasive Tumor Ablative Procedures,” IEEE Transactions on Biomedical Engineering, vol. 57, pp. 2627-2630, 2010.

  58. M.T. Perri, A.L. Trejos, M.D. Naish, R.V. Patel, and R.A. Malthaner*, “New Tactile Sensing System for Minimally Invasive Tumor Localization” The International Journal of Medical Robotics and Computer Assisted Surgery, vol. 6, pp. 211–220, 2010.

  59. A.L. Trejos, R.V. Patel and M.D. Naish, “Force Sensing and its Applications in Minimally Invasive Surgery and Therapy: A Survey,” Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, Special Issue on Robots and Devices in Surgery, vol. 224, no. 7, pp 1435–1453, Jul. 2010.

  60. C. Kong, A.L. Trejos, M.D. Naish, R.V. Patel and K.K. Leitch*, “Suitability of three saws for minimally invasive bone cutting,” Surgical Innovation, vol. 17, no. 1, pp. 5-10, March 2010.

Papers in Refereed Conference Proceedings

  1. V. K. Ghassab, A. Mohammadi, S. Farokh Atashzar, R.V. Patel, “Dynamic Estimation Strategy for E-BMFLC Filters in Analyzing Pathological Hand Tremors,” IEEE Global Conference on Signal and Information Processing, Symposium on Advanced Bio-Signal Processing for Rehabilitation and Assistive Systems, 2017; Accepted.

  2. S. Shahtalebi, A. Mohammadi, S. Farokh Atashzar, R.V. Patel, “A Multi-rate and Auto-Adjustable Wavelet Decomposition Framework for Pathological Hand Tremor Extraction,” IEEE Global Conference on Signal and Information Processing, Symposium on Advanced Bio-Signal Processing for Rehabilitation and Assistive Systems, 2017; Accepted.

  3. F. Anooshahpour, P. Yadmellat, I.G. Polushin and R.V. Patel, “A Motion Transmission Model for Multi-DOF Tendon-Driven Mechanisms with Hysteresis and Coupling: Application to a da Vinci Instrument,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, BC, Sep. 24-28, 2017.

  4. A. Srivastava, C.D.W. Ward and R.V. Patel, “Adaptive Neural Preisach Model and Model Predictive Control of Shape Memory Alloy Actuators,” IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2017), Munich Germany, July 3-7, 2017.

  5. F. Anooshahpour, P. Yadmellat, I.G. Polushin and R.V. Patel, “Modeling of Tendon-Pulley Transmission Systems with Application to Surgical Robots: A Preliminary Experimental Validation,” IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2017), Munich Germany, July 3-7, 2017.

  6. P. Soltani-Zarrin, A. Escoto, R. Xu, R.V. Patel, M.D. Naish and A.L. Trejos, “Development of an optical fiber-based sensor for grasping and axial force sensing,” IEEE International Conference on Robotics and Automation (ICRA 2017), Singapore, May 29 - June 3, 2017.

  7. B. Poursartip, L.C. McCracken, A. Escoto, R.V. Patel, M.E. LeBel*, A.L. Trejos, and M.D. Naish, "Development and Evaluation of a Sensorized Shoulder Simulator," IEEE Canadian Conference on Electrical and Computer Engineering, Windsor, Ontario, Canada, April 30 – May 3, 2017.

  8. A. Usova, I.G. Polushin, R.V. Patel, “A Graph Separation Stability Condition for Non-Planar Conic Systems”, 10th IFAC Symposium on Nonlinear Control Systems (NOLCOS2016), Monterey, CA, Aug. 23-25, 2016.

  9. B. Poursartip, M.-E. LeBel*, R.V. Patel, M.D. Naish and A.L. Trejos, “Energy-based metrics for laparoscopic skills assessment,” International Conference of the IEEE Engineering in Medicine and Biology Society, Orlando, FL, August 16–20, 2016, pp. 2648–2651.

  10. M. Khoshnam, P. Yadmellat, R.V. Patel “Black-Box Modeling and Control of Steerable Ablation Catheters”, IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016), Banff, Canada, July, 2016

  11. M. Khoshnam, R.V. Patel, “Tendon-Sheath Analysis for Modeling and Control of Steerable Ablation Catheters”, IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016), Banff, Canada, July 2016.

  12. F. Anooshahpour, I.G. Polushin, R.V. Patel, “Classical Preisach Model of Hysteretic Behavior in a da Vinci Instrument. IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016), Banff, Canada, July 2016.

  13. A. Srivastava, R. Xu, A. Escoto, C.D.W. Ward, R.V. Patel, “Design of an Ultra Thin Strain Sensor Using Superelastic Nitinol for Applications in Minimally Invasive Surgery”, IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016), Banff, Canada, July 2016.

  14. R. Xu, A. Yurkewich, R.V. Patel, “Curvature, Torsion and Force Sensing inContinuum Robots Using Helically-Wrapped FBG Sensors”, IEEE International Conference on Robotics and Automation (ICRA 2016), Stockholm, Sweden, May 2016.

  15. A. Yurkewich, S. Farokh Atashzar, A. Ayad, R.V. Patel “A Six Degree of Freedom Mobile Robot for Lower Extremity Rehabilitation,” in Proc. 2015 IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR 2015), Singapore, 2015.

