Department of Electrical and Computer Engineering

Rajni Patel, Ph.D., P.Eng.

Distinguished University Professor & Tier-1 Canada Research Chair
rvpatel{at}uwo{dot}ca     519-661-4263     TEB 379

List of Selected Publications

1. Robotic/Mechatronic Technology for Minimally Invasive Surgery and Therapy

Refereed Journal Papers

1.        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; accepted for publication, August 2011.

2.        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.

3.        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.

4.        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.

5.        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. 2010.

6.        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.

7.        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, pp. 923-931, 2010.

8.        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.

9.        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, vol. 5, pp. 334-340, 2010.

10.     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.

11.  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.

12.     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, pp. 186-192, 2010 (online version available).

13.     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” International Journal of Medical Robotics and Computer Assisted Surgery, vol. 6, pp. 211–220, 2010.

14.     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, 2010.

15.     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.

16.     H. Bassan, R.V. Patel and M. Moallem, “A novel manipulator for percutaneous needle insertion: Design and experimentation,” IEEE/ASME Transactions on Mechatronics, vol. 14, pp. 746-761, 2009; shortlisted for the best paper award.

17.     A.L. Trejos, R.V. Patel, M.D. Naish, and C.M. Schlachta, “A sensorized instrument for skills assessment and training in minimally invasive surgery,” ASME Journal of Medical Devices, vol. 3, pp. 041002-1–041002-12, 2009.

18.     J. Jayender, R.V. Patel, and S. Nikumb, “Robot-assisted active catheter insertion: algorithms and experiments,” International Journal of Robotics Research, — Special Issue on Medical Robotics, vol. 28, no. 9, pp. 1101-1117,  2009.

19.     A.L. Trejos, J. Jayender, M. Perri, M.D. Naish, R.V. Patel, and R.A. Malthaner, “Robot-assisted tactile sensing for minimally invasive tumor localization,” International Journal of Robotics Research — Special Issue on Medical Robotics, vol. 28, no. 9, pp. 1118-1133,  2009.

20.     S. Jayaraman, I. Apriasz, A.L. Trejos, H. Bassan, R.V. Patel and C.M. Schlachta, “Novel hands-free pointer improves instruction efficiency in laparoscopic surgery,” Surgical Innovation, vol. 16, no. 1, pp. 73–77, March 2009.

21.     N. Abolhassani and R.V. Patel, “Teleoperated master-slave needle insertion,” International Journal of Medical Robotics and Computer Assisted Surgery, vol. 5, pp. 398-405, 2009.

22.     R.V. Patel, H.A. Talebi, J. Jayender, and F. Shadpey, “A Robust Position and Force Control Strategy for 7-DOF Redundant Manipulators,” IEEE/ASME Transactions on Mechatronics, vol. 14, no. 5, pp. 575-589, 2009.

23.     C. Nguan, B. Miller, R.V. Patel, P. Luke, C.M. Schlachta, “Pre-clinical remote telesurgery trial of a da Vinci telesurgery prototype,” International Journal of Medical Robotics and Computer Assisted Surgery, vol. 4, no. 4, pp. 304-309, 2008.

24.     J. Jayender, M. Azizian, and R.V. Patel, “Autonomous Image-Guided Robot-Assisted Active Catheter Insertion,” IEEE Transactions on Robotics, vol. 24, no. 4, pp. 858-871, August 2008.

25.     M. Tavakoli, A. Aziminejad, R.V. Patel, M. Moallem, “Discrete-Time Bilateral Teleoperation: Modeling and Stability Analysis,” IET Control Theory & Applications,  vol. 2, no. 6, pp. 496-512, 2008.

26.     A. Aziminejad, M. Tavakoli, R.V. Patel, and M. Moallem, “Stability and performance in delayed bilateral teleoperation: Theory and experiments,” IFAC journal Control Engineering Practice, vol. 16, no.11, pp. 1329-1343, 2008.

27.     B. Yousef, R.V. Patel, and M. Moallem, “An Ultrasound Probe Holder for Image-Guided Robot-Assisted Prostate Brachytherapy,” ASME Journal of Medical Devices, vol. 2, no. 2,021002 (7 pages), 2008.

28.     A. Lin, S. Mohan, A.L. Trejos, R.V. Patel, A. Kashigar, H. Bassan, R.A. Malthaner, “Electromagnetic navigation improves minimally invasive robot-assisted lung brachytherapy,” Computer Aided Surgery, vol.13, no. 2, pp. 114-123, 2008.

