Rajni Patel
Contact
Department of Electrical and Computer Engineering
Thompson Engineering Building, Room TEB 379
Or University Hospital (CSTAR) Room B7-218
Western University
Tel: 519-661-2111 ext. 36618
Tel: 519-661-4263
rvpatel@uwo.ca
Research
Dr. Patel is a founding member of CSTAR (Canadian Surgical Technologies & Advanced Robotics), a major research initiative of the London Health Sciences Centre (LHSC) and the Lawson Health Research Institute (LHRI), established with funds of approximately $20 million acquired from federal and provincial funding agencies, industry and private donors. He is an investigator or principal investigator on several of CSTAR’s multidisciplinary projects: Robotic/mechatronic technologies for minimally invasive surgery and therapy; technologies and techniques for surgical training and skills assessment; haptics and teleoperation; image-guided robot-assisted medical interventions. Dr. Patel’s most recent research work in medical robotics has focused on the application of haptics and teleoperation for stroke rehabilitation and treatment of neurological movement disorders. All of Dr. Patel’s research projects in medical robotics involve collaboration with clinicians at CSTAR or LHSC.
Ongoing Projects
The following is a list of Dr. Patel’s ongoing research projects:
Design, Evaluation and Validation of a Novel Sensorized Training Colonoscopy Device
Funded by: Intuitive Surgical Inc., 2020-2021.
Researchers: R.V. Patel (PI), C. Schlachta and J. Hawel.
HQP: N. Lavdas‡, C. Nicholson-Smith‡
Image-registered, Hand-held, Concentric Tube Robot for Percutaneous Treatment of Calculi
Funded by: National Institutes of Health (USA), NIH-RO1 grant, 2019-2024.
Researchers: J. Jagadeesan (PI, Harvard), R.V. Patel and 1 other.
HQP: F. Pedrosa, C. Nicholson-Smith‡, L. Wang
Design and Control of Robotic Systems and Devices for Medical Applications
Funded by: NSERC Discovery Grant, 2019-2024, 2012-2019,
Researcher: R.V. Patel.
HQP: A. Vajpeyi, S. Abkhofte, E. Arefinia, S. Parhiz, C. Dawson, F. Anooshahpour, A. Usova, A. Srivastava, A. Asadian, M. Khoshnam, S. Bhattad, A. Takhmar, P.M. Christiaans, A. Saxena, R. Xu†, L. Wang, F. Pedrosa
An In-home Intelligent System for Physical Rehabilitation, Enhancing Musculoskeletal Funtion, and Preventing Adverse Events
Funded by: AGE-WELL Network of Centres of Excellence), 2015-2020.
Researchers: R.V. Patel (co-PI) and M. Jog (co-PI).
HQP: S.F. Atashzar†, M. Shahbazi†, M. Khosravi, G. Greydon, M. Bernardinis, V. Mehrabi, N. Feizi, C. Nicholson-Smith‡ C.D.W. Ward‡
Robotics for Assistive Rehabilitation (S.F. Atashzar and R.V. Patel, Western University)
Robotics for Resistive Rehabilitation (S.F. Atashzar and R.V. Patel, Western University)
Novel Haptics-Enables Robotic Systems for Rehabilitation Therapy
Funded by: CIHR-NSERC Collaborative Health Research Projects (CHRP) Grant, 2014-2021.
Researchers: R.V. Patel (PI) and 4 others.
HQP: A. Yurkevich, V. Mehrabi, N. Feizi, S.F. Atashzar†, C. Nicholson-Smith‡
Lower and Upper Limb Rehabilitation Robot (V. Mehrabi et al., Western University)
Lower and Upper Limb Rehabilitation Robot (V. Mehrabi et al., Western University)
Lower and Upper Limb Rehabilitation Robot (C. Nicholson-Smith et al., Western University)
Completed Projects
The following is a list of Dr. Patel’s completed research projects:
Rapid Prototyping of Patient Specific Models, Dexterous Tools and Implants
Funded by: CFI Innovation Fund; Infrastructure Operating Fund; 2015-2017.
Researchers: J. Drake (PI, UHN), R.V. Patel and 4 others.
HQP: A. Escoto‡, C. Nicholson-Smith‡
Robotics-Assisted Catheter-based Medical Interventions
Funded by: Western Strategic Support for Research Accelerator Success, 2015-2017.
Researcher: R.V. Patel.
HQP: M. Khoshnam†
Force Estimation for Ablation Catheters - Video 1 (M. Khoshnam and R.V. Patel, CSTAR and Western University)
Force Estimation for Ablation Catheters - Video 2 (M. Khoshnam and R.V. Patel, CSTAR and Western University)
Active Catheter (J. Jagadeesan and R.V. Patel, CSTAR and Western University)
Robot-Assisted Teleoperated Catheter Insertion (J.Jagadeesan and R.V. Patel, CSTAR and Western Univ)
Effective Systems for Procedure Specific Healthcare Simulation
Funded by: Ontario Research Fund (ORF), Research Excellence Fund, 2011-2017.