  16. B. Poursartip, D. Yurkevich, M.-E. LeBel*, R.V. Patel, A.L. Trejos and M.D. Naish, “Performance evaluation of a sensorized arthroscopic grasper,” ASME 2015 Dynamic Systems and Control (DSC) Conference, Columbus, OH, October 28–30, 2015, pp. V001T15A004.

  17. N. Najmaei, A. Asadian, M.R. Kermani, R.V. Patel, “Performance Evaluation of Magneto-Rheological Based Actuation for Haptic Feedback in Medical Applications”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, Sep. 28 – Oct. 3, 2015.

  18. S.F. Atashzar, M. Shahbazi, M. Tavakoli and R.V. Patel, “A New Passivity-Based Control Technique for Safe Patient-Robot Interaction in Haptics-Enabled Rehabilitation Systems”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, Sep. 28 – Oct. 3, 2015.

  19. M. Khoshnam, I. Khalaji, R.V. Patel, “A Robotics-Assisted Catheter Manipulation System for Cardiac Ablation with Real-Time Force Estimation,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, Sep. 28 – Oct. 3, 2015.

  20. M. Shahbazi, S.F. Atashzar, M. Tavakoli, and R.V. Patel, “Therapist-in-the-Loop Robotics-Assisted Mirror Rehabilitation Therapy: An Assist-as-Needed Framework”, IEEE International Conference on Robotics & Automation (ICRA 2015), Seattle, WA, May 26-30, 2015.

  21. I. Khalaji, M.D. Naish and R.V. Patel, “Articulating Minimally Invasive Ultrasonic Tool for Robotics-Assisted Surgery”, IEEE International Conference on Robotics & Automation (ICRA 2015), Seattle, WA, May 26-30, 2015.

  22. N. Najmaei, A. Asadian, M.R. Kermani, and R.V. Patel, “Magneto-Rheological Actuators for Haptic Devices: Design, Modeling, Control, and Validation of a Prototype Clutch”, IEEE International Conference on Robotics & Automation (ICRA 2015), Seattle, WA, May 26-30, 2015.

  23. F. Anooshahpour, I.G. Polushin, and R.V. Patel, “Tissue compliance determination using a da Vinci Instrument”, IEEE International Conference on Robotics & Automation (ICRA 2015), Seattle, WA, May 26-30, 2015.

  24. A. Escoto, S. Bhattad, A. Shamsil, A. Sanches, A.L. Trejos, M.D. Naish, R.A. Malthaner* and R.V. Patel, “A Multi-Sensory Mechatronic Device for Localizing Tumors in Minimally Invasive Interventions”, IEEE International Conference on Robotics & Automation (ICRA 2015), Seattle, WA, May 26-30, 2015.

  25. M. Shahbazi, S.F. Atashzar, R.V. Patel, "A Framework for Supervised Robotics-Assisted Mirror Rehabilitation Therapy", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, Sep. 14-18, 2014.

  26. S.F. Atashzar, A. Saxena, M. Shahbazi, R.V. Patel, "Involuntary Movement during Haptics-enabled Robotic Rehabilitation: Analysis and Control Design", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, Sep. 14-18, 2014.

  27. M. Shahbazi, S. Farokh Atashzar, R.V. Patel, “A Framework for Supervised Robotics Assisted Mirror Rehabilitation Therapy.” in Proc. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), USA, Chicago, 2014.

  28. M. Khoshnam, R.V. Patel, "Estimating Contact Force for Steerable Ablation Catheters based on Shape Analysis", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, Sep. 14-18, 2014.

  29. A. Takhmar, I.G. Polushin, A. Talasaz, R.V. Patel, "Cooperative Teleoperation with Projection-Based Force Reflection for MIS", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, Sep. 14-18, 2014.

  30. F. Anooshahpour, I.G. Polushin, R.V. Patel, "Quasi-Static Modeling of the da Vinci Instrument", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, Sep. 14-18, 2014.

  31. M. Hadavand, M.D. Naish, R.V. Patel, "A Parallel Remote Center of Motion Mechanism for Needle-Based Medical Interventions", IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob2014), Sao Paulo, Brazil, August 12-15, 2014.

  32. A.L. Trejos, A. Escoto, D. Hughes, M.D. Naish, R.V. Patel, "A Sterilizable Force-Sensing Instrument for Laparoscopic Surgery", IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob2014), Sao Paulo, Brazil, August 12-15, 2014. Nominated as a top-4 finalist for best paper.

  33. M. Khoshnam, R.V. Patel, "Robotics-Assisted Catheter Manipulation for Improving Cardiac Ablation Efficiency", IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob2014), Sao Paulo, Brazil, August 12-15, 2014.

  34. D. Yurkewich, A. Escoto, A.L. Trejos, M-E. LeBel*, R.V. Patel, M.D. Naish, "Low-Cost Force-Sensing Arthroscopic Tool Using Threaded Fiber Bragg Grating Sensors" IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob2014), Sao Paulo, Brazil, August 12-15, 2014.

  35. R. Xu, S. Farokh Atashzar, R.V. Patel, “Kinematic Instability in Concentric-tube Robots: Modeling and Analysis,” in Proc. 2014 IEEE International Conference on Biomedical Robotics and Biomechatronics, Sao Paulo, Brazil, 2014.

