CSTARWestern Engineering

CSTAR Selected Projects

Design, Evaluation and Validation of a Novel Sensorized Training Colonoscopy Device

Funded by: Intuitive Surgical Inc., 2020-2021.

Researchers: R.V. Patel (PI) and 2 others.

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

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, V. Mehrabi, S.F. Atashzar, N. Feizi, N. Najmaei, C. Nicholson-Smith, A. Srivastava, P. Yadmellat, R. Xu, 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. Sanchez

Lung Brachytherapy Testbed

Lung_Brachy_9_13.PNG

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

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

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

 

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) and 5 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) and 2 others.

HQP: A.L. Trejos, A. Lyle,  A. Escoto, S. Jayaraman*, C. Scalesse

Haptics-enabled 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) and 2 others.

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)

Robot-Assisted Dual-Modality Tissue Palpation (A. Naidu et al., CSTAR and Western University)

 

Haptics and Teleoperation (A. Talasaz et al., CSTAR and Western University)

Haptic_Teleop_19_2.PNG

Telerobotic Testbed for Mitral Valve Annuloplasty - Haptic Interface (M.E. Currie et al., CSTAR and Western University)

Haptic_Teleop_19.PNG

Telerobotic Testbed for Mitral Valve Annuloplasty - Robotic Platform (M.E. Currie et al., CSTAR and Western University)

Telerobotic_Testbed_19.PNG

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)

Prostate_Brachy_21.PNG

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); 2000-2002.

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)

Haptic_Interface_Tavakoli_24_1.PNG

Haptics Enabled Teleoperated System: Master Subsystem(Left) and Slave Subsystem(Right) (M. Tavakoli et al., CSTAR)

Haptic_Interface_Tavakoli_24_3a.PNGHaptic_Interface_Tavakoli_24_3b.PNG

The following notation is used to indicate the specific status of the HQP at the time the research reported in the publications was conducted: