Iulian I. Iordachita CV

Office Address:

Johns Hopkins University
Whiting Scholl of Engineering, Department of Mechanical Engineering
Laboratory for Computational Sensing and Robotics
125 Hackerman Hall
3400 North Charles St.
Baltimore MD 21218-2682

Tel: 410-516-3839
Fax: 410-516-4410
Web: https://amiro.lcsr.jhu.edu/IulianIordachita
E-mail: mailto:iordachita@jhu.edu

Curriculum Vitae – full in PDF

Education

Doctor Engineer Diploma (equivalent to Ph.D.) in Mechanical Engineering, University of Craiova, Romania,11/1996

Dissertation:Contributions to the study of biologically-inspired mechanisms for dragging locomotion.

Diploma of Advanced Studies (equivalent to MS) in Industrial Robots, University of Craiova, Romania, 06/1989

Thesis: Mechanical Hands for Industrial Robots

Mechanical Engineer Diploma (equivalent to BS & MS), Specialization – Technology of Mechanical Engineering, University of Craiova, Romania, 06/1984

Thesis: Industrial Robot actuated with Pneumatic Motors

Post-doctoral Training

03/00-08/00:Post-Doctoral Fellow in Medical Robotics, Brady Urological Institute, School of Medicine, Johns Hopkins University, Baltimore, MD, USA;

Professional Experience

07/19 – present: Research Professor, Department of Mechanical Engineering, Whiting School of Engineering, Johns Hopkins University, Baltimore, MD, USA – research activity

07/14 – 06/19: Associate Research Professor, Department of Mechanical Engineering, Whiting School of Engineering, Johns Hopkins University, Baltimore, MD, USA – research activity

11/09 – 06/14: Assistant Research Professor, Department of Mechanical Engineering, Whiting School of Engineering, Johns Hopkins University, Baltimore, MD, USA – research activity

07/07 – 10/09: Assoc Research Scientist, Center for Computer-Integrated Surgical Systems and Technology, Johns Hopkins University, Baltimore, MD, USA – research activity

04/04 – 06/07: Research Engineer, Center for Computer-Integrated Surgical Systems and Technology, Johns Hopkins University, Baltimore, MD, USA – research activity

10/03-03/04: Associate Professor, School of Mechanical Engineering, University of Craiova, Romania – teaching and research activity

10/02-09/03: Visiting Associate Professor, Graduate School of Frontier Sciences, The University of Tokyo, JAPAN – research activity

10/98-09/02: Associate Professor, School of Mechanical Engineering, University of Craiova, Romania – teaching and research activity

10/93-09/98: Senior Lecturer, School of Mechanical Engineering, University of Craiova, Romania – teaching and research activity

09/90-09/93: Assistant Professor, School of Mechanical Engineering, University of Craiova, Romania – teaching and research activity

10/86-08/90: Research-Design Engineer, Research and Technology Institute for Electric Motors, Transformers and Electric Apparatus, Craiova, Romania – design and research activity

09/84-09/86: Mechanical Engineer, S.C. “Electroputere” SA, Craiova, Romania, Tools Factory – manufacturing process design activity

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Teaching Experience

09.2015 – 12.2018: JHU, WSE, Mechanical Engineering Department:

– EN.530.403, Engineering Design Project I (part time)

02.2015 – 05.2019: JHU, WSE, Mechanical Engineering Department:

– EN.530.404, Engineering Design Project II (part time)

10/98-03/04: Associate Professor, School of Mechanical Engineering, University of Craiova, Romania:

  • Industrial Robots – Course, Laboratory experiments;
  • Mechanical Structures for Robots and Manipulators – Course, Laboratory experiments, Project, Seminar;
  • Machine Components Design – Course, Laboratory experiments, Project;
  • Special Mechanisms and Mechanical Transmissions for Robots – Course, Laboratory experiments, Project, Seminar;
  • Machine Design Optimization – Course, Project, Seminar (2002-2004, new course).

