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Publications

We lost our publication database so the list below is incomplete. We will hopefully get a chance to update these publications. A somewhat complete list is available at this link.

Peer-Reviewed Conference Papers

  1. A.L. Orekhov, G.L.H. Johnston, Nabil Simaan. "Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations," 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). [url] [arXiv]
  2. G. Del Giudice, G.L.H Johnston, N. Simaan, "Design Considerations for 3RRR Parallel Robots with Lightweight, Approximate Static-Balancing," 2023 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDTEC-CIE). [url] [arXiv]
  3. R. Natarajan, G.L.H Johnston, N. Simaan, M. Likhachev, H. Choset, "Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization," 2023 IEEE International Conference on Robotics and Automation (ICRA).[url] [arXiv].
  4. A. L. Orekhov and N. Simaan "Solving Cosserat Rod Models via Collocation and the Magnus Expansion," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2020 (accepted). [arXiv]
  5. G. L. H. Johnston, A. L. Orekhov, and N. Simaan, "Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints," in 2020 IEEE International Conference on Robotics and Automation (ICRA), May 2020. [arXiv]
  6. C. Abah, A. L. Orekhov, G. L. H. Johnston, P. Yin, H. Choset, and N. Simaan, “A Multi-modal Sensor Array for Safe Human-Robot Interaction and Mapping,” 2019 IEEE International Conference on Robotics and Automation (ICRA), May 2019. [url][video]
  7. C. Abah, A. L. Orekhov, and N. Simaan, “Design Considerations and Redundancy Resolution for Variable Geometry Continuum Robots,” in 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 767-774, May 2018. [url]
  8. N. Garbin, L. Wang, J. H. Chandler, K. L. Obstein, N. Simaan, and P. Valdastri, “A disposable continuum endoscope using piston-driven parallel bellow actuator,” in 2018 International Symposium on Medical Robotics (ISMR), pp. 1-6, Mar. 2018.
  9. H. Salman, E. Ayvali, R. A. Srivatsan, Y. Ma, N. Zevallos, R. Yasin, L. Wang, N. Simaan, and H. Choset, “Trajectory-optimized sensing for active search of tissue abnormalities in robotic surgery,” in 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 1-5, IEEE, 2018. [url][arXiv]
  10. R. Yasin, L. Wang, C. Abah, and N. Simaan, “Using continuum robots for force-controlled semi autonomous organ exploration and registration,” in Medical Robotics (ISMR), 2018 International Symposium on, pp. 1-6, IEEE, 2018.
  11. N. Sarli and N. Simaan, “Minimal visual occlusion redundancy resolution of continuum robots in confined spaces,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6448-6454, Sept. 2017.
  12. G. Del Giudice, L. Wang, J. Shen, K. Joos, and N. Simaan, “Continuum robots for multi-scale motion: Micro-scale motion through equilibrium modulation,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2537-2542, Sept. 2017.
  13. G. Del Giudice, N. Sarli, S. D. Herrell, and N. Simaan, “Design Considerations for Continuum Robot Actuation Units Enabling Dexterous Transurethral Bladder Cancer Resection,” in ASME IDETC 2016, Aug. 2016. [ url ]
  14. L. Wang, Z. Chen, P. Chalasani, J. Pile, P. Kazanzides, R. H. Taylor, and N. Simaan, “Updating Virtual Fixtures From Exploration Data in Force-Controlled Model-Based Telemanipulation,” American Society of Mechanical Engineers, Aug. 2016. [ url ]
  15. R. Roy, L. Wang, and N. Simaan, “Investigation of effects of dynamics on intrinsic wrench sensing in continuum robots,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 2052-2059, May 2016.
  16. P. Chalasani, L. Wang, R. Roy, N. Simaan, R. H. Taylor, and M. Kobilarov, “Concurrent nonparametric estimation of organ geometry and tissue stiffness using continuous adaptive palpation,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 4164-4171, May 2016.
  17. R. A. Srivatsan, E. Ayvali, L. Wang, R. Roy, N. Simaan, and H. Choset, “Complementary model update: A method for simultaneous registration and stiffness mapping in flexible environments,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 924-930, May 2016.
  18. E. Ayvali, R. A. Srivatsan, L. Wang, R. Roy, N. Simaan, and H. Choset, “Using Bayesian optimization to guide probing of a flexible environment for simultaneous registration and stiffness mapping,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 931-936, May 2016.