29.     J. Ren, R.V. Patel, K. McIsaac, G. Guiraudon, and T. Peters, “Dynamic 3D virtual fixtures for minimally invasive beating heart procedures,” IEEE Transactions on Medical Imaging; vol. 27, no. 8, pp. 1061-1070, 2008.

30.     G. McCreery, A.L. Trejos, M.D. Naish, R.V. Patel, and R.A. Malthaner “Feasibility of Locating Tumours in Lung via Kinesthetic Feedback,” International Journal of Medical Robotics and Computer Assisted Surgery, vol. 4, no. 1, pp. 58-68, 2008.

31.     M.R. Kermani, R.V. Patel, and M. Moallem, “Multi-mode control of a large-scale robotic manipulator,” IEEE Transactions on Robotics, vol. 27, no. 6, pp. 1264-1270, 2007.

32.     G. Ma, M. Pytel, A.L. Trejos, V. Hornblower, J. Smallwood, R.V. Patel, A. Fenster, and R.A. Malthaner, “Robot-assisted thoracoscopic brachytherapy for lung cancer: Comparison of the ZEUS robot, VATS, and manual seed implantation,” Computer Aided Surgery, vol 12, no. 5, pp. 270-277, 2007.

33.     A. Aziminejad, M. Tavakoli, R.V. Patel, and M. Moallem, “Transparent time-delayed bilateral teleoperation using wave variables,” IEEE Transactions on Control Systems, Technology; vol. 16, no. 3, pp. 548-555, 2008; shortlisted for the Outstanding Paper Award.

34.     M.R. Kermani, R.V. Patel, and M. Moallem, “Friction identification and compensation in robotic manipulators,” IEEE Transactions on Instrumentation and Measurement; vol. 56, no. 6, pp. 2346-2353, 2007.

35.     A.L. Trejos, R.V. Patel, I. Ross, B. Kiaii, “Optimizing Port Placement for Robot-Assisted Minimally Invasive Cardiac Surgery,” International Journal of Medical Robotics & Computer Assisted Surgery. vol. 3, no. 4, pp. 355–364, December 2007.

36.     M. Tavakoli, A. Aziminejad, R.V. Patel, and M. Moallem, “High-fidelity bilateral teleoperation systems and the effect of multimodal haptics,” IEEE Transactions on Systems, Man and Cybernetics – Part B, vol. 37, pp. 1512-1528, Dec. 2007.

37.     N. Abolhassani, R.V. Patel, and F. Ayazi, “Minimization of needle deflection in robot-assisted percutaneous therapy,” International Journal of Medical Robotics and Computer Assisted Surgery; vol. 3, pp. 140-148, 2007.

38.     J. Jayender, R.V. Patel, and S. Nikumb, “Modeling and control of Shape Memory Alloy actuators,” IEEE Transactions on Control Systems Technology, vol. 16, no. 2, pp. 279-287, 2008.

39.     J. Ren, K. McIsaac, and R.V. Patel, “Modified Newton's Method Applied to Potential Field Based Navigation for Nonholonomic Robots in Dynamic Environments,” Robotica, vol. 26, no.1, pp. 117-127, 2008.

40.     A.L. Trejos, A.W. Lin, M.P. Pytel, R.V. Patel and R.A. Malthaner, “Robot-assisted minimally invasive lung brachytherapy,” International Journal of Medical Robotics and Computer Assisted Surgery, vol. 3, pp. 41–51, 2007.

41.     J. Ren, R.V. Patel, K. McIsaac, and T. Peters, “A potential field model using generalized sigmoid functions,” IEEE Transactions on Systems, Man, and Cybernetics – Part B, vol. 37, no. 2, pp. 477-484, April 2007.

42.     R. Rayman, K. Croome, N. Galbraith, R. McClure, R. Morady, S. Peterson, S. Smith, V. Subotic, A. Van Wynsberghe, R.V. Patel, and S. Primak, “Robotic telesurgery: A real-world comparison of ground- and satellite-based internet performance,” Int. J. of Medical Robotics & Comp. Assisted Surgery, vol. 3, pp. 111-116, 2007.

43.     N. Abolhassani, R.V. Patel, M. Moallem, "Needle insertion in soft tissue: A survey", Medical Engineering and Physics, Journal of the Institute of Physics and Engineering in Medicine (IPEM), vol. 29, no. 4,  pp. 413-431, May 2007.

44.     M. Tavakoli, A. Aziminejad, R.V. Patel, M. Moallem, “Modalities and mechanisms for contact feedback in a robot-assisted minimally invasive environment,” Surgical Endoscopy, vol. 20, no. 10, pp. 1570-1579, 2006.

45.     X, Yang, R.V. Patel, and M, Moallem, “A fuzzy Braitenberg navigation strategy for differential-drive mobile robots,” Journal of Intelligent and Robotic Systems, vol. 47, no. 1, 2006.