10/93-09/98: Senior Lecturer, School of Mechanical Engineering, University of Craiova, Romania:

  • Industrial Robots – Course, Laboratory experiments (new course);
  • Mechanical Structures for Robots and Manipulators – Course, Laboratory experiments, Project, Seminar (new course);
  • Machine Components Design – Course, Laboratory experiments, Project;
  • Mechanisms and Machines Theory – Course, Laboratory experiments, Project, Seminar;

09/90-09/93: Assistant Professor, School of Mechanical Engineering, University of Craiova, Romania:

  • Machine Components Design – Laboratory experiments, Project, Seminar;
  • Mechanisms and Machines Theory – Laboratory experiments, Project, Seminar;

Research Interests

  • Robotics / Medical Robotics / Surgical Robotics
  • Medical Instrumentation / Smart Surgical Tools
  • Image-Guided Surgery / Computer-Assisted Surgery
  • Mechanisms and Mechanical Transmissions for Robots

Publications

Books and Textbooks

  1. Popescu, I., Iordachita, I., Dumitru, N., Rinderu, P. Biological Mechanisms, SITECH Publishing House, Craiova, Romania, ISBN 973-97524-9-1, 1997, (in Romanian).
  2. Iordachita, I. Special Mechanisms and Mechanical Transmissions for Industrial Robots, University of Craiova, Publishing House, 1997, (in Romanian).
  3. Iordachita, I. Industrial Robots, University of Craiova, Publishing House, 1997, (in Romanian);
  4. Catrina, G., Dumitru, N., Ilie, E., Iordachita, I., Margine, A., Rosca, D. Machine Parts. Practical Applications Guide, University of Craiova, Publishing House, 1994, (in Romanian);

Books Chapters

  1. Tosi, D., Poeggel, S., Iordachita, I., and Schena, E., “Fiber Optic Sensors for Biomedical Applications.” In Opto-Mechanical Fiber Optic Sensors, pp. 301-333. 2018
  2. Vander Poorten, E., Riviere, C.N., Abbott, J.J., Bergeles, C., Nasseri, M.A., Kang, J.U., Sznitman, R., Faridpooya, K. and Iordachita, I., Robotic Retinal Surgery. In Handbook of Robotic and Image-Guided Surgery(pp. 627-672). Oct.2019. Elsevier.
  3. Deng, Z., Xu, X., Dehghani, H., Sforza, D.M., Iordachita, I., Lim, M., Wong, J.W. and Wang, K.K.H., “Quantitative Bioluminescence Tomography for In Vivo Volumetric-Guided Radiotherapy.” In Biomedical Engineering Technologies (pp. 701-731). Dec. 2021 Humana, New York, NY.,
  4. Roizenblatt, M., Ebrahimi, A., Iordachita, I. and Gehlbach, P.L., “Robotic Systems in Ophthalmologic Surgery.” In Robotic Surgery Devices in Surgical Specialties, Cham: Springer International Publishing, pp. 161-174, Oct. 2023, https://doi.org/10.1007/978-3-031-35102-0_12.
  5. Wang, X., Li, Y., Wu, M., Hao, Y., Tian, L., He, Z., Au, K.W.S., Taylor, R.H., Iordachita, I., Chan, J.Y. and Fan, J.K.M., Cheung, K.M.C., and Kwok, K.W., “Intra-operative image-guided interventional robotics—where are we now and where are we going?” In Machine Learning, Medical AI and Robotics: Translating theory into the clinic(pp. 7-1 to 7-31). Bristol, UK: IOP Publishing.
  6. Iordachita, I.I., Navab, N., Gehlbach, P.L., Kobilarov, M., Nasseri, M.A., “Artificial Intelligence in Intraocular Robotic Microsurgery.” In: Masamune, K., Kusuda, K., Nakamura, H., Muragaki, Y. (eds) Artificial Intelligence in Surgery., pp. 127-149, Aug. 2025, Springer, Singapore.
  7. Patel, N., Li, G., Cleary, K. and Iordachita, I., Body-Mounted Robots for Magnetic Resonance Imaging-Guided Percutaneous Interventions. In Handbook of Robotic and Image-Guided Surgery(pp. 663-676). Jan 2026. Elsevier

Journal Papers (selection)

  1. Du, P., Esfandiari, M., Wei, H., Jinno, M., Gehlbach, P., Munawar, A., Kazanzides, P., and Iordachita, I., “Dual-EKF System Identification and Model Predictive Path Integral Control of a Retinal Microsurgical Robot.” Journal of Medical Robotics Research. Vol. x, no. x, pp. (13 pages) Mar. 2026, org/10.1142/S2424905X26500078
  2. Zhang, P., Gehlbach, P., Taylor, R.H., Iordachita, I. and Kobilarov, M., “Deep learning–based autonomous retinal vein cannulation in ex vivo porcine eyes.” Science Robotics, vol. 10, no. 109, pp. 1-13, Dec 2025, DOI: 10.1126/scirobotics.adw2969.
  3. Francoeur, J., Kashyap, R., Kadoury, S., Kim, J.S., and Iordachita, I.I., “Evaluation of Fiber Optic Shape Sensing Models for Minimally Invasive Prostate Needle Procedures Using OFDR Data.” IEEE Sensors Journal. vol. 25, no. 23, pp. 42829-42841, Dec 2025, doi: 10.1109/JSEN.2025.3620154
  4. Esfandiari, M., Kim, J.W., Zhang, P., Heng, J.S., Gehlbach, P.L., Taylor, R.H., and Iordachita, I., “Bimanual Robotic Eye Manipulation Using Adaptive Sclera Force Control: Towards Safe Retinal Vein Cannulation.” IEEE Transactions on Medical Robotics and Bionics. Vol. 7, no. 4, pp. 1499-1512, 2025. DOI:10.1109/TMRB.2025.3617962
  5. Wang, Y., Xu, Y., Kang, J., Fritz, J. and Iordachita, I., “Simulation-Based Flexible Needle Control with Single-Core FBG Feedback for Spinal Injections.” IEEE Transactions on Medical Robotics and Bionics. 6, no. 3, pp. 1073-1083, Aug. 2024, DOI: 10.1109/TMRB.2024.3421630
  6. Lezcano, D.A., Zhetpissov, Y., Bernardes, M.C., Moreira, P., Tokuda, J., Kim, J.S. and Iordachita, I.I., “Hybrid Deep Learning and Model-Based Needle Shape Prediction.” IEEE Sensors Journal. vol. 24, no. 11, pp. 18359 – 18371, Apr. 2024, DOI: 1109/JSEN.2024.3386120
  7. Alamdar, A., Usevitch, D.E., Wu, J., Taylor, R.H., Gehlbach, P. and Iordachita, I., “Steady-hand eye robot 3.0: Optimization and benchtop evaluation for subretinal injection.” IEEE Transactions on Medical Robotics and Bionics. Vol. 6, no. 1, pp. 135-145 2024, https://doi.org/10.1109/TMRB.2023.3336975
  8. Lezcano, D.A., Zhetpissov, Y., Cheng, A., Kim, J.S., Iordachita, I., “Optical Fiber-Based Needle Shape Sensing in Real Tissue: Single Core vs. Multicore Approaches.” Journal of Medical Robotics Research. Vol. 9, no. 1-2, pp. (10 pages) Mar. doi.org/10.1142/S2424905X23500046.
  9. Ebrahimi, A., Sefati, S., Gehlbach, P., Taylor, R.H. and Iordachita, I.I., “Simultaneous Online Registration-Independent Stiffness Identification and Tip Localization of Surgical Instruments in Robot-Assisted Eye Surgery.” IEEE Transactions on Robotics. Vol. xx, no. x, On-line Sep 9, 2022