  19. J. Pile, G. B. Wanna, and N. Simaan, “Force-based flexible path plans for robotic electrode insertion,” in 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 297-303, May 2014.
  20. A. Bajo, R. B. Pickens, S. D. Herrell, and N. Simaan, “Constrained motion control of multisegment continuum robots for transurethral bladder resection and surveillance,” in 2013 IEEE International Conference on Robotics and Automation, pp. 5837-5842, May 2013.
  21. H. Yu, J. H. Shen, K. M. Joos, and N. Simaan, “Design, calibration and preliminary testing of a robotic telemanipulator for OCT guided retinal surgery,” in 2013 IEEE International Conference on Robotics and Automation, pp. 225-231, May 2013.
  22. S. Bhattacharyya and N. Simaan, “Characterization of constraints in flexible unknown environments,” in 2013 IEEE International Conference on Robotics and Automation, pp. 3994-3999, May 2013.
  23. A. Bajo, L. M. Dharamsi, J. L. Netterville, C. G. Garrett, and N. Simaan, “Robotic-assisted micro-surgery of the throat: The trans-nasal approach,” in 2013 IEEE International Conference on Robotics and Automation, pp. 232-238, May 2013.
  24. J. Pile and N. Simaan, “Characterization of friction and speed effects and methods for detection of cochlear implant electrode tip fold-over,” in 2013 IEEE International Conference on Robotics and Automation, pp. 4409-4414, IEEE, May 2013. [ url ]
  25. A. Reiter, A. Bajo, K. Iliopoulos, N. Simaan, and P. K. Allen, “Learning-based configuration estimation of a multi-segment continuum robot,” in 2012 4th IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 829-834, June 2012.
  26. A. Bajo, R. E. Goldman, L. Wang, D. Fowler, and N. Simaan, “Integration and preliminary evaluation of an Insertable Robotic Effectors Platform for Single Port Access Surgery,” in 2012 IEEE International Conference on Robotics and Automation, pp. 3381-3387, May 2012.
  27. S. Tully, A. Bajo, G. Kantor, H. Choset, and N. Simaan, “Constrained filtering with contact detection data for the localization and registration of continuum robots in flexible environments,” in 2012 IEEE International Conference on Robotics and Automation, pp. 3388-3394, May 2012.
  28. H. T. Sen, N. Deshmukh, R. Goldman, P. Kazanzides, R. H. Taylor, E. Boctor, and N. Simaan, “Enabling technologies for natural orifice transluminal endoscopic surgery (N.O.T.E.S) using robotically guided elasticity imaging,” in Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling, vol. 8316, International Society for Optics and Photonics, Feb. 2012. [ url ]
  29. K. Xu, D. Qiu, and N. Simaan, “A pilot investigation of continuum robots as a design alternative for upper extremity exoskeletons,” in 2011 IEEE International Conference on Robotics and Biomimetics, pp. 656-662, Dec. 2011.
  30. A. Reiter, R. E. Goldman, A. Bajo, K. Iliopoulos, N. Simaan, and P. K. Allen, “A learning algorithm for visual pose estimation of continuum robots,” in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2390-2396, Sept. 2011.
  31. J. Pile, M. Y. Cheung, J. Zhang, and N. Simaan, “Algorithms and design considerations for robot assisted insertion of Perimodiolar Electrode Arrays,” in 2011 IEEE International Conference on Robotics and Automation, pp. 2898-2904, May 2011.
  32. R. E. Goldman, A. Bajo, and N. Simaan, “Compliant motion control for continuum robots with intrinsic actuation sensing,” in 2011 IEEE International Conference on Robotics and Automation, pp. 1126-1132, May 2011.
  33. A. Bajo, R. E. Goldman, and N. Simaan, “Configuration and joint feedback for enhanced performance of multi-segment continuum robots,” in 2011 IEEE International Conference on Robotics and Automation, pp. 2905-2912, May 2011.
  34. J. Ding, K. Xu, R. Goldman, P. Allen, D. Fowler, and N. Simaan, “Design, simulation and evaluation of kinematic alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery,” in 2010 IEEE International Conference on Robotics and Automation, pp. 1053-1058, May 2010.
  35. A. Bajo and N. Simaan, “Finding lost wrenches: Using continuum robots for contact detection and estimation of contact location,” in 2010 IEEE International Conference on Robotics and Automation, pp. 3666-3673, May 2010.
  36. Y. Chen, J. Zhang, H. Wang, N. Simaan, Y. L. Yao, V. Lyulko, H. C. Turner, and G. Randers-Pehrson, “Development of a robotically-based automated biodosimetry tool for high-throughput radiological triage,” in International Journal of Biomechatronics and Biomedical Robotics, vol. 1, pp. 115-125, 2010.