  36. M. Shahbazi, H.A. Talebi, R.V. Patel, "Networked Dual-User Teleoperation with Time-Varying Authority Adjustment: A Wave Variable Approach", IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), Besançon, France, July 8-11, 2014.

  37. N. Najmaei, P. Yadmellat, R.V. Patel, M.R. Kermani, “Application of Magneto-Rheological Fluid Based Clutches for Improved Performance in Haptic Interfaces,” IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, June 2-4, 2014.

  38. M. Shahbazi, S.F. Atashzar, A. Talebi, R.V. Patel, “Expertise-Oriented Training Approach for Robotics-Assisted Surgery,” IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, June 2-4, 2014.

  39. R. Xu, A. Asadian, S.F. Atashzar, R.V. Patel, “Real-time Trajectory Tracking for Externally Loaded Concentric-tube Robots,” IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, June 2-4, 2014.

  40. S.F. Atashzar, I.G. Polushin, R.V. Patel, “Projection-Based Force Reflection Algorithms for Assistive/Resistive Telerobotic Rehabilitation Therapy,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, November 3-8, 2013.

  41. A. Saxena, R.V. Patel, “An Active Handheld Device for Compensation of Physiological Tremor using an Ionic Polymer Metallic Composite Actuator,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, November 3-8, 2013.

  42. I. Khalaji, M. Hadavand, A. Asadian, R.V. Patel, M.D. Naish, “Analysis of Needle-Tissue Friction during Vibration-Assisted Needle Insertion,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, November 3-8, 2013.

  43. S. Farokh Atashzar, Iman Khalaji, Mahya Shahbazi, R.V. Patel, M. Naish, Ali Talasaz, “Impedance-Based Motion Compensation for Lung Needle Insertion through a MacroMicro Robotic Architecture,” in Proc. 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, pp. 1682-1687, 2013.

  44. A. Talasaz, R.V. Patel, “Telerobotic Palpation for Tumor Localization with Depth Estimation,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, November 3-8, 2013.

  45. S.F. Atashzar, M. Shahbazi, F. Rahimi, M. Delrobaei, J. Lee, R.V. Patel, M. Jog*, “Effect of Kinesthetic Force Feedback and Visual Sensory Input on Writer's Cramp,” 6th International IEEE EMBS Conference on Neural Engineering (NER 2013), San Diego, CA, November 6-8, 2013.

  46. F. Rahimi, M. Delrobaei, S.F. Atashzar, M. Shahbazi, J. Lee, M.E. Jackman, R.V. Patel, M. Jog*, “Sensory Manipulation in Writer’s Cramp: Possibilities for Rehabilitation,” 6th International IEEE EMBS Conference on Neural Engineering (NER 2013), San Diego, CA, November 6-8, 2013.

  47. A. Escoto, F. LeBer, A.L. Trejos, M.D. Naish, R.V. Patel, M.-E. LeBel*, “A Knee Arthroscopy Simulator: Design and Validation,” 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Osaka, Japan, July 3-7, 2013.

  48. R. Xu, A. Asadian, A. Naidu, and R.V. Patel, “Position control of concentric-Tube continuum robots using a modified Jacobian-based approach,” IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.

  49. S.F. Atashzar, I. Khalaji, M. Shahbazi, A. Talasaz, R.V. Patel, and M.D. Naish, “Robot-assisted lung motion compensation during needle insertion,” IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.

  50. M. Shahbazi, S.F. Atashzar, and R.V. Patel, “A Dual-User Teleoperated System with Virtual Fixtures for Robotic Surgical Training,” IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.

  51. M. Khoshnam, A. Yurkewich, and R.V. Patel, “Model-based force control of a steerable ablation catheter with a custom designed strain sensor,” IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.

  52. A.L. Trejos, R.V. Patel, M.D. Naish, R.M. Malthaner, and C.M. Schlachta, “Application of force sensing to skills assessment in minimally invasive surgery,” IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.
  53. A. Takhmar, I.G. Polushin, and R.V. Patel, “Frequency separation in projection-based force reflection algorithms for bilateral teleoperators,” IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.

  54. M. Khoshnam and R.V. Patel, “Pseudo-rigid-body 3R model for a steerable ablation catheter,” IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.

  55. S.F. Atashzar, I. Polushin and R.V. Patel, “Networked Teleoperation with Non-Passive Environment: Application to Tele-Rehabilitation,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), Algarve, Portugal, October 7-21, 2012.

  56. S.F. Atashzar, M. Shahbazi, A. Talebi, and R.V. Patel, “Control of Time-Delayed Telerobotic Systems with Flexible-Link Slave Manipulators,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), Algarve, Portugal, October 7-21, 2012.

  57. M. Shahbazi, S.F. Atashzar, A. Talebi, and R.V. Patel, “A Multi-Master/Single-Slave Teleoperation System,” 5th Annual Dynamic Systems and Control Conference, Ft. Lauderdale, FL, USA, October 17-19, 2012.

  58. T.P. Kurowski, A.L. Trejos, M.D. Naish, R.V. Patel, R.A. Malthaner*, “Design of a Minimally Invasive Lung Tumor Localization Device,” 5th Annual Dynamic Systems and Control Conference, Ft. Lauderdale, FL, USA, October 17-19, 2012.