  10. Iordachita, I.I., de Smet, M.D., Naus, G., Mitsuishi, M., and Riviere, C.N., “Robotic Assistance for Intraocular Microsurgery: Challenges and Perspectives,” in Proceedings of the IEEE, vol. 110, no. 7, pp. 893-908, Jul. 2022, DOI: 10.1109/JPROC.2022.3169466.
  11. Alamdar, A., Patel, N., Urias, M.G., Ebrahimi, A., Gehlbach, P.L. and Iordachita, I., “Force and Velocity Based Puncture Detection in Robot Assisted Retinal Vein Cannulation: in-vivo Study”. IEEE Transactions on Biomedical Engineering. vol. 69, no. 3, pp.1123-1132, Mar. 2022, DOI: 1109/TBME.2021.3114638
  12. Jinno, M. and Iordachita, I., “Improved Integrated Robotic Intraocular Snake: Analyses of the Kinematics and Drive Mechanism of the Dexterous Distal Unit.” Journal of Medical Robotics Research. vol. 06, no.01n02, pp.1-13, p. 2140001, May 2021, https://doi.org/10.1142/S2424905X21400018.
  13. Ebrahimi, A., Urias, M., Patel, N., Taylor, R.H., Gehlbach, P.L. and Iordachita, I., “Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study.” IEEE Transactions on Bio-Medical Engineering. vol. 68, no.11, pp.3356-3365, Nov. 2021, DOI:1109/TBME.2021.3071135
  14. Ebrahimi, A., Alambeigi, F., Sefati, S., Patel, N., He, C., Gehlbach, P.L. and Iordachita, I., “Stochastic Force-based Insertion Depth and Tip Position Estimations of Flexible FBG-Equipped Instruments in Robotic Retinal Surgery.” IEEE/ASME Transactions on Mechatronics. vol. xx, no. x, pp.1-12, On-line 08 Sep. 2020, DOI:1109/TMECH.2020.3022830
  15. He, C., Yang, E., Patel, N., Ebrahimi, A., Shahbazi, M., Gehlbach, P.L., and Iordachita, I., “Automatic Light Pipe Actuating System for Bimanual Robot-Assisted Retinal Surgery” IEEE/ASME Transactions on Mechatronics. vol. xx, no. xx, pp.1-11, 2020, Online May 22 2020, DOI: 1109/TMECH.2020.2996683
  16. He, C., N. Patel, M. Shahbazi, Y. Yang, P. L. Gehlbach, M. Kobilarov, and Iordachita. I., “Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-based Active Interventional Control Framework.” IEEE transactions on bio-medical engineering, vol. 67, no. 4, pp. 966-977, Apr. 2020, 10.1109/TBME.2019.2926060
  17. Patel, N., Yan, J., Monfaredi, R., Sharma, K., Cleary, K. and Iordachita, I., “Preclinical evaluation of an integrated robotic system for magnetic resonance imaging-guided shoulder arthrography.” Journal of Medical Imaging, vol. 6, no. 2, p.025006. May 2019, https://doi.org/10.1117.1.JMI.6.2.025006
  18. Gonenc, B., Chamani, A., Handa, J., Gehlbach, P., Taylor, R.H. and Iordachita, I., “3-DOF Force-Sensing Motorized Micro-Forceps for Robot-Assisted Vitreoretinal Surgery.” IEEE Sensors Journal. vol. 17, no. 11, pp. 3526-3541, Jun. 2017