  37. K. Xu, R. E. Goldman, J. Ding, P. K. Allen, D. L. Fowler, and N. Simaan, “System design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery,” in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5546-5552, Oct. 2009.
  38. S. A. Hamid and N. Simaan, “Design and synthesis of wire-actuated universal-joint wrists for surgical applications,” in 2009 IEEE International Conference on Robotics and Automation, pp. 1807-1813, May 2009.
  39. J. Zhang, S. Bhattacharyya, and N. Simaan, “Model and parameter identification of friction during robotic insertion of cochlear-implant electrode arrays,” in 2009 IEEE International Conference on Robotics and Automation, pp. 3859-3864, May 2009.
  40. J. Zhang, W. Wei, S. Manolidis, J. T. Roland, and N. Simaan, “Path Planning and Workspace Determination for Robot-Assisted Insertion of Steerable Electrode Arrays for Cochlear Implant Surgery,” in Medical Image Computing and Computer-Assisted Intervention – MICCAI 2008, Lecture Notes in Computer Science, pp. 692-700, Springer, Berlin, Heidelberg, Sept. 2008. [ pdf | url ]
  41. A. Salerno, J. Zhang, A. Bhatla, O. V. Lyulko, J. Nie, A. Dutta, G. Garty, N. Simaan, G. Randers-Pehrson, Y. L. Yao, and D. J. Brenner, “Design Considerations for a Minimally Invasive High-Throughput Automation System for Radiation Biodosimetry,” in 2007 IEEE International Conference on Automation Science and Engineering, pp. 846-852, Sept. 2007. [ pdf ]
  42. W. Wei, R. Goldman, N. Simaan, H. Fine, and S. Chang, “Design and Theoretical Evaluation of Micro-Surgical Manipulators for Orbital Manipulation and Intraocular Dexterity,” in Proceedings 2007 IEEE International Conference on Robotics and Automation, pp. 3389-3395, Apr. 2007. [ pdf ]
  43. K. Xu and N. Simaan, “Actuation compensation for flexible surgical snake-like robots with redundant remote actuation,” in Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp. 4148-4154, May 2006. [ pdf ]
  44. W. Wei, K. Xu, and N. Simaan, “A Compact Two-armed Slave Manipulator for Minimally Invasive Surgery of the Throat,” in The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006), pp. 769-774, Feb. 2006.
  45. J. Zhang, K. Xu, N. Simaan, and S. Manolidis, “A Pilot Study of Robot-Assisted Cochlear Implant Surgery Using Steerable Electrode Arrays,” in Medical Image Computing and Computer-Assisted Intervention – MICCAI 2006, Lecture Notes in Computer Science, pp. 33-40, Springer Berlin Heidelberg, 2006. [ pdf ]
  46. A. Kapoor, N. Simaan, and R. H. Taylor, “Suturing in confined spaces: constrained motion control of a hybrid 8-DoF robot,” in ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005., pp. 452-459, July 2005. [ pdf ]
  47. N. Simaan, “Snake-Like Units Using Flexible Backbones and Actuation Redundancy for Enhanced Miniaturization,” in Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 3012-3017, Apr. 2005. [ pdf ]
  48. N. Simaan, R. Taylor, and P. Flint, “High Dexterity Snake-Like Robotic Slaves for Minimally Invasive Telesurgery of the Upper Airway,” in Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004, Lecture Notes in Computer Science, pp. 17-24, Springer, Berlin, Heidelberg, Sept. 2004. [ pdf | url ]
  49. A. Kapoor, N. Simaan, and P. Kazanzides, “A System for Speed and Torque Control of DC Motors with Application to Small Snake Robots,” in IEEE Conference on Mechatrnoics and Robotics (MECHROB 2004), Sept. 2004. [ pdf ]
  50. N. Simaan, R. Taylor, and P. Flint, “A dexterous system for laryngeal surgery,” in 2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04, vol. 1, pp. 351-357 Vol.1, Apr. 2004. [ pdf ]
  51. N. Simaan and M. Shoham, “Stiffness Synthesis of a Variable Geometry Planar Robot,” in Advances in Robot Kinematics: Theory and Applications, pp. 463-472, Springer Netherlands, 2002. [ pdf | url ]
  52. N. Simaan and M. Shoham, “Robot Construction for Surgical Applications,” in IFAC Proceedings Volumes, vol. 33 of IFAC Conference on Mechatronic Systems, Darmstadt, Germany, 18-20 September 2000, pp. 521-526, Sept. 2000. [ url ]
  53. N. Simaan and M. Shoham, “Remarks on “Hidden” Lines in Parallel Robots,” in 7th International Symposium on Advances in Robot Kinematics (ARK 2000), (Piran-Portoroz, Slovenia), p. 15, June 2000.
  54. N. Simaan, D. Glozman, and M. Shoham, “Design considerations of new six degrees-of-freedom parallel robots,” vol. 2, pp. 1327-1333 vol.2, May 1998. [ pdf ] 

Journal Papers

  1. G.L.H. Johnston, A. L. Orekhov, N. Simaan, "Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms," ASME Journal of Mechanisms and Robotics. Feb. 2023. 16(2): 021001. [url][video]
  2. 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. Dec. 2021. [url][video]
  3. A. L. Orekhov, E. Z. Ahronovich, N. Simaan, "Lie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots with General String Encoder Routing" IEEE Transactions on Robotics. Jan. 2023 [url][video]
  4. Y. Chen, L. Wang, K. Galloway, I. Godage, N. Simaan, and E. Barth, "Modal-based kinematics and contact detection of soft robots," Soft Robotics, 2020. [url][arXiv]
  5. R. Yasin, M. Dedmon, N. Dillon, and N. Simaan, "Investigating variability in cochlear implant electrode array alignment and the potential of visualization guidance," The International Journal of Medical Robotics and Computer Assisted Surgery, vol. 16, no. 6, May 2019. [url]
  6. L. Wang, G. Del Giudice, and N. Simaan, "Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration," Journal of Mechanisms and Robotics, vol. 11, no. 5, Oct. 2019. [url][arXiv]
  7. A. L. Orekhov and N. Simaan, "Directional stiffness modulation of parallel robots with kinematic redundancy and variable stiffness joints," Journal of Mechanisms and Robotics, vol. 11, no. 5, Oct. 2019. [url]
  8. P. R. Slawinski, N. Simaan, K. L. Obstein, and P. Valdastri, "Sensorless Estimation of the Planar Distal Shape of a Tip-Actuated Endoscope," IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3371 - 3377, Oct. 2019. [url]
  9. P. R Slawinski, N. Simaan, A. Z. Taddese, K. L. Obstein, and P. Valdastri, "Sensitivity Ellipsoids for Force Control of Magnetic Robots With Localization Uncertainty," IEEE Transactions on Robotics, vol. 35, no. 5, pp. 1123-1135, Jun. 2019. [url]
  10. N. Sarli, G. Del Giudice, S. De, M. S. Dietrich, S. D. Herrell, and N. Simaan, "TURBot: A System for Robot-Assisted Transurethral Bladder Tumor Resection," IEEE/ASME Transactions on Mechatronics, vol. 24, no. 4, pp. 1123 - 1135, May 2019. [url]
  11. L. Wang and N. Simaan, "Geometric calibration of continuum robots: Joint space and equilibrium shape deviations," IEEE Transactions on Robotics, vol. 35, no. 2, pp. 387-402, Apr. 2019. [url]
  12. N. Garbin, L. Wang, J. H. Chandler, K. L. Obstein, N. Simaan, and P. Valdastri, "Dual-continuum design approach for intuitive and low-cost upper gastrointestinal endoscopy," IEEE Transactions on Biomedical Engineering, vol. 66, no. 7, pp. 1963-1974, Jul. 2019. [url]
  13. N. Simaan, R. M. Yasin, and L. Wang, “Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics,” Annual Review of Control, Robotics, and Autonomous Systems, vol. 1, no. 1, pp. 465–490, 2018. [url][arXiv]
  14. N. Sarli, G. Del Giudice, S. De, M. S. Dietrich, S. D. Herrell, and N. Simaan, “Preliminary Porcine In Vivo Evaluation of a Telerobotic System for Transurethral Bladder Tumor Resection and Surveillance,” Journal of Endourology, vol. 32, no. 6, pp. 516–522, Mar. 2018.
  15. P. Chalasani, L. Wang, R. Yasin, N. Simaan, and R. H. Taylor, “Preliminary Evaluation of an Online Estimation Method for Organ Geometry and Tissue Stiffness,” IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 1816–1823, 2018.
  16. R. Yasin et al., “Steerable Robot-assisted Micromanipulation in the Middle Ear: Preliminary Feasibility Evaluation,” Otology & Neurotology, vol. 38, no. 2, p. 290, Feb. 2017.
  17. L. Wang et al., “Force-Controlled Exploration for Updating Virtual Fixture Geometry in Model-Mediated Telemanipulation,” J. Mechanisms Robotics, vol. 9, no. 2, pp. 021010-021010–11, Mar. 2017.
  18. N. Sarli et al., “Kinematic and experimental investigation of manual resection tools for transurethral bladder tumor resection,” The International Journal of Medical Robotics and Computer Assisted Surgery, vol. 13, no. 2, p. e1757, Jun. 2017.
  19. R. Roy, L. Wang, and N. Simaan, “Modeling and Estimation of Friction, Extension, and Coupling Effects in Multisegment Continuum Robots,” IEEE/ASME Transactions on Mechatronics, vol. 22, no. 2, pp. 909–920, Apr. 2017.
  20. J. Pile, A. D. Sweeney, S. Kumar, N. Simaan, and G. B. Wanna, “Detection of modiolar proximity through bipolar impedance measurements,” The Laryngoscope, vol. 127, no. 6, pp. 1413–1419, Jun. 2017.
  21. J. Pile, G. B. Wanna, and N. Simaan, “Robot-assisted perception augmentation for online detection of insertion failure during cochlear implant surgery,” Robotica, vol. 35, no. 7, pp. 1598–1615, Jul. 2017.
  22. E. Ayvali, A. Ansari, L. Wang, N. Simaan, and H. Choset, “Utility-Guided Palpation for Locating Tissue Abnormalities,” IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 864–871, Apr. 2017.
  23. H. Yu, J. Shen, K. M. Joos, and N. Simaan, “Calibration and Integration of B-Mode Optical Coherence Tomography for Assistive Control in Robotic Microsurgery,” IEEE/ASME Transactions on Mechatronics, vol. 21, no. 6, pp. 2613–2623, Dec. 2016.
  24. N. Sarli, G. Del Giudice, D. S. Herrell, and N. Simaan, “A Resectoscope for Robot-Assisted Transurethral Surgery,” J. Med. Devices, vol. 10, no. 2, p. 020911, Jun. 2016.
