Edinburgh Research Explorer

Dr Mohsen Khadem

Lecturer in Robotics

  1. 2019
  2. Application of a Redundant Haptic Interface in Enhancing Soft-Tissue Stiffness Discrimination

    Torabi, A., Khadem, S., Zareinia, K., Sutherland, G. & Tavakoli, M., Apr 2019, In : IEEE Robotics and Automation Letters. 4, 2, p. 1037-1044 8 p.

    Research output: Contribution to journalArticle

  3. Geometric control of 3D needle steering in soft-tissue

    Khadem, M., Rossa, C., Usmani, N., Sloboda, R. S. & Tavakoli, M., Mar 2019, In : Automatica. 101, p. 36-43 8 p.

    Research output: Contribution to journalArticle

  4. Force/Velocity Manipulability Analysis for 3D Continuum Robots

    Khadem, S., Da Cruz, L. & Bergeles, C., 7 Jan 2019, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain: Institute of Electrical and Electronics Engineers (IEEE), p. 4920-4926 7 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  5. 2018
  6. Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes

    Mitros, Z., Khadem, S., Seneci, C., Ourselin, S., Da Cruz, L. & Bergeles, C., 11 Oct 2018, Proceedings of the 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). Enschede, Netherlands: Institute of Electrical and Electronics Engineers (IEEE), p. 43-48 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  7. Event-Triggered 3D Needle Control Using a Reduced-Order Computationally Efficient Bicycle Model in a Constrained Optimization Framework

    Carriere, J., Khadem, S., Rossa, C., Usmani, N., Sloboda, R. & Tavakoli, M., 23 Apr 2018, In : Journal of Medical Robotics Research.

    Research output: Contribution to journalArticle

  8. Manipulability of teleoperated surgical robots with application in design of master/slave manipulators

    Torabi, A., Khadem, S., Zareinia, K., Sutherland, G. R. & Tavakoli, M., 9 Apr 2018, Proceedings of the 2018 International Symposium on Medical Robotics (ISMR). Atlanta, GA, USA: Institute of Electrical and Electronics Engineers (IEEE), 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  9. 2017
  10. Robotic-Assisted Needle Steering Around Anatomical Obstacles Using Notched Steerable Needles

    Khadem, S., Rossa, C., Usmani, N., Sloboda, R. & Tavakoli, M., 6 Dec 2017, In : IEEE Journal of Biomedical and Health Informatics. 22, 6, p. 1917-1928 12 p.

    Research output: Contribution to journalArticle

  11. Surgeon-in-the-Loop 3-D Needle Steering Through Ultrasound-Guided Feedback Control

    Carriere, J., Khadem, S., Rossa, C., Usmani, N., Sloboda, R. & Tavakoli, M., 2 Nov 2017, In : IEEE Robotics and Automation Letters. 3, 1, p. 469-476 8 p.

    Research output: Contribution to journalArticle

  12. Feedback-linearization-based 3D needle steering in a Frenet-Serret frame using a reduced order bicycle model

    Khadem, S., Rossa, C., Usmani, N., Sloboda, R. & Tavakoli, M., 3 Jul 2017, Proceedings of the 2017 American Control Conference (ACC). Seattle, WA, USA: Institute of Electrical and Electronics Engineers (IEEE), p. 1438-1443 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  13. 2016
  14. A modular force‐controlled robotic instrument for minimally invasive surgery – efficacy for being used in autonomous grasping against a variable pull force

    Khadem, S., Behzadipour, S., Mirbagheri, A. & Farahmand, F., Dec 2016, In : The International Journal of Medical Robotics and Computer Assisted Surgery. 12, 4, p. 620-633 14 p.

    Research output: Contribution to journalArticle

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