  59. R. Xu and R.V. Patel, “A Fast Torsionally Compliant Kinematic Model of Concentric-Tube Robots,” 34th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS), San Diego, CA, Aug. 28 - Sep. 1, 2012.

  60. A. Asadian, R.V. Patel, and M.R. Kermani, “Compensation for Relative Velocity between Needle and Soft Tissue for Friction Modeling in Needle Insertion,” 34th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS), San Diego, CA, Aug. 28 - Sep. 1, 2012.

  61. I. Khalaji, R.V. Patel, and M.D. Naish, “Systematic Design of an Ultrasonic Horn Profile for High Displacement Amplification,” IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012), Rome, Italy, June 24-26, 2012.

  62. C.D.W. Ward, A.L.Trejos, M.D. Naish, R.V. Patel, K. Siroen, C.M. Schlachta*, “Development of a Hands-Free Pointer for Instruction during Minimally Invasive Surgery,” IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012), Rome, Italy, June 24-26, 2012, pp. 1211-1216.

  63. A. Talasaz, A.L. Trejos and R.V. Patel, “Haptic Feedback for a Robot-Assisted Suture Manipulation Task,” IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012), Rome, Italy, June 24-26, 2012, pp. 823-828.

  64. A. Talasaz, R.V. Patel, “Remote Palpation to Localize Tumors in Robot-Assisted Minimally Invasive Approach,” 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), St. Paul, MN, May14-18, 2012.

  65. M. Khoshnam, M. Azizian, R.V. Patel, “Modeling of a Steerable Catheter Based on Beam Theory,” 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), St. Paul, MN, May14-18, 2012.

  66. A. Asadian, M. Kermani, and R.V. Patel, “An analytical model for deflection of flexible needles during needle insertion,” 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, September 25-30, 2011.

  67. I.G. Polushin, A. Takhmar, and R.V. Patel, “Small-gain design of a cooperative teleoperator system with projection-based force reflection,” 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, September 25-30, 2011.

  68. T. Zhang and R.V. Patel, “Optimization-based Dosimetry Planning for Brachytherapy,” 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC ’11), Boston, MA, Aug 30-Sep. 3, 2011.

  69. H. Azimian, R.V. Patel and M.D. Naish, “A Chance-Constrained Approach to Preoperative Planning of Robotics-Assisted Interventions,” 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC ’11), Boston, MA, Aug 30-Sep. 3, 2011.

  70. S. Farokh Atashzar, H.A. Talebi, Mahya Shahbazi, Farzad Towhidkhah, Rajni Patel, “Time Delayed Non-minimum Phase Slave Telerobotics,” in Proc. 50th IEEE Conference on Decision and Control (CDC 2011), Orlando, Florida, pp. 3952-3957, 2011.

  71. S. Farokh Atashzar, H.A. Talebi, Mahya Shahbazi, Farzad Towhidkhah, Rajni Patel, Siamak Shojaei, “Control Challenges in Non-minimum Phase Telerobotics Systems,” in Proc. 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2011), Budapest, Hungary, pp. 152-157, 2011.

  72. A. Asadian, R.V. Patel and M. Kermani, “A Distributed Model for Needle-Tissue Friction in Percutaneous Interventions,” IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China, May 9-13, 2011.

  73. H. Azimian, R.V. Patel and M. Naish, “A Framework for Preoperative Planning of Robotics-Assisted Minimally Invasive Cardiac Surgery (RAMICS) Under Geometric Uncertainty,” IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China, May 9-13, 2011.

  74. I. Polushin, A. Takhmar, and R.V. Patel, “Small-Gain Design of Networked Cooperative Bilateral Teleoperators,” IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China, May 9-13, 2011.

  75. M. Shahbazi, H.A. Talebi, S. Farokh Atashzar, F. Towhidkhah, R.V. Patel, S. Shojaei “A Novel Shared Structure for Dual User Systems with Unknown Time-Delay Utilizing Adaptive Impedance Control”, in Proc. 2011 IEEE Int. Conference on Robotics and Automation (ICRA 2011), pp. 2124 – 2129, 2011.

  76. M. Shahbazi, H.A. Talebi, S. Farokh Atashzar, F. Towhidkhah, R.V. Patel, S. Shojaei, “A new set of desired objectives for dual-user systems in the presence of unknown communication delay,” in Proc. 2011 IEEE/ASME international Conference on Advanced Intelligent Mechatronics, pp. 146–151, 2011.

  77. D.S. Cho, C.A. Linte, E. Chen, C. Wedlake, J. Moore, J. Baron, R.V. Patel, T.M. Peters, “Predicting target vessel location for improved planning of robot-assisted CABG procedures,” 13th Medical Image Computing and Computer-Assisted Interventions (MICCAI 2010) Conference, Beijing, China. September 20-24. Proceedings Part III, LNCS 6363. Springer-Verlag Berlin Heidelberg. T Jiang et al (Eds). pp. 205-212, 2010.

  78. M. Azizian, R.V. Patel, C. Gavrilovici and M.O. Poulter, “Image-guided robot-assisted microscope objective lens positioning: Application in patch clamping,” 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October 18-22, 2010.