Researchers: C. Schlachta (PI), R.V. Patel, and 17 others.
HQP: D. Yurkevich, B. Poursartip, P.S. Zarrin, N. Najmaei, P. Yadmellat†, R. Xu, K. Siroen‡, A. Escoto‡, C.D.W. Ward‡
Teleoperated Concentric-Tube Robot (R. Xu and R.V. Patel, CSTAR)
Demonstration of Training Tasks using Concentric-Tube Robot (R. Xu and R.V. Patel, CSTAR)
Force Control for a Concentric-Tube Robot (R. Xu and R.V. Patel, CSTAR)
FBG-based Force Sensorization of a Concentric-Tube Robot (R. Xu and R.V. Patel, CSTAR)
A Novel Platform for Minimally Invasive Tumour Localization and Treatment
Funded by: NSERC-CIHR Collaborative Health Research Projects Grant, 2011-2014.
Researchers: R.V. Patel (PI) and 4 others.
HQP: M. Hadavand, A. Shamsil, C.D.W. Ward‡, A. Escoto‡, S. Bhattad, A. Naidu, M. Perri, A. Sanchez‡
Robot-Assisted Dual-Modality Tissue Palpation (A. Naidu et al., CSTAR and Western University)
Multi-screen Hands-free Pointer System for Minimally Invasive Surgery
Funded by: NSERC Idea to Innovation Grant and Western Innovation Fund; 2011-2012.
Researchers: R.V. Patel (PI) and 2 others.
HQP: C.D.W. Ward‡, A.L. Trejos‡, K. Siroen‡, A. Naidu, F. LeBer
Network-based Haptic Telepresence Technology for In-home Rehabilitation
Funded by: NSERC Collaborative Research & Development Grant (industry partner: Quanser Inc.), 2011-2014.
Researchers: M. Tavakoli (PI, Alberta), R.V. Patel and 1 other.
HQP: S.F. Atashzar, M. Shahbazi.
Computer-assisted Medical Interventions (CAMI)
Funded by: NSERC Collaborative Research and Training Experience (CREATE) Grant, 2009-2015.
Researcher: R.V. Patel (PI) and 10 others
HQP: F. Anooshahpour, M. Hadavand, M.Z. Hasan, I. Khalaji, M. Nahum Leroy, B. Poursartip, A. Sadeghi Naini, A. Shamsil, A. Takhmar, A.L. Trejos, A. Yurkevich, M. Khoshnam, A. Talasaz
Image-guided Minimally Invasive Intervention and Simulation
Funded by: Canada Foundation for Innovation – Leading Edge Fund; Infrastructure Operating Fund; 2009-2011.
Researchers: T. Peters (PI), R.V. Patel and 8 others.
HQP: A. Escoto‡, C.D.W Ward‡, C. Nicholson-Smith‡.
Ontario Consortium for Adaptive Interventions in Radiation Oncology (OCAIRO)
Funded by: Ontario Research Fund (ORF), Research Excellence Fund, 2010-2015.
Researchers: D. Jaffray (PI, UHN), R.V. Patel and 29 others.
HQP: S. Bhattad, M. Nahum Leroy, P.M. Christiaans, A.L. Trejos‡, A. Escoto‡, S. Good, S. Mohan
Image-Guided Robotic Testbed for Lung Brachytherapy
Inclusive Team Training for Cardiac Surgery: Combining Multiple Simulators
Funded by: Medical Education Technologies Inc. and the American College of Surgeons Grant, 2010-2012.
Researchers: B. Kiaii (co-PI), R. Cherry (co-PI), R.V. Patel and 2 others.
HQP: C.D.W. Ward‡.
An Optimal Planning Strategy for Robot-Assisted Minimally Invasive Cardiac Surgery
Funded by: NSERC-CIHR Collaborative Health Research Projects Grant, 2008-2011.
Researchers: R.V. Patel (PI), B. Kiaii and 4 others.
HQP: A.L. Trejos‡, A. Escoto‡, H. Azimian, C. Scalesse, J. Breetzke.
A Sensorized Instrument-Based Skills Assessment and Training System for Minimally Invasive Surgery
Funded by: NSERC Idea to Innovation Grant, 2008-2009.
Researchers: R.V. Patel (PI), C. Schlachta and 1 other.
HQP: A.L. Trejos‡, A. Lyle‡, A. Escoto‡, S. Jayaraman*, C. Scalesse
Haptics-enables Robotics-assisted Minimally Invasive Surgery
Funded by: Ontario Centres of Excellence Grant and NSERC Collaborative Research & Development Grant, (industry partner: Quanser Inc.); 2007-2010.
Researchers: R.V. Patel (PI), C. Schlachta and R. Malthaner.
HQP: A. Talasaz, J. Jayender, S. Perreault, H. Bassan†, M. Currie*, A.L. Trejos‡, C.D.W. Ward‡, Andrew Lyle‡.