Peer-Reviewed Conference Papers (selection)

  1. Long, A., Wu, T., She, C., Esfandiari, M., Gehlbach, P., Taylor, R.H., and Iordachita, I., “Motion Compensation and Adaptive Force Control Via iOCT-FBG Sensor Fusion for Robotic Subretinal Injection.” In 2026 IEEE Int. Conf. on Robotics and Automation (ICRA), Vienna, Austria, pp. (8 pages), June 2026.
  2. Wang, Y., Zhang, P., Esfandiari, M., Gehlbach, P.L., Iordachita, I.I., “A Deep Learning-Driven Autonomous System for Retinal Vein Cannulation: Validation Using a Chicken Embryo Model.” In Proc. 2025 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Hangzhou, China, 513-519, Oct. 2025
  3. Francoeur, J., Lorre, P., Iordachita, I., Kashyap, R., Kadoury, S., “Device-Specific Calibration Methods for Optical Frequency Domain Reflectometry-Based Shape Sensing in Catheters and Surgical Needles.” In 2025 47th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 1-7, IEEE. Copenhagen, Denmark. Jul. 2025
  4. Arikan, D., Zhang, P., Sommersperger, M., Dehghani, S., Esfandiari, M., Taylor, R.H., Nasseri, M.A., Gehlbach, P., Navab, N., and Iordachita, I., “Real-Time Deformation-Aware Control for Autonomous Robotic Subretinal Injection Based on OCT Guidance.” In 2025 IEEE Int. Conf. on Robotics and Automation (ICRA), Atlanta, GA, USA, pp. 10531 – 10537, May 2025.
  5. Esfandiari, M., Kim, J.W., Zhao, B., Amirkhani, G., Hadi, M., Gehlbach, P., Taylor, R.H., and Iordachita, I., “Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study.” In 2024 IEEE Int. Conf. on Robotics and Automation (ICRA), Yokohama, Japan, pp. 8209 – 8215, May 2024  
  6. Wang, Y., Al-Zogbi, L., Liu, G., Liu, J., Tokuda, J., Krieger, A., and Iordachita, I., “Bevel-Tip Needle Deflection Modeling, Simulation, and Validation in Multi-Layer Tissues.” In 2024 IEEE Int. Conf. on Robotics and Automation (ICRA), Yokohama, Japan, pp. 11598 – 11604, May 2024  
  7. Dehghani, S., Sommersperger, M., Zhang, P., Martin-Gomez, A., Busam, B., Gehlbach, P., Navab, N., Nasseri, M.A., Iordachita, I., “Robotic Navigation Autonomy for Subretinal Injection Via Intelligent Real-Time Virtual iOCT Volume Slicing.” In 2023 IEEE Int. Conf. on Robotics and Automation (ICRA), London, UK, pp. 4724- 4731, May – June 2023
  8. Zhang, P., Kim, J.W., Gehlbach, P., Iordachita, I., Kobilarov. M., “Autonomous Needle Navigation in Retinal Microsurgery: Evaluation in Ex Vivo Porcine Eyes.” In 2023 IEEE Int. Conf. on Robotics and Automation (ICRA), London, UK, pp. 4661- 4667, May – June 2023
  9. Wang, Y., Liu, G., Li, G., Cleary, K., and Iordachita, I., “An MR-Conditional Needle Driver for Robot-Assisted Spinal Injections: Design Modifications and Evaluations.” In 2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 3307-3312, IEEE. Glasgow, UK. Jul. 2022.
  10. Jinno, M., Iordachita, I., “Microgripper Using Flexible Wire Hinge for Robotic Intraocular Snake”, In Proc. 2022 IEEE Int. Conf. on Robotics and Automation (ICRA), Philadelphia, PA, US, pp. 6218-6224, May 2022.
  11. Wang, Y., Li, G., Kwok, K.W., Cleary, K., Taylor, R.H., and Iordachita, I., “Towards Safe in Situ Needle Manipulation for Robot Assisted Lumbar Injection in Interventional MRI.” In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Prague, Czech Republic, pp. 1835-1842, Sep. 2021
  12. Jinno, M., Patel, N., Li, G., Iordachita, I., “An Integrated High-dexterity Cooperative Robotic Assistant for Intraocular Micromanipulation”, In Proc. 2021 IEEE Int. Conf. on Robotics and Automation (ICRA), Xi’an, China, pp. 1198-1204, May-Jun. 2021.
  13. Ebrahimi, A., Roizenblatt, M., Patel, N, Gehlbach, P., and Iordachita, I., “Auditory Feedback Effectiveness for Enabling Safe Sclera Force in Robot-Assisted Vitreoretinal Surgery: A Multi-User Study” In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA (Virtual), pp. 3274 – 3280, Oct. 2020.
  14. He, C., Ebrahimi, A., Yang, E., Urias, M., Yang, Y., Gehlbach, P., and Iordachita, I., “Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System with a Dual Force Constraint Controller.” In 2020 IEEE Int. Conf. on Robotics and Automation (ICRA), Paris, France, pp. 4441-4447, Jun. 2020.
  15. Li, G., Patel, N., Liu, W., Wu, D., Sharma, K., Cleary, K., Fritz, J., and Iordachita, I., “A Fully Actuated Body-Mounted Robotic Assistant for MRI-Guided Low Back Pain Injection.” In 2020 IEEE Int. Conf. on Robotics and Automation (ICRA), Paris, France, pp. 5495-5501, Jun. 2020..
  16. Ebrahimi, A., Alambeigi, F., Zimmer-Galler, I.E., Gehlbach, P., Taylor, R.H., and Iordachita, I., “Toward Improving Patient Safety and Surgeon Comfort in a Synergic Robot-Assisted Eye Surgery: A Comparative Study” In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Macau, China, pp. 7075-7082, Nov. 2019.
  17. Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M., and Iordachita, I., “Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery.” In 2019 IEEE Int. Conf. on Robotics and Automation (ICRA), Montreal, Canada, pp. 9073-9079, May 2019, Best Paper Award in Medical Robotics.
  18. He, C., Patel, N., Iordachita, I., and Kobilarov, M., “Enabling Technology for Safe Robot-Assisted Retinal Surgery: Early Warning for Unsafe Sclera Force.” In 2019 IEEE Int. Conf. on Robotics and Automation (ICRA), Montreal, Canada, pp. 3889-3894, May 2019,
  19. Gonenc, B., Patel, N., and Iordachita, I., “Evaluation of a Force-Sensing Handheld Robot for Assisted Retinal Vein Cannulation,” in Proc 40th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC), Honolulu, HI, USA, pp. 3664-3668, Jul. 2018.
  20. Kim, J.S., Guo, J., Chatrasingh, M., Kim, S., and Iordachita, I., “Shape Determination During Needle Insertion with Curvature Measurements” In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Vancouver, Canada, pp. 201-208, Sep. 2017.