  79. S. Perreault, A. Talasaz, A.L. Trejos, C.D.W. Ward, R.V. Patel, and B. Kiaii*, “A 7-DOF Haptics-enabled teleoperated robotic system: Kinematic modeling and experimental verification,” IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010), Tokyo, Japan, September 26-29, 2010.

  80. H.R. Azimian, R.V. Patel, and M.D. Naish, “On constrained manipulation in robotics-assisted minimally invasive surgery,” IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010), Tokyo, Japan, September 26-29, 2010 pp. 906-911.

  81. M.D. Naish, M.T. Perri, D. Bottoni*, A.L. Trejos, R.V. Patel, and R. Malthaner*, “minimally invasive localization of occult tumors,” IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010), Tokyo, Japan, September 26-29, 2010, pp. 662-667.

  82. A. Asadian, M.R. Kermani and R.V. Patel, “A Compact Dynamic Force Model for Tissue-Needle Interaction,” 32nd Annual Int. Conf. of IEEE Engineering in Medicine and Biology Society (EMBS), Buenos Aires, Argentina, Aug. 31-Sep. 4, 2010.

  83. M.L. Guckert, M.D. Naish and R.V. Patel, “Position Control of a Spherical Joint using Feedback Linearization for SMA Wire Actuators,” in Proceedings of the 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Montréal, Québec, pp. 1350–1355, July 6–9, 2010.

  84. A. Asadian, M.R. Kermani and R.V. Patel, “Accelerated Needle Steering Using Partitioned Value Iteration,” American Control Conf., pp. 2785-2790, Baltimore, MD, June 30 – July 2, 2010.

  85. A.L. Trejos, A.C. Lyle, A. Escoto, M.D. Naish, and R.V. Patel, “Force/position-based modular system for minimally invasive surgery,” IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May 3-8, 2010, pp. 3660-3665.

  86. H. Azimian, J. Breetzke, A.L. Trejos, R.V. Patel, M.D. Naish, T. Peters, C. Wedlake, J. Moore, and B. Kiaii*, “Preoperative planning of robotics-assisted minimally invasive coronary artery bypass grafting,” IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May 3-8, 2010, pp. 1548-1553.

  87. A. Talasaz, R.V. Patel, and M.D. Naish, “Haptics-enabled teleoperation for robot-assisted tumor localization,” IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May 3-8, 2010.

  88. M. Azizian, R.V. Patel, C. Gavrilovici, and M. Poulter, “Computer-assisted patch clamping,” IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May 3-8, 2010.

Books

  1. R.V. Patel (Editor), “Minimally Invasive Surgical Robotics,” Vol. 1 of the Encyclopedia of Medical Robotics (Editor-in-Chief: J.P. Desai), World Scientific Publishing Company, Singapore, 2017.

  2. H.A. Talebi, F. Abdollahi, R.V. Patel, and K. Khorasani, Neural Network Based State Estimation of Nonlinear Systems: Application to Fault Detection and Isolation, vol. 395 in the Springer-Verlag Series: “Lecture Notes in Control and Information Sciences”, 2010; 154 pages.

Chapters in Books

  1. M.A. Ahmed*, N.A. Alkhamesi**, K. Alsowaina and C.M. Schlachta*, “Minimally Invasive Robotic Gastrointestinal Surgery,” in ‘Minimally Invasive Surgical Robotics’ (Editor: R.V. Patel), Vol. 1 of the Encyclopedia of Medical Robotics (Editor-in-Chief: J.P. Desai), World Scientific Publishing Company, Singapore, 2017.

  2. B. Kiaii* and M.W.A. Chu*, “A Clinical Perspective on Robot-Assisted Coronary and Mitral Valve Surgery,” in ‘Minimally Invasive Surgical Robotics’ (Editor: R.V. Patel), Vol. 1 of the Encyclopedia of Medical Robotics (Editor-in-Chief: J.P. Desai), World Scientific Publishing Company, Singapore, 2017.

  3. M.J. Huynh* and S.E. Pautler*, “A Clinical Perspective on the Application of Surgical Robotics for Radical Prostatectomy,” in ‘Minimally Invasive Surgical Robotics’ (Editor: R.V. Patel), Vol. 1 of the Encyclopedia of Medical Robotics (Editor-in-Chief: J.P. Desai), World Scientific Publishing Company, Singapore, 2017.

  4. S.F. Atashzar and R.V. Patel, “Teleoperation for Minimally Invasive Robotics-Assisted Surgery,” in ‘Minimally Invasive Surgical Robotics’ (Editor: R.V. Patel), Vol. 1 of the Encyclopedia of Medical Robotics (Editor-in-Chief: J.P. Desai), World Scientific Publishing Company, Singapore, 2017.

  5. A.L. Trejos, M. Shahbazi and R.V. Patel, “Training and Skills Assessment for Robotics-Assisted Minimally Invasive Surgery,” in ‘Minimally Invasive Surgical Robotics’ (Editor: R.V. Patel), Vol. 1 of the Encyclopedia of Medical Robotics (Editor-in-Chief: J.P. Desai), World Scientific Publishing Company, Singapore, 2017.