46.     A. Abdollahi, H.A. Talebi, and R.V. Patel, “Stable identification for nonlinear systems using neural networks: Theory and experiments,” IEEE/ASME Transactions on Mechatronics, vol. 11, no. 4, pp. 488-495, 2006.

47.     N. Abolhassani, R.V. Patel, M. Moallem, "Control of soft tissue deformation during robotic needle insertion", Minimally Invasive Therapy and Allied Technology, vol. 15, no. 3, pp. 165-176, 2006.

48.     J. Ren, K. McIsaac, and R.V. Patel, “Modified Newton’s method applied to potential field based navigation for mobile robots,” IEEE Transactions on Robotics, vol. 22, no. 2, pp. 384-391, 2006.

49.     M. Tavakoli, R.V. Patel, and M. Moallem, “A haptic interface for computer-integrated endoscopic surgery and training,” Virtual Reality (special issue on Haptic Interfaces and Applications), vol. 9, no. 2-3, pp. 160-176, 2006.

50.     N. Tudoriou, R.V. Patel, and K. Khorasani, “Neural network based control strategies for improving plasma characteristics in reactive ion etching,” Neurocomputing, vol. 69, no. 7-9, pp. 786-802, March 2006.

51.     F. Abdollahi, H.A. Talebi, and R.V. Patel, “A stable neural network-based observer with application to flexible-joint manipulators,” IEEE Transactions on Neural Networks, vol. 17, no. 1, pp. 118-129, 2006.

52.     X. Yang, M. Moallem, R.V. Patel, “A sensor-based navigation algorithm for a mobile robot using fuzzy logic,” International Journal of Robotics & Automation (Special Issue on ‘Agents Meet Robots’), vol. 21, no. 2, 2006.

53.     J. Ren, K. McIsaac, and R.V. Patel, “"A framework for agent-based nonholonomic robot team navigation and coordination,” International Journal of Robotics & Automation (Special Issue on ‘Agents Meet Robots’), vol. 21, no. 2, 2006.

54.     M. Kermani, M. Moallem, and R.V. Patel, “Study of system parameters and control design for a flexible manipulator using piezoelectric transducers,” Institute of Physics Journal of Smart Materials and Structures, vol. 14, pp. 843-849, 2005.

55.     R.V. Patel, F. Shadpey, F. Ranjbaran, and J. Angeles, “A collision-avoidance scheme for redundant manipulators: Theory and experiments,” Journal of Robotic Systems, vol. 22, pp. 737-757, 2005.

56.     X. Yang, M. Moallem, R.V. Patel, “A layered goal-oriented fuzzy motion planning strategy for mobile robot navigation”, IEEE Transactions on Systems, Man, & Cybernetics, Part B, vol. 35, no. 6, 1214-1224, 2005.

57.     P. Yuan, M. Moallem, R.V. Patel, “Real-time scheduling of distributed multi-robot systems”, Transactions of the Canadian Society for Mechanical Engineering (Special Issue on Industrial Control and Automation), vol. 29, pp. 179-194, 2005.

58.     M.R. Kermani, R.V. Patel, M. Moallem, “Flexture control using piezostack actuators: Design and implementation”, IEEE/ASME Transactions on Mechatronics; vol. 10, no.2, pp. 181-188, 2005.

59.     H.A. Talebi, R.V. Patel, and K. Khorasani, “A neural network controller for a nonlinear non-minimum phase system with application to a flexible-link manipulator,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 127, no. 2, pp. 289-294, 2005.

60.     H. Bassan, H.A. Talebi, R.V. Patel, and M. Moallem, “Control of a rigid manipulator mounted on a compliant base,” Robotica, vol. 23, pp. 197-206, 2005.

61.     M. Tavakoli, R.V. Patel, and M. Moallem, “Haptic interaction in robot-assisted endoscopic surgery: A sensorized end effector,” International Journal of Medical Robotics and Computer Assisted Surgery, vol. 1, no. 2, pp. 53-63, 2005.

Chapters in Books

1.        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..

2.        A.J. Laub, R.V. Patel and P.M. Van Dooren, “Numerical and computational issues in linear control and system theory,” in The Controls Handbook (W.S. Levine, ed.), Second Edition, Boca Raton, FL: CRC Press, 2010.

3.        M. Tavakoli and R.V. Patel, “Haptics in Telerobotic Systems for Minimally Invasive Surgery,” invited book chapter for the book: “Telesurgery”, Springer-Verlag, 2007.