Conference Abstracts (selection)

  1. Urias, M.G., Patel, N., Ebrahimi, A., Roizenblatt, M., Iordachita, I.I., and Gehlbach, P.L., “Mapping and Controlling Scleral Force Interactions in Bimanual Robot-assisted Retinal Surgery.” Investigative Ophthalmology & Visual Science, vol. 61, no. 7, pp.3725-3725.
  2. He, C., Roizenblatt, M., Patel, N., Ebrahimi, A., Gehlbach, P.L. and Iordachita, I., “Robotic assistance affects manipulation skills in bimanual retinal surgery simulation: a tool-to-sclera force study.” Investigative Ophthalmology & Visual Science, 60(9), pp.5798-5798. Jul. 2019
  3. Deng, Z., Xu, X., Kim, F., Belcaid, Z., Garton-Muvdi, T., Luksik, A., Maxwell, R., Iordachita, I., Yu, J., Lim, M. and Wong, J., “Bioluminescence Tomography-Guided Radiation Therapy for Glioblastoma In Vivo.” In MEDICAL PHYSICS (Vol. 45, No. 6, pp. E148-E148), Jun. 2018
  4. Roizenblatt, M., Ebrahimi, A., He, C., Patel, N., Iordachita, I. and Gehlbach, P.L., “Quantitative Evaluation of Tool-to-Sclera Forces, in a Model of Retinal Microsurgery.” Investigative Ophthalmology & Visual Science, 59(9), pp.5926-5926, Jul. 2018.
  5. Xu, X., Deng, Z., Iordachita, I., Wong, J. and Wang, K., “A Novel Multi-Projection Bioluminescence Tomography for Small Animal Radiation Research Platform (SARRP)”. In MEDICAL PHYSICS (Vol. 45, No. 6, pp. E393-E393, Jun. 2018.
  6. Zhang, B., Yu, J., Iordachita, I., Reyes, J., Liu, Z., Brock, M., Patterson, M., Wong, J. and Wang, K., “WE-FG-BRA-06: Systematic Study of Target Localization for Bioluminescence Tomography Guided Radiation Therapy for Preclinical Research.” Medical Physics, 43(6), pp.3824-3824, 2016.