  6. M.D. Naish, R.V. Patel, A.L. Trejos, M.T. Perri, and R.A. Malthaner*, “Robotic Techniques for Minimally Invasive Tumor Localization,” in Surgical Robotics Systems, Applications and Visions, J. Rosen, B. Hannaford, and R. Satava (eds.), Springer, New York, 2011.

Patents

  1. R.V. Patel, J. Jayender, and S. Nikumb, “Improved Catheter, and System for Controlling Same”, United States Patent 8,961,433; awarded Feb. 24, 2015.

  2. C.M. Schlachta*, R.V. Patel, A.L. Trejos and M.D. Naish, “Hands-Free Pointer System,” China Patent 10671348.1, awarded April 30, 2014.

  3. C.M. Schlachta*, R.V. Patel, A.L. Trejos, and M.D. Naish, “Multi-Screen, Hands-Free Pointer System for training in minimally invasive surgery”, PCT Application, No. PCT/CA2008/001690, filed November 20, 2009.
    .
  4. R.V. Patel, A.L. Trejos, M. Tavakoli and M.D. Naish, “Sensorized Medical Instrument”, PCT Application, No. PCT/CA2009/00021, filed January 8, 2009.

Refereed Abstracts

  1. R. Xu, A, Escoto, K.S. Shahzada, C. Ward and R.V. Patel, "A Method for Installing FBG Sensors inside Surgical Robotic Instruments", Hamlyn Symposium on Medical Robotics, London, UK, June 25-27 2016.

  2. K. S. Shahzada, A. Yurkewich, R. Xu, and R.V. Patel, “Sensorization of a surgical robotic instrument for force sensing,” SPIE BiOS, International Society for Optics and Photonics, San Francisco, CA, Jan. 2016.

  3. R. Xu, A. Yurkewich, and R.V. Patel, “Shape sensing for torsionally compliant concentric-tube robots,” SPIE BiOS, International Society for Optics and Photonics, San Francisco, CA, Jan. 2016.

  4. K.L. Siroen, S.H. Hossain, C.D.W. Ward, A.L. Trejos, R.V. Patel, M.D. Naish, and C.M. Schlachta*, “Evaluation of a hands-free pointer for surgical instruction in minimally invasive surgery,” 14th World Congress of Endoscopic Surgery, Paris, France, June 25–28, 2014.

  5. K.L. Siroen, S.H. Hossain, C.D.W. Ward, A.L. Trejos, R.V. Patel, M.D. Naish, and C.M. Schlachta, “Evaluation of a Hands-Free Pointer for Surgical Instruction in Minimally Invasive Surgery,” SAGES Annual Meeting, Emerging Technologies Session, Salt Lake City, UT, April 2–5, 2014.

  6. M. Dawson, A.L. Trejos, S.M. Cristancho, R.V. Patel, M.D. Naish, R.A. Malthaner* and C.M. Schlachta*, “Validating force-based metrics for computerized assessment of technical skills in laparoscopic surgery,” Conference of the Association for Medical Education in Europe (AMEE), Prague, Czech Republic, August 24–28, 2013.

  7. A.L. Trejos, R.V. Patel, M.D. Naish, R.A. Malthaner* and C.M. Schlachta*, “The effect of visual force feedback on applied forces during a complex laparoscopic procedure,” SAGES Annual Meeting, Baltimore, MD, April 17–20, 2013.

  8. M. Currie*, A. Talasaz, A.L. Trejos, R. Rayman*, M.W.A. Chu*, B. Kiaii*, T.M. Peters and R.V. Patel, “Visual and direct force feedback in robotics-assisted cardiac surgery,” Minimally Invasive Robotics Association (MIRA) International Congress, Boston, MA, USA, September 5–8, 2012.

  9. A.L. Trejos, R.V. Patel, M.D. Naish, R.A. Malthaner* and C.M. Schlachta*, “Force-based assessment of skill in minimally invasive surgery,” Minimally Invasive Robotics Association (MIRA) International Congress, Boston, MA, USA, September 5–8, 2012.

  10. A.L. Trejos, R.V. Patel, M.D. Naish, R.A. Malthaner* and C.M. Schlachta*, "Force-based assessment of skill in minimally invasive surgery," CIHR National Student Research Poster Competition, Winnipeg, Manitoba, June 13, 2012. Honourable Mention Award.

  11. M.E. Currie*, A. Talasaz, A.L. Trejos, R. Rayman*, M.W.A. Chu*, R.V. Patel, T.M. Peters and B. Kiaii*, “The role of haptics in robotics-assisted mitral valve annuloplasty,” The Hamlyn Symposium on Medical Robotics, London, UK, July 1–2, 2012.

  12. A. Escoto, A.L. Trejos, M.D. Naish, R.V. Patel and M.E. LeBel*, “Force sensing based simulator for arthroscopic skills testing in orthopaedic knee surgery,” Medicine Meets Virtual Reality Conference, Newport Beach, California, February 9–11, 2012. Stud Health Technol Inform 2012;173:129–35.

  13. M.E. Currie*, A.L. Trejos, R. Rayman*, M.W.A. Chu*, R.V. Patel, T.M. Peters, and B. Kiaii*, “The role of three-dimensional visualization in robotics-assisted cardiac surgery,” SPIE Medical Imaging Conference, San Diego, CA, USA, February 4-9, 2012, no. 83160F.