4.        A. Lin, A.L. Trejos, R.V. Patel, and R. Malthaner, “Robotic Cancer Therapy and Thoracic Surgery: Robot-Assisted Minimally-Invasive Brachytherapy for Lung Cancer,” invited book chapter for the book: “Telesurgery”, Springer-Verlag, 2007.

Books / Monographs

1.        R.V. Patel and F. Shadpey, Control of Redundant Robot Manipulators: Theory and Experiments, vol 315 in the Springer-Verlag Series: “Lecture Notes in Control and Information Sciences”, 2005; 205 pages.

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.

3.        M. Tavakoli, R.V. Patel, M. Moallem, A. Aziminejad, Haptics-Based Systems for Robot-Assisted Surgery and Telesurgery: Design, Control, and Experimentation, World Scientific Publishers in the series "New Frontiers in Robotics”, 2008; 158 pages.

4.        M. Kermani, M. Moallem, and R.V. Patel, Vibration Suppression using Piezoelectric Materials, Nova Science Publishers, NY, 2008, 176 pages.

Refereed Conference Papers

1.        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; accepted Dec. 31, 2011.

2.        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; accepted Dec. 31, 2011.

3.        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.

4.        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.

5.        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.

6.        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.

7.        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.

8.        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.

9.        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.

10.     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.

11.     S. Perreault, A. Talasaz, A.L. Trejos, 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.

12.     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.

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

14.   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.

15.     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.

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

17.     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.

18.     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.

19.     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.

20.     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.

21.     J. Jayender, M. Azizian and R.V. Patel, "Robot-Assisted Active Catheter Control", Full Day Workshop on ‘Snakes, Worms and Catheters: Continuum and Serpentine Robots for Minimally Invasive Surgery’, organized by P.E Dupont and M. Mahvash. IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May 3-8, 2010.

22.     A. Asadian, M. Kermani, and R.V. Patel, “Accelerated Needle Steering Using Partitioned Value Iteration,” 2010 American Control Conference, Baltimore, MD, June 30 – July 2, 2010.

23.     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.

24.     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" (as part of the SPIE Symposium on Biomedical Optics), San Francisco, CA, January 23-28, 2010,

25.     H. Bassan, A. Talasaz, and R.V. Patel, “Design and Characterization of a 7-DOF Haptic Interface for a Minimally Invasive Surgery Test-bed,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’09), St. Louis, MO, Oct. 11-15, 2009.

26.     J. Jayender, R.V. Patel, G.F. Michaud, and N. Hata, “Optimal Transseptal Puncture Location for Robot-Assisted Left Atrial Catheter Ablation,” 12th Intl. Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI '09), London, UK, 2009.

27.     A.L. Trejos, J. Jayender, M.T. Perri, M.D. Naish, R.V. Patel, and R.A. Malthaner, “Experimental Evaluation of Robot-Assisted Tactile Sensing for Minimally Invasive Surgery,” 2nd IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), Scottsdale, Arizona, Oct. 19–22, 2008.

28.     A.L. Trejos, R.V. Patel, M.D. Naish, and C.M. Schlachta, “Design of a sensorized instrument for skills assessment and training in minimally invasive surgery,” 2nd IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), Scottsdale, Arizona, Oct. 19–22, 2008.

29.     H.R. Sadeghi Neshat and R.V. Patel, “Real-time Parametric Curved Needle Segmentation in 3D Ultrasound Images,” 2nd IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), Scottsdale, Arizona, Oct. 19–22, 2008.

30.     J. Jayender and R.V. Patel, “Wave Variables based Bilateral Teleoperation of an Active Catheter,” 2nd IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), Scottsdale, Arizona, Oct. 19–22, 2008.

31.     L. Trejos, A.W. Lin, S. Mohan, H. Bassan, C. Edirisinghe, R.V. Patel, C. Lewis, E. Yu, A. Fenster, and R.A. Malthaner, "MIRA V: an integrated system for minimally invasive robot-assisted lung brachytherapy," IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008.

32.     J. Jayender, M. Azizian, R.V. Patel, “Bilateral telemanipulation of a flexible catheter in a constrained environment,” IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008.

33.     M.D. Naish, G.L. McCreery, A.L. Trejos, R.V. Patel and R.A. Malthaner, “Effect of Velocity Control on Kinesthetic Lung Tumour Localization”, in Proceedings of the 21st IEEE Canadian Conference on Electrical and Computer Engineering, Niagara Falls, Ontario, pp. 1337-1340, May 4-7, 2008.

34.     M. Tavakoli, A. Aziminejad and R.V. Patel, “Stability of discrete-time bilateral teleoperation control,” 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’07), San Diego, California, Oct. 29-Nov. 2, 2007.

