Holland, D., Abah, C., Velasco-Enriquez, M., Herman M., Bennett, G., Vela, E. and Walsh, C., "The Soft Robotics Toolkit: Strategies for Overcoming Obstacles to the Wide Dissemination of Soft-Robotic Hardware", IEEE Robotics and Automation Magazine, Vol. 24, No. 1, pp. 57-64,DOI: 10.1109/MRA.2016.2639067, 2017.
Payne, C., Wamala, I., Abah, C., Thalhofer, T., Saeed, M., Bautisda-Salinas, D., Horvath, M., Vasilyev, N., Roche, E., Pigula, F. and Walsh, C., "An Implantable Extracardiac Soft Robotic Device for the Failing Heart: Mechanical Coupling and Synchronization", Soft Robotics Journal, Vol. 4, No. 3, pp. 241 - 250, DOI 0.1089/soro.2016.0076, 2017.
Payne, C.J., Wamala, I., Abah, C., Thalhofer, T., Saeed, M., Bautista-Salinas, D., Horvath, M.A., Vasilyev, N.V., Roche, E.T., Pigula, F.A. and Walsh, C.J., 2017, June. Wearable Soft Robotic Device Supports the Failing Heart in vivo. In The Hamlyn Symposium on Medical Robotics (p. 37).
Payne, C. , Wamala, I., Bautisda-Salinas, D., Saeed, M., Van Story, D., Thalhofer, T., Horvath, M., Abah, C., Pedro, J., Walsh, C., M., Vasilyev, "Soft robotic ventricular assist device with septal bracing for therapy of heart failure", Science Robotics, Vol. 2, No. 12, DOI: 10.1126/scirobotics.aan6736, 2017.
Contact Information
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Master of Science, Mechanical Engineering, University of California Los Angeles 2014 Bachelor of Science, Engineering Sciences, Harvard College 2012
Contact Information This email address is being protected from spambots. You need JavaScript enabled to view it.
Current Projects Robotic Exploration of Unstructured Environments Middle Ear Robotic Surgery Cochlear Implant Surgery
Publications At ARMA LAB:
Yasin, R., Wang, L., Abah, C., & Simaan, N. (2018). Using continuum robots for force-controlled semi autonomous organ exploration and registration. In Medical Robotics (ISMR), 2018 International Symposium on (pp. 1-6). IEEE.
Simaan, N., Yasin, R. M., & Wang, L. (2018). Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics. Annual Review of Control, Robotics, and Autonomous Systems, 1, 465-490.
Salman, H., Ayvali, E., Srivatsan, R.A., Ma, Y., Zevallos, N., Yasin, R., Wang, L., Siman, N. and Choset, H. (2017). Trajectory-optimized sensing for active search of tissue abnormalities in robotic surgery. IEEE Conference on Robotics and Automation (ICRA).
Chalasani, P., Wang, L., Yasin, R., Simaan, N., & Taylor, R. H. (2018). Preliminary Evaluation of an Online Estimation Method for Organ Geometry and Tissue Stiffness. IEEE Robotics and Automation Letters, 3(3), 1816-1823.
Wang, L., Chen, Z., Chalasani, P., Yasin, R. M., Kazanzides, P., Taylor, R. H., & Simaan, N. (2017). Force-controlled exploration for updating virtual fixture geometry in model-mediated telemanipulation. Journal of Mechanisms and Robotics, 9(2), 021010.
Yasin, R., Aiello, G. & Simaan, N (2017). Exploring Reflected Light Intensity to Estimate Depth of the Basal Turn in Cochlear Implant Surgery. In The Hamlyn Symposium on Medical Robotics.
Yasin, R., O'Connell, B. P., Yu, H., Hunter, J. B., Wanna, G. B., Rivas, A. et al. (2017). Steerable Robot-assisted Micromanipulation in the Middle Ear: Preliminary Feasibility Evaluation. Otology & Neurotology, 38(2), 290–295.