  14. M. Azizian and R.V. Patel, "Intraoperative 3D Stereo Visualization for Image-Guided Cardiac Ablation," SPIE Medical Imaging Conference, Orlando, FL, Feb. 12-17, 2011.

  15. M. Azizian and R.V. Patel, "Data Fusion for Catheter Tracking using Kalman Filtering: Applications in Robot-Assisted Catheter Insertion," SPIE Medical Imaging Conference, Orlando, FL, Feb. 12-17, 2011.

  16. D.A. Bottoni*, M.T. Perri, A.L. Trejos, M.D. Naish, R.V. Patel and R.A. Malthaner*, “New VATS palpator sensing system safely locates occult tumours in vivo,” Canadian Surgery Forum/Canadian Association of Thoracic Surgeons, London, ON, September 15–18, 2011. Canadian Journal of Surgery, vol. 54, suppl. 1, p. S83, 2011.

  17. M.E. LeBel*, A. Escoto, A.L. Trejos, M.D. Naish and R.V. Patel, “Force sensing simulator for arthroscopic skill testing in orthopaedic knee surgery,” Conference of the Association for Medical Education in Europe (AMEE), Vienna, Austria, August 29–31, 2011.

  18. M. Currie*, A.L. Trejos, R. Rayman*, M.W.A. Chu*, R.V. Patel, T.M. Peters and B. Kiaii*, “The role of haptics and three-dimensional visualization in robotics assisted cardiac surgery,” 14th Annual Scientific Meeting of the International Society for Minimally Invasive Cardiothoracic Surgery (ISMICS), Washington, DC, June 8–11, 2011.

  19. H. Azimian, R.V. Patel, M.D. Naish, and B. Kiaii*, “Increasing the reliability of preoperative port placement for robotics-assisted minimally invasive cardiac surgery,” poster presentation at the 14th Annual Scientific Meeting of the International Society for Minimally Invasive Cardiothoracic Surgery (ISMICS), Washington, DC, June 8–11, 2011.

  20. M. Currie*, A.L. Trejos, R. Rayman*, M.W.A. Chu*, R.V. Patel, T.M. Peters and B. Kiaii*, “The role of three-dimensional visualization in robotics-assisted mitral valve annuloplasty,” Minimally Invasive Robotics Association (MIRA) International Congress, Athens, Greece, May 12–13, 2011.

  21. M.E. Currie*, A.L. Trejos, R. Rayman*, M.W.A Chu*, R.V. Patel, T.M. Peters and B. Kiaii*, “Measurement of forces applied by the davinci robot during ex vivo robotics-assisted porcine mitral valve annuloplasty,” Canadian Winter Cardiac team meeting, Mont-Tremblant, Quebec, Canada, February 18–20, 2011. Canadian Journal of Cardiology, vol. 27, no. 5, pp. S283–S283, September 2011.

  22. A. Sadeghi-Naini, R.V. Patel, A. Samani, "Effects of deflated lung’s geometry simplifications on the biomechanical model of its tumor motion: a phantom study ", Proc. of SPIE Medical Imaging 2011, vol. 7964, 79642F (8 pp.), Orlando, FL, USA, February 2011.

  23. A. Sadeghi-Naini, R.V. Patel, A. Samani, "A totally deflated lung’s CT image construction by means of extrapolated deformable registration ", Proc. of SPIE Medical Imaging 2011, vol. 7962, 796228 (8 pp.), Orlando, FL, USA, February 2011.

  24. A. Sadeghi-Naini, R.V. Patel, A. Samani, "Application of a respiratory CT sequence’s combined histogram to estimate intra-sequence lung’s air volume variations", 5th Canadian Student Conference on Biomedical Computing and Engineering (CSCBCE 2010), pp. 21-25, Waterloo, ON, Canada, May 2010; [Best medical imaging paper award].

  25. K.J. Lumb*, A.L. Trejos, C.D.W. Ward, M.D. Naish, R.V. Patel and C.M. Schlachta*, “A hands-free pointer for surgical instruction in minimally invasive surgery,” Canadian Surgery Forum, September 2–5, 2010, Quebec City, Quebec, Canadian Journal of Surgery, 2010; 53(suppl):S75–6.

  26. S. Jayaraman*, A.L. Trejos, A.C. Lyle, M.D. Naish, R.V. Patel and C.M. Schlachta*, “A novel sensorized instrument-based minimally invasive surgery (SIMIS) tool: initial construct validation of force sensing,” SAGES and CAGS 12th World Congress of Endoscopic Surgery, National Harbor, MD, April 12–17, 2010.

  27. S. Jayaraman*, A.L. Trejos, A.C. Lyle, M.D. Naish, R.V. Patel and C.M. Schlachta*, “A novel sensorized instrument-based minimally invasive surgery (SIMIS) tool: initial construct validation of position sensing,” SAGES and CAGS 12th World Congress of Endoscopic Surgery, National Harbor, MD, April 12–17, 2010.