35.     J. Jayender and R.V. Patel, “Master-slave control of an active catheter instrumented with Shape Memory Alloy actuators,” 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’07), San Diego, California, Oct. 29-Nov. 2, 2007.

36.     J. Jayender, M. Azizian and R.V. Patel, “Autonomous robot-assisted active catheter insertion using image guidance,” IROS’07, Oct. 29-Nov.  2, 2007.

37.     A.L. Trejos, S. Mohan, H. Bassan, A.W. Lin, A. Kashigar, R.V. Patel and R.A. Malthaner, “An experimental test-bed for robotics-assisted image-guided minimally invasive lung brachytherapy,” IROS’07, San Diego, California, Oct. 29-Nov. 2, 2007.

38.     G. McCreery, A.L. Trejos, R.V. Patel, M.D. Naish, R.A. Malthaner, “Evaluation of force feedback requirements for minimally invasive lung tumor localization,” IROS’07, Oct. 29-Nov.2, 2007.

39.     N. Abolhassani, R.V. Patel, F. Ayazi, “Needle control along desired tracks in robotic prostate brachytherapy,” IEEE Conference on Systems, Man and Cybernetics, Montreal, October 7-10, 2007; received the best student paper award.

40.     N. Abolhassani and R.V. Patel, “Effects of different insertion methods on minimizing needle deflection,” 29th IEEE Engineering in Medicine and Biology Annual International Conference, Lyon, France, August 23-26, 2007.

41.     M. Tavakoli, A. Aziminejad, R.V. Patel, and M. Moallem, “Enhanced transparency in haptics-based master-slave systems,” American Control Conference, New York, July 11-13, 2007

42.     A. Aziminejad, M. Tavakoli, R.V. Patel, and M. Moallem, “Wave-based time delay compensation in bilateral teleoperation: two-channel versus four-channel architectures,” American Control Conference, New York, July 11-13, 2007.

43.     M. Azizian, J. Jayender and R. V. Patel, “Image processing algorithms for real-time tracking and control of an active catheter”, European Control Conference, .Kos, Greece, July 2-5, 2007.

44.     B. Yousef, R.V. Patel, and M. Moallem, “An ultrasound probe holder for image-guided robot-assisted prostate brachytherapy,” IEEE International Conference on Robotics & Automation, Rome, Italy, April 10-14, 2007.

45.     R. Locke and R.V. Patel, “Optimal Remote Center-of-Motion Location for Robotics-Assisted Minimally-Invasive Surgery,” IEEE International Conference on Robotics & Automation, Rome, Italy, April 10-14, 2007.

46.     H. Bassan, T. Hayes, R.V. Patel, and M. Moallem, “A novel manipulator for 3D ultrasound-guided percutaneous Needle Insertion,” IEEE International Conference on Robotics & Automation, Rome, Italy, April 10-14, 2007.

47.     A. Aziminejad, M. Tavakoli, R.V. Patel, and M. Moallem, “Bilateral delayed teleoperation: the effects of passivity in channel model and force sensing” IEEE International Conference on Robotics & Automation, Rome, Italy, April 10-14, 2007.

48.     J. Jayender, R.V. Patel, S. Nikumb, and M. Ostojic, “A robust controller for shape memory alloy actuators,” 43rd IEEE Conference on Decision and Control, San Diego, CA, December 13-15, 2006.

49.     B. Yousef, R.V. Patel, M. Moallem, “A Macro-Robot Manipulator for Medical Applications,” IEEE International Conference on Systems, Man, and Cybernetics, Taipei, Taiwan, October 8-11, 2006.

50.     A.L. Trejos, R.V. Patel, B. Kiaii and I. Ross, "Port placement based on robot performance optimization," Medical Robotics Workshop organized by K. Cleary, MICCAI 2006, Copenhagen, Denmark, pp. 92–99, October 5, 2006. [online] Available: http://www.isis.georgetown.edu/CAIMR/Workshops/proceedings.pdf.

51.     H. Bassan, R.V. Patel, and M. Moallem, “A novel manipulator for prostate brachytherapy: Design and preliminary results,” 4th International Federation of Automatic Control (IFAC) Symposium on Mechatronic Systems, Heidelberg, Germany, September 12-14, 2006.

52.     H.A. Talebi and R.V. Patel, “Experimental results on intelligent fault detection for robotic manipulators, 4th International Federation of Automatic Control (IFAC) Symposium on Mechatronic Systems, Heidelberg, Germany, September 12-14, 2006.

53.     N. Abolhassani and R.V. Patel, “Deflection of a Flexible Needle During Insertion into Soft Tissue,” 28th IEEE Engineering in Medicine and Biology Annual International Conference, New York, NY, August 30 – September 3, 2006.

