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ORCIDNawaid Usmani
- > Home > Persons > Nawaid Usmani
Publications
- 2019
[j21]Mohsen Khadem, Carlos Rossa
, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli:
Geometric control of 3D needle steering in soft-tissue. Autom. 101: 36-43 (2019)- [j20]Jay Carriere, Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli:
Event-Triggered 3D Needle Control Using a Reduced-Order Computationally Efficient Bicycle Model in a Constrained Optimization Framework. J. Medical Robotics Res. 4(1): 1842004:1-1842004:16 (2019) - 2018
- [j18]Jay Carriere, Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli:
Surgeon-in-the-Loop 3-D Needle Steering Through Ultrasound-Guided Feedback Control. IEEE Robotics Autom. Lett. 3(1): 469-476 (2018) - [j15]Thomas Lehmann, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli:
Intraoperative Tissue Young's Modulus Identification During Needle Insertion Using a Laterally Actuated Needle. IEEE Trans. Instrum. Meas. 67(2): 371-381 (2018) - [j14]Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli:
Robotic-Assisted Needle Steering Around Anatomical Obstacles Using Notched Steerable Needles. IEEE J. Biomed. Health Informatics 22(6): 1917-1928 (2018) - 2017
- [j13]Carlos Rossa, Thomas Lehmann, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli:
A data-driven soft sensor for needle deflection in heterogeneous tissue using just-in-time modelling. Medical Biol. Eng. Comput. 55(8): 1401-1414 (2017) - [j12]Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli:
A Hand-Held Assistant for Semiautomated Percutaneous Needle Steering. IEEE Trans. Biomed. Eng. 64(3): 637-648 (2017) - [c12]Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli:
Feedback-linearization-based 3D needle steering in a Frenet-Serret frame using a reduced order bicycle model. ACC 2017: 1438-1443 - 2016
- [j11]Carlos Rossa, Ron Sloboda, Nawaid Usmani, Mahdi Tavakoli:
Estimating needle tip deflection in biological tissue from a single transverse ultrasound image: application to brachytherapy. Int. J. Comput. Assist. Radiol. Surg. 11(7): 1347-1359 (2016) - [j10]Michael Waine, Carlos Rossa, Ron Sloboda, Nawaid Usmani, Mahdi Tavakoli:
Needle Tracking and Deflection Prediction for Robot-Assisted Needle Insertion Using 2D Ultrasound Images. J. Medical Robotics Res. 1(1): 1640001:1-1640001:11 (2016) - [j9]Mohsen Khadem, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli:
Ultrasound-Guided Model Predictive Control of Needle Steering in Biological Tissue. J. Medical Robotics Res. 1(1): 1640007:1-1640007:17 (2016) - [j8]Mohsen Khadem, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli:
Mechanics of Tissue Cutting During Needle Insertion in Biological Tissue. IEEE Robotics Autom. Lett. 1(2): 800-807 (2016) - [j7]Carlos Rossa, Jason Fong, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli:
Multiactuator Haptic Feedback on the Wrist for Needle Steering Guidance in Brachytherapy. IEEE Robotics Autom. Lett. 1(2): 852-859 (2016) - [j6]Bita Fallahi, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli:
Sliding-Based Switching Control for Image-Guided Needle Steering in Soft Tissue. IEEE Robotics Autom. Lett. 1(2): 860-867 (2016) - [j5]Carlos Rossa, Mohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli:
Adaptive Quasi-Static Modelling of Needle Deflection During Steering in Soft Tissue. IEEE Robotics Autom. Lett. 1(2): 916-923 (2016) - [j4]Michael Waine, Carlos Rossa, Ron Sloboda, Nawaid Usmani, Mahdi Tavakoli:
Three-Dimensional Needle Shape Estimation in TRUS-Guided Prostate Brachytherapy Using 2-D Ultrasound Images. IEEE J. Biomed. Health Informatics 20(6): 1621-1631 (2016) - [c11]Thomas Lehmann, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli:
Needle path control during insertion in soft tissue using a force-sensor-based deflection estimator. AIM 2016: 1174-1179 - [c10]Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli:
Introducing notched flexible needles with increased deflection curvature in soft tissue. AIM 2016: 1186-1191 - [c9]Carlos Rossa, Mohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli:
Constrained optimal control of needle deflection for semi-manual steering. AIM 2016: 1198-1203 - [c8]Jay Carriere, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli:
Real-time needle shape prediction in soft-tissue based on image segmentation and particle filtering. AIM 2016: 1204-1209 - [c7]Michael Waine, Carlos Rossa, Nawaid Usmani, Ron Sloboda, Mahdi Tavakoli:
An integrator-backstepping control approach for out-of-plane needle deflection minimization. AIM 2016: 1598-1603 - [c6]Bita Fallahi, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli:
Partial estimation of needle tip orientation in generalized coordinates in ultrasound image-guided needle insertion. AIM 2016: 1604-1609 - 2015
- [c5]Thomas Lehmann, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli:
A virtual sensor for needle deflection estimation during soft-tissue needle insertion. ICRA 2015: 1217-1222 - [c4]Mohsen Khadem, Bita Fallahi, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli:
A mechanics-based model for simulation and control of flexible needle insertion in soft tissue. ICRA 2015: 2264-2269 - [c3]Jay Carriere, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli:
Needle shape estimation in soft tissue based on partial ultrasound image observation. ICRA 2015: 2277-2282 - [c2]Michael Waine, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli:
3D shape visualization of curved needles in tissue from 2D ultrasound images using RANSAC. ICRA 2015: 4723-4728 - [c1]Bita Fallahi, Mohsen Khadem, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli:
Extended bicycle model for needle steering in soft tissue. IROS 2015: 4375-4380
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