  28. M. Azizian, R.V. Patel and M. Poulter, “Image Processing Techniques in Computer-Assisted Patch Clamping,” SPIE Conference on Manipulation, and Analysis of Biomolecules, Cells, and Tissues VIII" (part of the SPIE Symposium on Biomedical Optics), San Francisco, CA, January 23-28, 2010,

  29. H. Azimian, J. Breetzke, A.L. Trejos, R.V. Patel, M.D. Naish, and B. Kiaii*, “Preoperative planning of robotics-assisted minimally invasive cardiac surgery,” 13th Annual Scientific Meeting of the International Society for Minimally Invasive Cardiothoracic Surgery (ISMICS), Berlin, Germany, June 16–19, 2010; mini presentation.

  30. A.L. Trejos, B. Kiaii*, I. Ross*, C. Scalesse, R.V. Patel, and M.D. Naish, “Towards a patient eligibility measure for robotics-assisted bypass surgery,” 13th Annual Scientific Meeting of the International Society for Minimally Invasive Cardiothoracic Surgery (ISMICS), Berlin, Germany, June 16–19, 2010; poster presentation. Best Poster Award.

  31. J. Moore, A.D. Wiles, C. Wedlake, D. Bainbridge*, B. Kiaii*, A.L. Trejos, R.V. Patel, and T.M. Peters, “Integration of trans-esophageal echocardiography with magnetic tracking technology for cardiac interventions,” SPIE Medical Imaging Conference, San Diego, California, February 13–18, 2010.

  32. A.L. Trejos, S. Jayaraman*, R.V. Patel, M.D. Naish, and C.M. Schlachta*, “Sensing forces in natural orifice surgery,” The SAGES and CAGS 12th World Congress of Endoscopic Surgery, National Harbor, MD, April 12–17, 2010.

  33. C.D. Ward, A.L. Trejos, M.D. Naish, R.V. Patel, and C.M. Schlachta*, “Multi-screen, hands-free pointer system for training in minimally invasive surgery,” Emerging Technologies Session of the SAGES and CAGS 12th World Congress of Endoscopic Surgery, National Harbor, MD, April 12–17, 2010.

Workshops and Summer Schools

  1. “Bio-signal Processing for Robotic Neuro-Rehabilitation & Assistive Technologies,” General Chairs: A. Mohammadi, R.V. Patel, Technical Chairs: M. Tavakoli, S.F. Atashzar, M. Shahbazi, workshop in the 2017 IEEE Global Conference on Signal & Information Processing, Montreal, QC, Canada, Nov. 14-16, 2017.

  2. “Bio-Signal Processing for Movement Assessment, NeuroRehabilitation and Assistive Technologies,” Organizers: A. Mohammadi, S.F. Atashzar, M. Shahbazi, M. Tavakoli, R.V. Patel, K.N. Plataniotis., workshop in the 2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC2017), Banff, Canada, Oct. 5-8, 2017.

  3. “Continuum Robots in Medicine – Design, Integration, and Applications,” organizers M. Tavakoli and R.V. Patel, workshop in the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, Canada, Sep. 24-27, 2017.

  4. “Physical Human-robot and Human-telerobot Interaction: From Theory to Application for Neuro-rehabilitation,” Organizers: S.F. Atashzar, M. Shahbazi, M. Tavakoli, R.V. Patel, workshop in the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, BC, Canada, Sep. 24-27, 2017.

  5. “Advanced Intelligent Mechatronics for Neuromuscular Rehabilitation and Recovery Assessment,” Organizers: S.F. Atashzar, M. Shahbazi, M. Tavakoli and R.V. Patel, workshop at the 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016), Banff, AB, Canada, July 12-15, 2016.

  6. “4th North American Summer School: Surgical Robotics,” Organizers: C. Riviere and H. Choset, (R.V. Patel was a member of the Organizing Committee), held at Carnegie-Mellon University, Pittsburgh, PA, August 4-8, 2014.

  7. “3rd North American Summer School: Image Guided Interventions, Surgical Robotics & Simulation,” Organizers and Chairs: R.V. Patel and T. Peters, held at CSTAR and Western University, London, Ontario, Canada, August 13-17, 2012.

Journal Papers Under Review

  1. S. Farokh Atashzar, M. Shahbazi, R.V. Patel, “Haptics-enabled Interactive NeuroRehabilitation Mechatronics: Functionality, Challenges and Ongoing Research,” submitted to Mechatronics, 2017; submitted.

  2. M. Shahbazi, S.F. Atashzar, C.D.W. Ward, H.A. Talebi, R.V. Patel, “Multimodal Sensorimotor Integration for Expert-in-the-Loop Telerobotic Surgical Training,” IEEE Transactions on Robotics, 2016; submitted.

  3. S.F. Atashzar, M. Shahbazi, M. Tavakoli, R.V. Patel, “Supervised Therapist-In-the-Loop Technique for Training Haptics-enabled Robotic Rehabilitation Systems,” IEEE/ASME Transactions on Mechatronics, 2016; submitted.

  4. M. Shahbazi, S.F. Atashzar, M. Tavakoli and R.V. Patel, “Position-Force Domain Passivity of Human Arm in Telerobotics Systems”, IEEE/ASME Transactions on Mechatronics, 2017; submitted.

  5. M. Shahbazi, S.F. Atashzar and R.V. Patel, “A Systematic Review of Multilateral Teleoperation Systems”, IEEE Transactions on Haptics, 2016; submitted.

Underlined names indicate graduate students, postdoctoral fellows, residents, research fellows or research associates/assistants.
Asterisks (*) after names indicate clinicians.