O'Connell, B., Yu, H., Rivas, A., Hunter, J., Yasin, R., Wanna, G. B. et al (2016). Steerable Robot Assisted Micro-Manipulation in the Middle Ear: Preliminary Feasibility Evaluation. In Combined Otolaryngology Society Meeting (COSM). Chicago, Illinois.
Wang, L., Chen, Z., Chalasani, P., Yasin, R. M., Kazanzides, P., Taylor, R. H. et al. (2016). Force-Controlled Exploration for Updating Virtual Fixture Geometry In Model-Mediated Telemanipulation. Journal of Mechanisms and Robotics, In press.
Prior to ARMA Lab:
S Mikaiel, R Yasin, S Ross, MW Wahi-Anwar, J Simonelli, D Lu, K Sung, T-C Tsao, HH Wu. Imaging Assessment and Feasibility of a Hydrostatically Actuated Robotic Systems for Real-Time MRI-Guided Interventions. Proceedings ISMRM Twenty-Third Scientific Sessions, 2015, p4142.
Y.C. Chang, B Berry-Pusey, R Yasin, N Vu, B Maraglia, A.X. Chatzijoannou, and T.C. Tsao. An Automated Mouse Tail Vascular Access System by Vision and Pressure Feedback. IEEE/ASME Transactions on Mechatronics. Vol 10. 2014
Yasin, R., Mikaiel, S., Sung, K., Lu, D., Wu, H., Tsao, T.C. "A Hydrostatically Actuated Robotic System for Real-time MRI-guided Interventions" 10th Interventional MRI Symposium 2014, Leipzig, Germany.
Frech, Abraham., Orozco, D., Davoudi, K., Ding, C.,Field, R.,Yasin, R., Roche, E., Holland, D.,Walsh, C. "Laparoscopic Device for Direct and Indirect Suction" J. Med. Devices 7(3), 2013.
Interests Medical and flexible robotics Hiking Travel
C. Abah, A. L. Orekhov, G. L. H. Johnston, N. Simaan "A Multi-Modal Sensor Array for Human-Robot Interaction and Confined Spaces Exploration Using Continuum Robots," IEEE Sensors Journal, 2022 (in press).
A. L. Orekhov, G. L. H. Johnston, C. Abah. "An In-Situ Collaborative Robot for Manufacturing in Confined Spaces," 2021 ASME Student Mechanisms and Robotics Design Competition, Aug. 2021. (1st Place Prize) [link]
A. L. Orekhov, J. Seo, N. Simaan. "Kinematics and Shape Sensing of a Collaborative Continuum Robot," IROS 2020 workshop on "Application-Oriented Modelling and Control of Soft Robots," Nov. 2020. (2nd Place Poster Prize) [pdf]
A. L. Orekhov, G. L. H. Johnston, C. Abah, H. Choset, and N. Simaan, “Towards Collaborative Robots with Sensory Awareness: Preliminary Results Using Multi-Modal Sensing,” in ICRA 2019 workshop "Physical human-robot interaction: a design focus," May 2019. [pdf | video]
Stability and Transparency Analysis of Discrete-Time Time-Delayed Bilateral Teleoperation
AFM-Based Nano-telemanipulation Design
Stick-Slip Piezo-Actuator Modeling & Control Design
Stable Multi-User Interaction with Cooperative Haptic Virtual Environments
Publications
Sarli, N., "Design, Modeling & Control of Continuum Robots & Dexterous Wrists with Applications to Transurethral Bladder Cancer Resection.", PhD dissertation, Vanderbilt University, Sep 2018.
Sarli, N., Del Giudice, G., De, S., Dietrich, M. S., Herrell, S. D. and Simaan, N., "TURBot: a System for Robot-Assisted Transurethral Bladder Tumor Resection", IEEE/ASME Transactions on Mechatronics, Submitted.
Sarli, N., Noh, S. and Simaan, N., "Modeling and Performance Characterization of an Open-ended Wire-Driven Wrist Architecture for Robotic Minimally Invasive Surgery", Mechanism and Machine Theory, Submitted.
