Journal Papers

  1. M. Khadem, C. Rossa, N. Usmani, R. S. Sloboda and M. Tavakoli, "Geometric control of 3D needle steering in soft-tissue," in Automatica, in press.
  2. M. Khadem, C. Rossa, N. Usmani, R. S. Sloboda and M. Tavakoli, "Robotics-assisted Needle Steering around Anatomical Obstacles using Notched Steerable Needles," in IEEE Transactions on Biomedical and Health Informatics, vol. 22, no. 6, pp. 1917-1928, Nov. 2018. [IEEEXplorer] [Postprint]
  3. M. Khadem, C. Rossa, N. Usmani, R. S. Sloboda and M. Tavakoli, "A Two-Body Rigid/Flexible Model of Needle Steering Dynamics in Soft Tissue," in IEEE/ASME Transactions on Mechatronics, vol. 21, no. 5, pp. 2352-2364, Oct. 2016. [IEEEXplorer] [Postprint]
  4. M. Khadem, C. Rossa, R. Sloboda, M. Usmani, and M. Tavakoli, "Semi-Automated Needle Steering in Biological Tissue Using an Ultrasound-Based Deflection Predictor," Annals of Biomedical Engineering, pp. 1-15, 2016. [Springerlink]
  5. M. Khadem, C. Rossa, R. Sloboda, M. Usmani, and M. Tavakoli, "Ultrasound-guided Model Predictive Control of Needle Steering in Biological Tissue," Journal of Medical Robotics Research, Vol. 01, No. 01, 1640007 (2016), [World Scientific] [Postprint]
  6. M. Khadem, C. Rossa, R. S. Sloboda, N. Usmani and M. Tavakoli, "Mechanics of Tissue Cutting During Needle Insertion in Biological Tissue," in IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 800-807, July 2016. [IEEEXplorer] [Postprint]
  7. M. Khadem, S. Behzadipour, A. Mirbagheri, and F. Farahmand, "A Modular Force Controlled Robotic Instrument For Minimally Invasive Surgery- Efficacy for Being Used in Autonomous Grasping Against a Variable Pull Force," The International Journal of Medical Robotics and Computer Assisted Surgery, , vol. 12, no. 4, pp. 620-633, 2016. [Wiley InterScience]
  8. M. Khadem, S. Behzadipour, M. Boroushaki, F. Farahmand, and M. Tavakoli, "Design and implementation of an emotional learning controller for force control of a robotic laparoscopic instrument," Frontiers in Biomedical Technologies, vol.01, no.03, 2014. [Postprint]
  9. J. Carrier, M. Khadem, C. Rossa, R. S. Sloboda, N. Usmani and M. Tavakoli, "Surgeon-in-the-loop 3D Needle Steering Through Ultrasound-guided Feedback Control," in IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 469-476. [IEEEXplorer]
  10. J. Carrier, M. Khadem, C. Rossa, R. S. Sloboda, N. Usmani and M. Tavakoli, "Event-triggered 3D Needle Control Using a Reduced-order Computationally Efficient Bicycle Model in a Constrained Optimization Framework," in Journal of Medical Robotics Research, 1842004, 2018, [World Scientific]
  11. C. Rossa, M. Khadem, R. Sloboda, N. Usmani and M. Tavakoli, "Adaptive Quasi-Static Modelling of Needle Deflection During Steering in Soft Tissue," in IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 916-923, July 2016. [IEEEXplorer] [Postprint]
  12. S. Mohammadi, H. Zohoor, M. Khadem, "Design and Prototyping an Active Assistive Exoskeletal Robot for Rehabilitation of Elbow and Wrist," Scientia Iranica, vol. 23, no. 3, pp. 998-1005, 2016. [Postprint]
  13. F. Alambeigi, M. Khadem, H. Khorsand, E. S. Hasan, "A comparison of performance of artificial intelligence methods in prediction of dry sliding wear behavior," The International Journal of Advanced Manufacturing Technology, 2015. [Springerlink]

Conference Papers

  1. M. Khadem, L. da Cruz, R. Bergeles, "Force/Velocity Manipulability Analysis for 3D Continuum Robots," in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain.
  2. Z. Mitros, M. Khadem, C. Seneci, L. DaCruz, C. Bergeles, "Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes" The 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2018), 26 - 29 Aug, Twente, Netherlands.
  3. A. Torabi, M. Khadem, K. Zareinia, GR. Sutherland, M. Tavakoli, "Manipulability of teleoperated surgical robots with application in design of master/slave manipulators" 2018 International Symposium on Medical Robotics (ISMR), Atlanta, USA.
  4. Z. Mitros, M. Khadem, C. Seneci, L. DaCruz, C. Bergeles, "Mechanics Modelling of Eccentrically Arranged Concentric Tubes" Hamlyn Symposium on Medical Robotics, 2018, London, UK.
  5. M. Khadem, C. Rossa, N. Usmani, R. S. Sloboda, and M. Tavakoli, "Feedback-Linearization-based 3D Needle Steering in a Frenet-Serret Frame Using a Reduced Order Bicycle Model," in 2017 American Control Conference (ACC), Seattle, WA, USA, 24-26 May 2017, Nominated for Best Student Award.
  6. M. Khadem, C. Rossa, R. Sloboda, M. Usmani, and M. Tavakoli, "Introducing Notched Flexible Needles with Increased Deflection Curvature in Soft tissue," in 2016 International Conference on Advanced Intelligent Mechatronics (AIM 2016), Banff, Canada , pp. 1186–1191.
  7. C. Rossa, M. Khadem, R. Sloboda, M. Usmani, and M. Tavakoli, "Constrained Optimal Control of Needle Deflection for Semi-Manual Steering," in 2016 International Conference on Advanced Intelligent Mechatronics (AIM 2016), Banff, Canada , pp. 1198–1203.
  8. M. Khadem, B. Fallahi, C. Rossa, R. Sloboda, M. Usmani, and M. Tavakoli, "A Mechanics-based Model for Simulation and Control of Flexible Needle Steering in Soft Tissue," in 2015 IEEE International Conference on Robotics and Automation (ICRA), pp.2264-2269, 26-30 May 2015, Seattle.
  9. B. Fallahi, M. Khadem, C. Rossa, R. Sloboda, M. Usmani, and M. Tavakoli, "Extended Bicycle Model for Needle Steering in Soft Tissue," in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.4375-4380, Sept. 28-Oct. 2, 2015, Hamburg.
  10. E. Mohammadi, H. Zohoor, M. Khadem, "Control system design of an active assistive exoskeletal robot for rehabilitation of elbow and wrist," in Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), pp.834-839, 15-17 Oct, 2014.