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nima sarli


  • 2011 - 2013: M. Sc. in Mechanical Engineering, Northeastern University, Boston, USA
  • 2008 - 2011: M. Sc. in Mechanical Engineering, Amirkbir University of Tech. (Tehran Polytechnic), Tehran, Iran
  • 2004 - 2008: B. Sc. in Mechanical Engineering, Amirkbir University of Tech. (Tehran Polytechnic), Tehran, Iran

Research Interests

  • Medical Robotics
  • Robotics & Control
  • Telerobotics



  • Stability and Transparency Analysis of Discrete-Time Time-Delayed Bilateral Teleoperaton
  • AFM-Based Nano-telemanipulation Design
  • Stick-Slip Piezo-Actuator Modeling & Control Design
  • Stable Multi-User Interaction with Cooperative Haptic Virtual Environments


  • Sarli, N., Del Giudice, G., De, S., Dietrich, Mary S., Herrell, S. D. and Simaan, N (2018). Preliminary Porcine in vivo evaluation of a Telerobotic System for Transurethral Bladder Tumor Resection & Surveillance. Journal of Endourology.
  • Sarli, N., Simaan, N. (2017). Minimal Visual Occlusion Redundancy 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)


  • Northeastern Graduate Teaching Assistantship
  • Northeastern University Excellence Fellowship