54.     M. Tavakoli, A. Aziminejad, R.V. Patel, and M. Moallem, “Multi-sensory force/deformation cues for stiffness characterization in soft-tissue palpation,” 28th IEEE Engineering in Medicine and Biology Annual International Conference, New York, NY, August 30 – September 3, 2006.

55.     M. Tavakoli, A. Aziminejad, R.V. Patel, and M. Moallem, “Tool/tissue interaction feedback modalities in robot-assisted lump localization,” 28th IEEE Engineering in Medicine and Biology Annual International Conference, New York, NY, August 30 – September 3, 2006.

56.     A. Aziminejad, M. Moallem, and R.V. Patel, “Analytic study of transparency in wave-based teleoperation,” IEEE International Conference on Mechatronics, Budapest, Hungary, July 3-5, 2006.

57.     J. Jayender, and R.V. Patel, “Robot-assisted catheter insertion using Hybrid Impedance Control”,” IEEE International Conference on Robotics & Automation, Orlando, FL, May 15-19, 2006.

58.     M. Tavakoli, R.V. Patel, and M. Moallem, “Bilateral control of a teleoperator for soft tissue palpation: Design and experiments,” IEEE International Conference on Robotics & Automation, Orlando, FL, May 15-19, 2006..

59.     M. Tavakoli, R.V. and M. Moallem, “Adaptive inverse dynamics control of a PHANToM haptic interface,” IEEE International Conference on Robotics & Automation, Orlando, FL, May 15-19, 2006.

60.     A.L. Trejos, R.V. Patel, and R. Malthaner, “A device for robot-assisted minimally-invasive lung brachytherapy,” IEEE International Conference on Robotics & Automation, Orlando, FL, May 15-19, 2006.

61.     M. Kermani, R.V. Patel, M. Moallem, “Multi-directional stabilization of a large-scale robotic manipulator,” IEEE International Conference on Robotics & Automation, Orlando, FL, May 15-19, 2006.

62.     J. Jayender, R.V. Patel, S. Nikumb, and M. Ostojic, “H-infinity loop shaping controller for shape memory alloy actuators,” 44th IEEE Conference on Decision and Control and the European Control Conference (CDC-ECC), December 12-15, 2005, Seville, Spain

63.     M. Tavakoli, R.V. Patel, and M. Moallem, “Robotic Suturing Forces in the Presence of Haptic Feedback and Sensory Substitution,” IEEE Conf. on Control Applications, Toronto, ON, August 28-31, 2005.

64.     J. Jayender, R.V. Patel, N. Suwas, and M. Ostojic, “Modeling and gain scheduled control of shape memory alloy actuators,” IEEE Conf. on Control Applications, Toronto, ON, August 28-31, 2005.

65.     M Kermani, R.V. Patel, and M. Moallem, “Friction identification and compensation in robotic manipulators,” IEEE Conf. on Control Applications, Toronto, ON, August 28-31, 2005.

66.     X. Yang, M.Moallem, R.V. Patel, “A fuzzy logic-based reactive navigation algorithm for mobile robots,” IEEE Conf. on Control Applications, Toronto, ON, August 28-31, 2005.

67.     X. Yang, M.Moallem, R.V. Patel, “Motion planning for mobile robots using a fuzzy laered goal-oriented approach,” IEEE Conf. on Control Applications, Toronto, ON, August 28-31, 2005.

68.     M. Shah and R.V. Patel, “Transpose Jacobian based hybrid impedance control of redundant manipulators,” IEEE Conf. on Control Applications, Toronto, ON, August 28-31, 2005.

69.     P. Yuan, M.Moallem, R.V. Patel, “A feedback scheduling algorithm for real-time control systems,” IEEE Conf. on Control Applications, Toronto, ON, August 28-31, 2005.

70.     70.  R. Rayman, S. Primak, R.V. Patel, M. Moallem, R. Morady, M. Tavakoli, V. Subotic, N. Galbraith, A. van Wynsberghe, K. Croome, “Effects of Latency on Telesurgery: An Experimental Study,” 8th Intl. Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI '05), Palm Springs, CA, 2005.

71.   71.  M. Shah and R.V. Patel, “Inverse Jacobian based hybrid impedance control of redundant manipulators,” IEEE International Conference on Mechatronics and Automation, Niagara Falls, Ontario, July 29 – August 1, 2005; received the best paper award.

72.     A.L. Trejos and R.V. Patel, “Port placement for endoscopic cardiac surgery based on robot dexterity optimization,” IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005.