  25. C. D. Natali, M. Beccani, N. Simaan, and P. Valdastri, “Jacobian-Based Iterative Method for Magnetic Localization in Robotic Capsule Endoscopy,” IEEE Transactions on Robotics, vol. 32, no. 2, pp. 327–338, Apr. 2016.
  26. G. Garty et al., “The Decade of the RABiT (2005–15),” Radiat Prot Dosimetry, vol. 172, no. 1–3, pp. 201–206, Dec. 2016.
  27. A. Bajo and N. Simaan, “Hybrid motion/force control of multi-backbone continuum robots,” The International Journal of Robotics Research, vol. 35, no. 4, pp. 422–434, Apr. 2016.
  28. H. Yu, J.-H. Shen, R. J. Shah, N. Simaan, and K. M. Joos, “Evaluation of microsurgical tasks with OCT-guided and/or robot-assisted ophthalmic forceps,” Biomed. Opt. Express, BOE, vol. 6, no. 2, pp. 457–472, Feb. 2015.
  29. N. Simaan, R. H. Taylor, and H. Choset, “Intelligent Surgical Robots with Situational Awareness,” Mechanical Engineering, vol. 137, no. 09, pp. S3–S6, Sep. 2015.
  30. K. Groom, L. Wang, N. Simaan, and J. Netterville, “Robot-assisted transnasal laryngoplasty in cadaveric models: Quantifying forces and identifying challenges,” The Laryngoscope, vol. 125, no. 5, pp. 1166–1168, May 2015.
  31. J. Ding and N. Simaan, “Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots,” Robotica, vol. 33, no. 8, pp. 1775–1793, Oct. 2015.
  32. H. Yu, R. J. Shah, J. H. Shen, K. M. Joos, and N. Simaan, “Preliminary Evaluation of a Robotic Retinal Surgical Manipulator,” Invest. Ophthalmol. Vis. Sci., vol. 55, no. 13, pp. 2317–2317, Apr. 2014.
  33. P. Rohani et al., “Forces and Trauma Associated with Minimally Invasive Image-Guided Cochlear Implantation,” Otolaryngol Head Neck Surg, vol. 150, no. 4, pp. 638–645, Apr. 2014.
  34. J. Pile and N. Simaan, “Modeling, Design, and Evaluation of a Parallel Robot for Cochlear Implant Surgery,” IEEE/ASME Transactions on Mechatronics, vol. 19, no. 6, pp. 1746–1755, Dec. 2014.
  35. R. B. Pickens, A. Bajo, N. Simaan, and D. Herrell, “A Pilot Ex Vivo Evaluation of a Telerobotic System for Transurethral Intervention and Surveillance,” Journal of Endourology, vol. 29, no. 2, pp. 231–234, Aug. 2014.
  36. S. D. Herrell, R. Webster, and N. Simaan, “Future robotic platforms in urologic surgery: Recent Developments,” Curr Opin Urol, vol. 24, no. 1, pp. 118–126, Jan. 2014.
  37. R. E. Goldman, A. Bajo, and N. Simaan, “Compliant Motion Control for Multisegment Continuum Robots With Actuation Force Sensing,” IEEE Transactions on Robotics, vol. 30, no. 4, pp. 890–902, Aug. 2014.
  38. L. M. Dharamsi, A. Bajo, J. L. Netterville, C. G. Garrett, and N. Simaan, “Evaluation of a Telerobotic System for Transnasal Surgery of the Larynx and Airways in Cadavers,” Otolaryngol Head Neck Surg, vol. 151, no. 1, pp. 107–111, Jul. 2014.
  39. J. Zhang and N. Simaan, “Design of Underactuated Steerable Electrode Arrays for Optimal Insertions,” J. Mechanisms Robotics, vol. 5, no. 1, pp. 011008-011008–11, Jan. 2013.
  40. N. Simaan, A. Bajo, A. Reiter, L. Wang, P. Allen, and D. Fowler, “Lessons learned using the insertable robotic effector platform (IREP) for single port access surgery,” J Robotic Surg, vol. 7, no. 3, pp. 235–240, Sep. 2013.
  41. J. Shen, H. Yu, N. Simaan, and K. Joos, “A Robotic-controlled Intraocular OCT Probe,” Invest. Ophthalmol. Vis. Sci., vol. 54, no. 15, pp. 1502–1502, Jun. 2013.
  42. P. Rohani et al., “Forces and Trauma Associated with Minimally-Invasive, Image-Guided Cochlear Implantation,” Otolaryngol Head Neck Surg, vol. 149, no. 2_suppl, pp. P99–P100, Sep. 2013.
  43. R. E. Goldman, A. Bajo, and N. Simaan, “Algorithms for autonomous exploration and estimation in compliant environments,” Robotica, vol. 31, no. 1, pp. 71–87, Jan. 2013.
  44. R. E. Goldman, A. Bajo, L. S. MacLachlan, R. Pickens, S. D. Herrell, and N. Simaan, “Design and Performance Evaluation of a Minimally Invasive Telerobotic Platform for Transurethral Surveillance and Intervention,” IEEE Transactions on Biomedical Engineering, vol. 60, no. 4, pp. 918–925, Apr. 2013.
  45. J. Ding, R. E. Goldman, K. Xu, P. K. Allen, D. L. Fowler, and N. Simaan, “Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for Single-Port Access Surgery,” IEEE/ASME Transactions on Mechatronics, vol. 18, no. 5, pp. 1612–1624, Oct. 2013.
  46. L. M. Dharamsi, A. Bajo, J. L. Netterville, C. G. Garrett, and N. Simaan, “A Telerobotic System for Transnasal Surgery of the Larynx and Upper Airways,” Otolaryngol Head Neck Surg, vol. 149, no. 2_suppl, pp. P89–P90, Sep. 2013.
  47. W. Wei and N. Simaan, “Modeling, Force Sensing, and Control of Flexible Cannulas for Microstent Delivery,” J. Dyn. Sys., Meas., Control, vol. 134, no. 4, pp. 041004-041004–12, Apr. 2012.
  48. Y. Chen et al., “Automated recognition of robotic manipulation failures in high-throughput biodosimetry tool,” Expert Systems with Applications, vol. 39, no. 10, pp. 9602–9611, Aug. 2012.
  49. A. Bajo and N. Simaan, “Kinematics-Based Detection and Localization of Contacts Along Multisegment Continuum Robots,” IEEE Transactions on Robotics, vol. 28, no. 2, pp. 291–302, Apr. 2012.
