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. XuL. 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. MehrabiN. 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. MehrabiN. FeiziS.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

Lung Brachytherapy Testbed

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)

Haptic_Teleop_19_2.PNG

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

Haptic Teleoperation

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

Telerobotic Testbed

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 Brachytherapy Robot

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)

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

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.

 

Student/Postdoctoral Supervision