73.     M.R. Kermani, R.V. Patel, and M. Moallem, “A high control authority piezoelectric stack actuator for structurally flexible mechanisms,” IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005.

Conference Papers based on Refereed Abstracts

1.        D.A. Bottoni, M.T. Perri, A.L. Trejos, M.D. Naish, R.V. Patel, R.A. Malthaner, “New VATS Palpator Sensing System Safely Locates Occult Tumours in vivo,” Oral presentation, Canadian Surgery Forum 2011, London, ON, September 15–18, 2011, available in Canadian Journal of Surgery, vol. 54, suppl. 1, p. S83, August 2011.

2.        M.-E. LeBel, A. Escoto, A.L. Trejos, M.D. Naish, R.V. Patel, “Force Sensing Simulator for Arthroscopic Skill Testing in Orthopaedic Knee Surgery,” Oral Presentation, Association for Medical Education in Europe (AMEE) 2011 Annual Conference, Vienna, Austria, August 27–31, 2011.

3.        M. Currie, A.L.Trejos, R. Rayman, M. Chu, R.V. Patel, T. Peters, B. Kiaii, “The Role of Haptics and 3D Visualization in Robotics Assisted Cardiac Surgery,” 14th Annual Scientific Meeting of the International Society for Minimally Invasive Cardiothoracic Surgery, Washington, DC, June 8-11, 2011.

4.        H. Azimian, R.V. Patel, M.D. Naish, B. Kiaii, “Increasing the Reliability of Preoperative Port Placement for Robotics-Assisted Minimally Invasive Cardiac Surgery,” Poster Presentation, 14th Annual Scientific Meeting of the International Society for Minimally Invasive Cardiothoracic Surgery (ISMICS), Washington, DC, June 8–11, 2011.

5.        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,” Oral Presentation, Canadian Surgery Forum, Québec City, Québec, September 2–5, 2010, available in Canadian Journal of Surgery, vol. 53, no. 4, pp. S75–S76, August 2010.

6.        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.

7.        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. Received a Best Poster Award.

8.        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.

9.        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,” The SAGES and CAGS 12th World Congress of Endoscopic Surgery, National Harbor, MD, April 12–17, 2010.

10.     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.

11.     M.T. Perri, A.L. Trejos, M.D. Naish, R.V. Patel and R.A. Malthaner, “New tactile sensing system helps to locate occult tumours during VATS,” Canadian Surgery Forum / Canadian Association of Thoracic Surgeons, Victoria, BC, Canada, September 10–13, 2009.

12.     C. Kong, A.L. Trejos, M.D. Naish, R.V. Patel and K.K. Leitch, “Measuring temperature and force outcomes with three different bone-cutting saws,” 23rd International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS’08), Berlin, Germany, June 23–27, 2009.

13.     M.T. Perri, A.L. Trejos, M.D. Naish, R.V. Patel and R.A. Malthaner, “New tactile sensing system to locate tumours during minimally invasive robotic surgery,” MIRA Congress, Quebec City, QC, Canada, January 29, 2009.

14.     A.L. Trejos, J. Jayender, M.T. Perri, M.D. Naish, R.V. Patel, and R.A. Malthaner, “Robot-assisted palpation improves minimally invasive tumour localization,” Canadian Surgery Forum / Canadian Association of Thoracic Surgeons, Halifax, NS, Canada, September 11–14, 2008.

15.     S. Jayaraman, I. Apriasz, A.L. Trejos, H. Bassan, R.V. Patel, and C.M. Schlachta, “Novel hands-free pointer improves instruction efficiency in laparoscopic surgery,” 2008 Scientific Session of the Society of American Gastrointestinal and Endoscopic Surgeons (SAGES), Philadelphia, PA, USA, Abstract # 19547, P236, April 9–12, 2008. Published in Surgical Endoscopy, vol. 22, pp. S248, 2008.

16.     A.L. Trejos, I. Ross, S. Fox, R.V. Patel, and B. Kiaii, “Preoperative evaluation of CT scans for robot-assisted minimally invasive coronary bypass surgery,” 22nd Intl. Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS’08), Barcelona, Spain, June 25-28, 2008; Received the Intl. Society for Computer Aided Surgery (ISCAS) Best Poster Award.

17.     M. Perri, D. Bottoni, A.L. Trejos, G.L. McCreery, M.D. Naish, R.V. Patel and R.A. Malthaner, “A new tactile imaging device to aid with localizing lung tumours during thoracoscopic surgery,” 22nd International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS’08), Barcelona, Spain, June 25–28, 2008.