  50. G. Garty et al., “The RABiT: A Rapid Automated Biodosimetry Tool for radiological triage. II. Technological developments,” International Journal of Radiation Biology, vol. 87, no. 8, pp. 776–790, Aug. 2011.
  51. Chen Y., Zhang J., Wang H., Garty G., Xu Y., Lyulko O., Turner H., Randers-Pehreson G., Simaan N., Yao Y. L., Brenner D., "Development of a Robotically-based Automated Biodosimetry Tool for High-Throughput Radiological Triage", International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 2, pp. 115-125, 2010 [PDF]
  52. J. Zhang, W. Wei, J. Ding, J. T. J. Roland, S. Manolidis, and N. Simaan,  “Inroads towards Robot-Assisted Cochlear Implant Surgery using Steerable Electrode Arrays”, Otology & Neurotology, vol. 31, no. 8, p. 1199, Oct. 2010.
  53. Zhang, J., Wei, W., Ding. J., Rolant, T.J., Manolidis, S., Simaan, N., Otology & Neurologyspecial issue on Cochlear Implants, 2010.
  54. Xu, K., Simaan, N., “Analytic Formulation for Kinematics, Statics and Shape Restoration of Multi-Backbone Continuum Robots via Elliptic Integrals,”ASME Journal of Mechanisms and Robotics (JMR),Vol. 2, No. 1, pp. 011006-1 to 011006-13, 2010.
  55. K. Xu and N. Simaan, “Intrinsic Wrench Estimation and Its Performance Index for Multisegment Continuum Robots,” IEEE Transactions on Robotics, vol. 26, no. 3, pp. 555–561, Jun. 2010.
  56. Wei, W., Simaan N., “Design of Planar Parallel Robots with Preloaded Flexures for Guaranteed Backlash Prevention,” ASME Journal of Mechanisms and Robotics (JMR), Vol. 2, No. 1, pp.  011012-1 to 011012-10, 2010.
  57. W. Wei, C. Popplewell, S. Chang, H. F. Fine, and N. Simaan, “Enabling Technology for Microvascular Stenting in Ophthalmic Surgery,” J. Med. Devices, vol. 4, no. 1, pp. 014503-014503–6, Mar. 2010. [PDF]
  58. Guy Garty; Youhua Chen; Alessio Salerno; Helen Turner; Jian Zhang; Oleksandra V Lyulko; Yanping Xu; Hongliang Wang; Nabil Simaan; Gerhard Randers-Pehrson; Lawrence Yao; Sally A Amundson; David J Brenner “The RABiT: A Rapid Automated Biodosimetry Tool for radiological triage,” Health Physics Journal, PMID: 20065685, Vol. 98, No. 2, pp.209-17, 2010.
  59. Fine H. Wei W., Simaan N., "Could Robots Ever Do Retina Surgery?", Review of Ophthalmology, Vol. 17, No. 5, Issue 5/1/2010. [PDF | LINK]
  60. H. F. Fine, W. Wei, R. E. Goldman, and N. Simaan, “Robot-assisted ophthalmic surgery,” Canadian Journal of Ophthalmology / Journal Canadien d’Ophtalmologie, vol. 45, no. 6, pp. 581–584, Dec. 2010.
  61. Garty G., Turner H. C., Chen Y., Zhang J., Wang H., Bertucci A., Brengues M., Randers-Pehrson G., Simaan N., Yao Y. L., Zenhausern F., Brenner D. J., "Sample Collection for High Throughput Radiation Biodosimetry", Submitted to AMA Journal on Disaster Medicine & Public Health Preparedness, November 2009.
  62. Simaan, N., Xu, K., Wei Wei, Kapoor, A., Kazanzides, P., Flint, P., Taylor, R., “Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat, ”International Journal of Robotics Research (IJRR) special issue on medical robotics, (First published online on May 27th through IJRR OnlineFirst), DOI: 10.1177/0278364908104278, NIHMS114080, Vol. 28, No. 9, pp. 1134-1153, 2009.
  63. Wei Wei, R. E. Goldman, H. F. Fine, Stanley Chang, and N. Simaan, “Performance Evaluation of Hybrid Multi-Arm Robots Operating on Hollow Suspended Organs,” IEEE Transactions on Robotics, vol. 25, no. 1, pp. 147–157, Feb. 2009.
  64. N. Simaan et al., “Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat,” The International Journal of Robotics Research, vol. 28, no. 9, pp. 1134–1153, Sep. 2009.
  65. Y. Chen et al., “Design and Preliminary Validation of a Rapid Automated Biodosimetry Tool for High Throughput Radiological Triage,” pp. 61–67, Jan. 2009.
  66. J. Zhang, J. Roland J. Thomas, S. Manolidis, and N. Simaan, “Optimal Path Planning for Robotic Insertion of Steerable Electrode Arrays in Cochlear Implant Surgery,” J. Med. Devices, vol. 3, no. 1, pp. 011001-011001–10, Dec. 2008.
  67. Alexander T. Hillel, Ankur Kapoor, Nabil Simaan, Russell H. Taylor and Paul Flint, " Applications of Robotics for Laryngeal Surgery," Laryngeal Cancer -Otolaryngologic Clinics of North America, Nasir Bhatti & Ralph P. Tufano Eds., PMID: 18570959, Volume 41, Issue 4, Pages 781-791, August 2008.
  68. K. Xu and N. Simaan, “An Investigation of the Intrinsic Force Sensing of Continuum Robots,” IEEE Transactions on Robotics, vol. 24, no. 3, pp. 576–587, Jun. 2008.
  69. A. T. Hillel, A. Kapoor, N. Simaan, R. H. Taylor, and P. Flint, “Applications of Robotics for Laryngeal Surgery,” Otolaryngologic Clinics of North America, vol. 41, no. 4, pp. 781–791, Aug. 2008.
  70. N. Simaan and M. Shoham,"Stiffness Synthesis of a Variable Geometry Six Degrees-of-Freedom Double Planar Parallel Robot," The International Journal of Robotics Research, vol. 22, no. 9, pp. 757–775, Sep. 2003.
  71. N. Simaan and M. Shoham, “Geometric Interpretation of the Derivatives of Parallel Robot's Jacobian Matrix with Application to Stiffness Control" Journal of Mechanical Design, vol. 125, no. 1, p. 33, 2003.
  72. N. Simaan and M. Shoham, "Singularity Analysis of a Class of Composite Serial In-Parallel Robots,"IEEE Transactions on Robotics and Automation, vol. 17, no. 3, pp. 301–311, Jun. 2001.