Robotics and Haptics for Suturing (M. Currie et al., CSTAR and Western University)
Robotics-Assisted Tissue Palpation (A. Talasaz and R.V. Patel, CSTAR and Western University)
Teleoperated Robotics-Assisted Tumour Localization (A. Talasaz and R.V. Patel, CSTAR and Western University)
Haptics and Teleoperation (A. Talasaz et al., CSTAR and Western University)
Telerobotic Testbed for Mitral Valve Annuloplasty - Haptic Interface (M.E. Currie et al., CSTAR and Western University)
Telerobotic Testbed for Mitral Valve Annuloplasty - Robotic Platform (M.E. Currie et al., CSTAR and Western University)
A Robotic Test-bed for Minimally Invasive Surgery and Therapy
Funded by: Infrastructure Support for Tier-1 Canada Research Chair Nomination – Canada Foundation for Innovation; 2004-2005.
Researcher: R.V. Patel
A Robotic System for Prostate Brachytherapy
Funded by: NSERC Collaborative Health Research Projects Grant, 2003-2006.
Researchers: R.V. Patel (PI) + 4 others.
HQP: H. Bassan, B. Yousef, N. Abolhassani, T. Hayes.
Prostate Brachytherapy Robot (ICRA 2017; H. Bassan et al., CSTAR and Western University)
Prostate Brachytherapy Robot - Video 2 (H. Bassan et al., CSTAR and Western University)
Robot-Assisted Prostate Brachytherapy - Macro Robot (B. Yousef et al., CSTAR)
Robot-Assisted Prostate Brachytherapy - Ultrasound Probe Holder (B. Yousef et al., CSTAR)
Prostate Brachytherapy Robot (H. Bassan et al., CSTAR and Western University)
A Facility for Modeling, Visualization, and Virtual-reality based Interaction
Funded by: Canada Foundation for Innovation – Innovation Fund; 2000-2002.
Researchers: R.V. Patel (PI) and 7 others.
National Centre for Minimally Invasive Robotic Surgery
Funded by: Ontario Research & Development Challenge Fund (ORDCF); 2001-2006.
Researchers: R. Novick (PI), R.V. Patel and 17 others.
HQP: M. Tavakoli, J. Jayender, M. Azizian, A.L. Trejos‡, J. Ren, N. Abolhassani, A. Aziminejad, R. Locke, S. Kumar, M. Pytel.
Force-Reflective Teleoperation for Robotics-Assisted Surgery (M. Tavakoli et al., CSTAR)
Haptic User Interface for Endoscopic Interventions (M. Tavakoli et al., CSTAR)
Haptics Enabled Teleoperated System: Master Subsystem(Left) and Slave Subsystem(Right) (M. Tavakoli et al., CSTAR)
A Framework for the Design and Control of a Macro-Micro Manipulator System
Funded by: NSERC Strategic Projects Grant
Researchers: R.V. Patel (PI), J. Angeles (McGill); 1998-2002.
HQP: M. Kermani, H. Xie, Z. Pan, X.P. Cheng, M. Shah.
Macro-Micro Robotic System (M. Kermani et al., Western University)
Trajectory Planning and Object Avoidance
Funded by: Canadian Space Agency’s Strategic Technologies in Automation and Robotics (STEAR) Program and Bombardier Inc.; STEAR-5 Contracts – Phases 1, 2 and 3, 1991-1992, 1993-1995, 1995-1998.
Researcher: R.V. Patel.
HQP: F. Shadpey, H. Xie, I.J. Bryson, M. Moallem†, S.M. Noorhosseini†, M. Dong, C.A. Balafoutis†, S.J. Shao.
Enhancements to the Mobile Servicing System (MSS) Ground Support Facilities
Funded by: Canadian Space Agency’s Strategic Technologies in Automation and Robotics (STEAR) Program and Bombardier Inc.; STEAR-12 contract; 1998-2000.
Researcher: R.V. Patel.
HQP: H. Xie, I.J. Bryson, Z. Pan.
A Dual-Arm Isotropically Enhanced Robotic Environment for Trajectory Planning, Obstacle Avoidance and Force Control
Funded by: NSERC Collaborative Research & Development Grant (industry partner: Bombardier Inc.); 1995-1999.
Researchers: R.V. Patel (PI) and J. Angeles (McGill).
HQP: F. Shadpey, Z. Lin, H. Xie.
Neural Network based Control Algorithms and Implementation Techiques for Applications in Robotics and Power Systems
Funded by: Fonds pour la formation de Chercheurs et l’Aide à la Recherche (FCAR), Team Grant; 1994-1997.
Researchers: R.V. Patel (PI) and 4 others.
HQP: H.A. Talebi†, N. Tudoriou, A. Zaidi, K.G. Narendra†, A. Yazdizadeh†
The following notation is used to indicate the specific status of the HQP at the time the research reported in the publications was conducted:
- Underlined names denote the HQP who were Graduate or Undergraduate Students supervised or jointly supervised by Dr. Patel.
- † denotes the HQP who were Postdoctoral fellows supervised by Dr. Patel
- ‡ denotes the HQP who were Research Associates/Engineers supervised or primarily supervised by Dr. Patel.