18.     S. Mohan, A.L. Trejos, H. Bassan, R.V. Patel, and R.A. Malthaner, “Computer integrated system for minimally invasive lung brachytherapy”, Medicine Meets Virtual Reality Conference (MMVR 16), Long Beach, California, January 30 – February 1, 2008.

19.     S. Mohan, A.L. Trejos, H. Bassan, A.W. Lin, R.V. Patel, and R.A. Malthaner, “A robot-assisted minimally invasive technique for lung brachytherapy,” Canadian Surgery Forum / Canadian Association of Thoracic Surgeons, Abstract no. N000083, September 8, 2007.

20.     A.W. Lin, A.L. Trejos, M.P. Pytel, R.V. Patel, and R.A. Malthaner, “Electromagnetic tracking based navigation for robot-assisted lung brachytherapy,” 21st International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS’07), Berlin, Germany, June 27–30, 2007.

21.     N. Abolhassani and R.V. Patel, “Minimization of needle deflection in robot-assisted prostate brachytherapy,” 20th International Congress and Exhibition on Computer-Assisted Radiology and Surgery(CARS 2006), Osaka, Japan, June 28 – July 1, 2006.

22.     H. Wu, C. Hourie, R. Eagleson, and R.V. Patel, “A haptics-based simulator for laparoscopic pyeloplasty,” 14th Annual Medicine Meets Virtual Reality Conference, Long Beach CA, 2006.

23.     J. Ren, R.V. Patel, and K. McIsaac, “Rendering of virtual fixtures for MIS using generalized sigmoid functions,” 14th Annual Medicine Meets Virtual Reality Conference, Long Beach CA, 2006.

24.     G. Ma, M. Pytel, A.L. Trejos, V. Hornblower, J. Smallwood, R. Patel, A. Fenster, R.A. Malthaner,  “Zeus robot assisted thoracoscopic brachytherapy: comparison of the Zeus robot, VATS and manual seed implantation,” First Worldwide Meeting of the Minimally Invasive Robotic Association, Innsbruck, Austria, December 7–10, 2005.

25.     F. Tavakkoli, R.V. Patel, and M. Moallem, “Haptic interaction and visualization of elastic deformations,” 13th Annual Medicine Meets Virtual Reality Conference, Long Beach CA, Jan. 2005.

26.     M. Tavakoli, R.V. Patel, and M. Moallem, “Haptic feedback and sensory substitution during telemanipulated suturing,” World Haptics Conference, Pisa, Italy, March 2005.

27.     F. Tavakkoli, R.V. Patel, and M. Moallem, “HIVED – A passive system for haptic interaction and visualization of elastic deformations,” World Haptics Conference, Pisa, Italy, March 2005.

Best Paper Awards and Other Recognitions

  1. J. Jayender, R.V. Patel, G.F. Michaud, N. Hata, “Optimal Transseptal Puncture Location for Robot-Assisted Left Atrial Catheter Ablation,” 12th Intl. Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI '09), London, UK, 2009; selected as the runner-up in the category ‘Computer-assisted Intervention: Simulation and Robotics’ for MICCAI 2009 Young Scientist Awards.

  2. Trejos, A.L., Ross, I., Fox, S., Patel, R.V., and Kiaii, B., “Preoperative evaluation of CT scans for robot-assisted minimally invasive coronary bypass surgery,” Intl. Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS’08), Barcelona, Spain, June 2008; Received the Intl. Society for Computer Aided Surgery (ISCAS) Best Poster Award.

  3. N. Abolhassani, R.V. Patel, F. Ayazi, “Needle control along desired tracks in robotic prostate brachytherapy,” IEEE Conference on Systems, Man and Cybernetics, Montreal, October 7-10, 2007; received the best student paper award.

  4. M. Shah and R.V. Patel, “Inverse Jacobian based hybrid impedance control of redundant manipulators,” IEEE International Conference on Mechatronics and Automation, Niagara Falls, Ontario, July 29 – August 1, 2005; received the best paper award.

  5. F. Abdollahi, H.A. Talebi, and R.V. Patel, “Experimental results on stable identification for nonlinear systems using neural networks,” 3rd IFAC Symposium on Mechatronics, Sydney, Australia, Sept. 2004; shortlisted for the best student paper award.

  6. M.R. Kermani, R.V. Patel, and M. Moallem, “Tracking control of a flexible manipulator using piezoelectric transducers,” 3rd IFAC Symposium on Mechatronics, Sydney, Australia, Sept. 2004; shortlisted for the best paper award.

  7. F. Abdollahi, H.A. Talebi, and R.V. Patel, “State estimation for flexible-joint manipulators using stable neural networks,” IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA2003), Kobe, Japan, 2003; received the best student paper award.