 

Ph. D. Dissertations

  1. Zhang, J., "Design of Steerable Electrode Arrays and Optimal Insertion Path Planning for Robot-Assisted Cochlear Implant Surgeries", Ph.D. Dissertation, N. Simaan (advisor), Department of Mechanical Engineering, Columbia University, April 2010. (graduated with distinction)
  2. Wei, W., Design and Implementation of High-Precision Hybrid Robotic Systems with Application for Ophthalmic Micro-Surgery, Ph.D. Dissertation, N. Simaan (advisor), Department of Mechanical Engineering, Columbia University, April 2010. (Graduated with Destinction)
  3. Xu, K., Design, "Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," Ph.D. Dissertation, N. Simaan (advisor), Department of Mechanical Engineering, Columbia University, September 2009. (Graduated with Destinction)
  4. Simaan, N., Task-Based Design and Synthesis of Variable Geometry Parallel Robots, Ph.D. dissertation, Technion, Israel, 2002.

 

Master Thesis
  1. Simaan, N., Analysis and Synthesis of Parallel Robots for Medical Applications, Master Thesis, Technion, Israel, 1999.

 

Invited Book Chapters/Abstracts

  1. K. M. Joos, R. Matthews, R. Prasad, N. Simaan, and J. H. Shen, "A modified histological technique for evaluation of RPE disturbance," Investigative Ophthalmology & Visual Science, vol. 61, no. 7, pp. 2226-2226, Jun. 2020. [url]
  2. J. H. Shen, R. Matthews, R. Prasad, N. Simaan, and K. M. Joos, "Detection of subretinal injection reflux," Investigative Ophthalmology & Visual Science, vol. 61, no. 7, pp. 1869-1869, Jun. 2020. [url]
  3. R. H. Taylor, P. Kazanzides, G. S. Fischer, and N. Simaan, "Chapter Nineteen - Medical robotics and computer-integrated interventional medicine," in Biomedical Information Technology (Second Edition), pp. 617-672, 2020. [url]
  4. 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]
  5. A. L. Orekhov, C. Abah, and N. Simaan, "Snake-Like Robots for Minimally Invasive, Single Port, and Intraluminal Surgeries," in The Encyclopedia of Medical Robotics, World Scientific, ch. 8, pp. 203-243, Aug. 2018. [arXiv] 
  6. Simaan, N., Zhang, J., Roland, Manolidis, S., “Steerable Continuum Robot Design for Cochlear Implant Surgery”, accepted for publication in a workshop titled Snakes, Worms and Catheters: Continuum and Serpentine Robots for Minimally Invasive Surgery, IEEE International Conference on Robotics and Automation, May 3, 2010.
  7. Wei, W., Fine, H., Chang, S., Simaan, N., “A Pilot Study on Using a Flexible Cannula Robot for Micro-Vascular Stenting,” accepted for publication in a workshop titled Snakes, Worms and Catheters: Continuum and Serpentine Robots for Minimally Invasive Surgery, IEEE International Conference on Robotics and Automation, May 3, 2010.
  8. Simaan, N., Zhang, J., Roland, Manolidis, S., "Robotic Study Shows that Insertion Speed Affects Cochlear Implant Electrode Insertion Forces,” Submitted to the 11th International Conference on Cochlear Implants and other Implantable Auditory Technologies,” Stockholm, Sweden, June 30-July 3rd, 2010.
  9. Simaan, N., Manolidis, S., Roland, T-J. “Inroads towards a robotically inserted CI electrode development”, 9th European Symposium of Paediatric Cochlear Implantation, 2009.
  10. Cheung, M.-Yi, Zhang, J., Simaan, N., “Mathematical Modeling and Characterization of Coiling Perimodiolar Cochlear Electrode Arrays,” accepted for a poster and podium presentation in Columbia Student Research Symposium, 2010.
  11. Zhang, J., Manolidis, S., Roland, T. J., Simaan, N., “Design of Steerable Electrode Arrays and Optimal Insertion Path Planning for Robot-Assisted Cochlear Implant Surgery”, accepted for poster presentation in Columbia Student Research Symposium, 2010.
  12. Fine, H., Wei, W., Chang, S., Simaan, N., “A novel dual-arm dexterous ophthalmic microsurgical robot: applications for retinal vascular cannulation and stent deployment” . American Society of Retinal Specialists, Retina Congress 2009, New York, NY, Sept 4-Oct 4, 2009.
  13. Simaan, N., Manolidis, S., Roland, T-J. “Inroads towards a robotically inserted CI electrode development”, 9th European Symposium of Paediatric Cochlear Implantation, 2009.
  14. Roland, T-J., Zhang, J., Manolidis, S., Simaan, N., “Progress Towards A Robotically Inserted Cochlear Implant Electrode”, 12th Symposium on Cochlear Implants in Children, Seattle, 2009.
  15. Reichert, S., Zhang, J., Xu, K., Simaan, N., Manolidis, S., "Robotic insertion of cochlear implant electrodes to minimize cochlear trauma", 6th European Congress of Oto-Rhino-Laryngology, Head and Neck Surgery., Vienna, Austria, Jun. 2007.
  16. Garty, G., Pehrson, G.R, Simaan, N., Salerno, A., Dutta, A., Nie, J., Schettino, G., Lyulko, O.V., Zhang, J., Bhathala, A., Yao, Y.L., Brenner, D.J., “Development of an ultrahigh-throughput robotically-based biodosimetry workstation using in-situ assays”, 13th International Congress of Radiation Research, San Francisco, California, Jul. 2007.
  17. Manolidis, S., Zhang J., Xu K., Roland T., Simaan N. “Robotic insertion of cochlear implant electrodes to minimize cochlear Trauma”, Abstract in 6th European Congress of Oto – Rhino – Laryngology, Head & Neck Surgery. July 2nd, 2007,
  18. Vienna, Austria. Simaan, N., Taylor, R., Hillel, A., Flint, P., “Minimally Invasive Surgery of the Upper Airways: Addressing the Challenges of Dexterity Enhancement in Confined Spaces” Book chapter in Surgical Robotics - History, Present and Future Applications, Russell Faust (Ed.), Nova Science Publishing, 2007.