Sarli, N., Del Giudice, G., De, S., Dietrich, Mary S., Herrell, S. D. & Simaan, N. (2018). "Preliminary Porcine in vivo Evaluation of a Telerobotic System for Transurethral Bladder Tumor Resection & Surveillance". Journal of Endourology, vol. 32, no. 6, June 2018.
Sarli, N., Simaan, N. (2017). Minimal Visual OcclusionRedundancy Resolution of Continuum Robots in Confined Spaces . International Conference on Intelligent Robots and Systems (IROS2017).
Sarli, N., Marien, T., Mitchell, C. R., Giudice, G. D., Dietrich, M. S., Herrell, S. D. et al. (2016). Kinematic and Experimental Investigation of Manual Resection Tools for Transurethral Bladder Tumor Resection. The International Journal of Medical Robotics and Computer Assisted Surgery.
Sarli, N., Giudice, G. D., Herrell, D. S. & Simaan, N. (2016). A Resectoscope for Robot-Assisted Transurethral Surgery. ASME Journal of Medical Devices 2(10), 020911.
Sarli, N., Giudice, G. D., Herrell, D. S. & Simaan, N (2016). A Resectoscope for Robot-Assisted Transurethral Surgery. In 2016 Design of Medical Devices Conference(DMD'2016). Minneapolis, MN, USA.
Giudice, G. D., Sarli, N., Herrell, S. D. & Simaan, N (2016). Design Considerations for Continuum Robot Actuation Units Enabling Dexterous Transurethral Bladder Cancer Resection. In International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (ASME IDETC/CIE2016). Charlotte,NC,USA.
Sarli, N., Marien, T., Herrell, S. D. & Simaan, N (2015). Characterization of resection dexterity in transurethral resection of bladder tumor: A kinematic study. In IEEE International Conference on Robotics and Automation (ICRA2015), pages 5324 - 5329.
Marien, T., Sarli, N., Mitchell, C., Del Giudice, G., Simaan, N. & Herrell, S. D (2015). Surgeon Resection Performance DuringTransurethral Resection of Bladder Tumor (TURBT): A Quantified Study. In 30th annual meeting of Engineering and Urology Society.
N., Sarli, S., M., Rezaei, S., S., Ghidary, M., Zareinejad, H., A., Talebi, M. Dehghan, On Stability and Transparency of a Time-Discretized Time-Delayed Impedance- Controlled Force-Reflecting Teleoperation. (IFAC2011) (pdf)
N., Sarli, I., Kardan, S., Shiri, Ghidary, K., Baghestan, Robust H_Infinity and Mu-Synthesis Controller Design for an Underwater Unmanned Vehicle. Proc. 18th Annual International Conference on Mechanical Engineering, Iran (ISME2010)
S., Samadzade, M., H., Korayem, N., Sarli, M., Zareinejad, Stability in a Neural Network-Based Nano-telemanipulation through Adaptive Tuning of the Haptic Interface Dissipation. (Digest Journal of Nanomaterials & Biostructures)
S., Samadzade, M., Habibnejad, Korayem, N., Sarli, A Novel Approach for the Design of a 1-DOF Nano-Telemanipulation System Involving a Virtual Slave and Environment Based on Passivity and Coupled Stability Theory. Proc. ASME 2010 Int. Mechanical Engineering Cong. & Expo. (IMECE2010)
S., Samadzade, M., Habibnejad, Korayem, N., Sarli, AFM-Based Nano-Telemanipulation for Indenting on a Human Chromosome Using Sliding-Mode Impedance-Based Controller for the Slave. Proc. 17th Int. Conference on Biomedical Engineering, (ICBME2010)
R. Jaberzadeh Ansari, M. Zareinejad, S.M. Rezaei, K. Baghestan, N. Sarli, Stable multi-user interaction with cooperative haptic virtual environments by a modification of passive set-position modulation. (IET Control Theory & Applications)
Awards
Northeastern University Excellence Fellowship
Best Paper Award at 33th Annual meeting of Engineering and Urology Society, San Francisco, USA