Patents

  1. N. Simaan, G. Del Giudice, L. Wang, K. M. Joos, and J. Shen, "Continuum Robots with Multi-Scale Motion Through Equilibrium Modulation," U.S. Patent App. 16/647278, Jul. 2020. [url]
  2. N. Garbin, P. Valdastri, K. L. Obstein, N. Simaan, and P. R. Slawinski, "Steerable endoscope with continuum manipulator," US Patent App. 16/465621, Jan. 2020. [url]
  3. N. Simaan, R. E. Goldman, and A. Bajo, "Dexterous wrists," US Patent 10500002B2, Dec. 2019. [url]
  4. N. Simaan, R. H. Taylor, and J. T. Handa, "System and method for macro-micro distal dexterity enhancement in micro-surgery of the eye," US Patent 10406026B2, Sept. 2019. [url]
  5. N. Simaan, A. Bajo, R. B. Pickens, and S. D. Herrel, "Systems and methods for robot-assisted transurethral exploration and intervention," US Patent 9956042B2, May 2018. [url]
  6. N. Simaan and A. Bajo, "Robotic device for establishing access channel," US Patent 9549720B2, Jan. 2017. [url]
  7. N. Simaan, A. Bajo, J. L. Netterville, C. G. Garrett, and R. E. Goldman, "Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots," US Patent 9539726B2, Jan. 2017. [url]
  8. A. Bajo and N. Simaan, "Method and system for contact detection and contact localization along continuum robots," US Patent 9333650B2, May 2016. [url]
  9. N. Simaan, R. H. Taylor, P. Flint, G. Chirikjian, and D. Stein, "Devices, systems and methods for minimally invasive surgery of the throat and other portions of mammalian body," US Patent 9089354B2, Jul. 2015. [url]
  10. K. Joos, J. Shen, and N. Simaan, "Apparatus and method for vascular and nerve separation and bridging," US Patent 20140303663A1, Oct. 2014. [url]
  11. R. Goldman, N. Simaan, M. C. Benson, and L. S. MacLachlan, "Rapidly deployable flexible robotic instrumentation," US Patent 20130338433A1, Dec. 2013. [url]
  13. Nabil Simaan, Kai Xu, Roger Goldman, Peter Allen, Dennis Fowler, “Systems, Devices, and Methods for Providing insertable Robotic Sensory and Manipulation Platforms for Single Port Surgery, U.S. 61/103,415, October 2008.
  14. Nabil Simaan, Kai Xu, “System and Method for Intrinsic Force Sensing and its Performance Index of Multi-Segment Robots,” U.S. 61/147,275, January 2009.
  15. Nabil Simaan, Kai Xu, “Systems and Methods for Force Sensing in a Robot” PCT/US09/32068, January 2009.
  16. Nabil Simaan, Jian Zhang, John T. Roland, Spiros Manolidis, “Systems and Methods For Inserting Steerable Arrays Into Anatomical Structures,” PCT/US09/039542, April 2009.
  17. Nabil Simaan, Wei Wei, Howard Fine, Stanley Chang, “SYSTEMS, DEVICES, AND METHODS FOR ROBOT-ASSISTED MICRO-SURGICAL STENTING,” US. Patent application filed to benefit Provisional patent application U.S. 61/046,178, January 2009.
  18. Nabil Simaan, Wei Wei, Roger Goldman, Howard Fine, Stanley Chang, “Systems, Devices, And Methods for Surgery On A Hollow Anatomically Suspended Organ,” International Patent WO/2008/036304, 2007.
  19. Jian Zhang, Alessio Salerno, Nabil Simaan, Y. Lawrence Yao, Gerhard Randers-Pehrson, Guy Garty, Aparajita Dutta, David J. Brenner, “Systems And Methods For Robotic Transport”, US patent application # 11/895,485, 2007.
  20. Guy Garty, David J. Brenner, Gerhard Randers-Pehrson, Y. Lawrence Yao, Nabil Simaan, Alessio Salerno, Anubha Bhatla, Jian Zhang, Oleksandra V. Lyulko, Aparajita Dutta, “Systems And Methods For High-Throughput Radiation Biodosimetry” US patent application #11/895,417, 2007.
  21. Guy Garty, David J. Brenner, Gerhard Randers-Pehrson, Y. Lawrence Yao, Nabil Simaan, Alessio Salerno, Anubha Bhatla, US patent application #11/895,517, “Systems And Methods For Etching Materials, 2007.
  22. Anubha Bhatla, Alessio Salerno, Nabil Simaan, Y. Lawrence Yao, Gerhard Randers-Pehrson, Guy Y. Garty, Aparajita Dutta, David J. Brenner, “Systems And Methods For Cutting Materials”, US patent application #11/895,557, 2007.
  23. Simaan, N., Wei W., Goldman, R., Fine, H., Chang, S., A Dual-Arm Workstation for Intraocular Dexterity-Enhanced Microsurgery of the Eye and In-Organ Dexterity Enhancement and Manipulation of Suspended Organs, Columbia University provisional patent #19240.TBDUS1, 2006.
  24. Simaan, N., Manolidis, S., “Robot-Assisted Cochlear Implant Insertion and Active-Bending Electrode Arrays”, Provisional filed with Columbia University Licensing, August 2005.
  25. Simaan, N., Taylor, R., Handa, J., A System for Macro-Micro Distal Dexterity in Microsurgery of the Eye,” Johns Hopkins Provisional Patent (JHU Ref# 4456), 2005.
  26. Simaan, N., Taylor, R., Flint, P., Chirikjian, G., “Devices, Systems and Methods for Minimally Invasive Surgery of the Throat and Other Portions of Mammalian Body”, US patent 20050059960, May 21, 2004.
  27. Simaan, N., Taylor, R., Flint, P., Chirikjian, G., “Devices, Systems and Methods for Minimally Invasive Surgery of the Throat and Other Portions of Mammalian Body”, World patent WO/2005/009482 , May 21, 2004.
  28. Simaan, N., Taylor, R., Flint, P., Chirikjian, G., Stein, D., “Minimally Invasive Surgical Assistance System for Throat Surgery,” US provisional patent application. Johns Hopkins University Licensing and Technology Development, Reference No. DM-4254., May 2003.