Patents and Inventions

  1. Iordachita, I.I., Jinno, M., “Integrated robotic intraocular snake.” U.S. Patent Application 18/037,508. Filed Nov. 17, 2021, Publication 12/28/2023, US20230414306A1.
  2. Taylor, R.H., Canezin, A., Schrum, M., Iordachita, I.I., Chirikjian, G., Laskowski, M., Chakravarty, S. and Hoffman, S., “Mosquito Salivary Gland Extraction Device and Methods of Use.” U.S. Patent Application 15/621,875. Filed Dec. 14, 2017
  3. Wong, J., Wang, K.K.H. and Iordachita, I.I., “Optical imaging system and method of making and using the same.” U.S. Patent Application 15/520,973. Filed Jan. 25 2018
  4. He, X., Iordachita, I.I., Van Geirt, V., Gehlbach, P. and Taylor, R., “Manipulator Device and Therapeutic and Diagnostic Methods.” U.S. Patent Application 15/574,483. Filed May 10, 2018
  5. He, X., Iordachita, I.I., Horise, Y., Taylor, R.H. and Gehlbach, P.L., “Surgical system providing hands-free control of a surgical tool.” U.S. Patent 10188552, U.S. Patent Application 15/237,347. Filed Feb. 16, 2017, Publication 01/29/2019.
  6. He, X., Iordachita, I.I., Taylor, R.H., Handa, J.T. and Gehlbach, P.L., “Tool and tool system having independent axial and transverse force sensing.” U.S. Patent 10363164, U.S. Patent Application 15/234,896. Filed Jun. 8 2017, Publication 07/30/2019.
  7. Gonenc, B., Iordachita, I.I., Taylor, R.H., Riviere, C., Gehlbach, P.L. and Handa, J.T., “Micromanipulation System and Methods” U.S. Patent 10369045, Application 14/810.277, Filed 07/27/2015, Publication 08/06/2019
  8. Iordachita, I.I., Liu, H., Armand, M., Taylor, R.H. and Farvardin, A., “Shape tracking of a dexterous continuum manipulator.” U.S. Patent 10226304, U.S. Patent Application 14/970,177. Filed Jun. 16, 2016, Publication 03/12/2019.
  9. Boctor, E.M., Iordachita, I.I., Guo, X., Cheng, A., Zhang, H.K., Alamifar, F., “Robot Assisted Ultrasound System,” U.S. Patent 10335116, U.S. Patent Application 14/690,232, Filed Oct. 22 2015. Publication 07/02/2019.
  10. Taylor, R.H., Handa, J., Balicki, M.A., Handa, J.T., Gehlbach, P.L., Iordachita, I.I., and Uneri, A., “Method for Presenting Force Sensor Information Using Cooperative Robot Control and Audio Feedback,” U.S. Patent Application 13/813,727, Filed Feb. 20, 2014.
  11. He, X., Iordachita, I.I., Balicki, M. and Taylor, R.H., “Multi-force sensing surgical instrument and method of use for robotic surgical systems.” U.S. Patent 9,549,781, Issued Jan. 24, 2017
  12. Taylor, R.H., Handa, J., Balicki, M., Iordachita, I., Uneri, A., Gehlbach, P., “Micro-force Guided Cooperative Control for Surgical Manipulation of Delicate Tissue,” U.S. Patent 9.662.174, Issued May 30 2017
  13. Monfaredi, R., Iordachita, I.I., Seifabadi, R., “MRI-compatible, Integrated Force and Torque Sensors and Systems that Incorporate the Sensors,” U.S. Patent 9,289,265, Issued Mar. 22, 2016.
  14. Taylor, R.H., Iordachita, I., Kang, J.U. and Liu, X., “Interferometric Force Sensor for Surgical Instruments.” U.S. Patent 9,241,693, Issued Jan. 26 2016.
  15. Taylor, R.H., Niparko, J., Iordachita, I., Chien, W., “Method and Apparatus for Cochlear Implant Surgery,” U.S. Patent 9,020,613, Issued April 28, 2015.
  16. Wong, J.W.C., Patterson, M.S., Iordachita, I.I., “Method and Apparatus for Real-time Mechanical and Dosimetric Quality Assurance Measurements in Radiation Therapy,” U.S. Patent 9,211,101, Issued Dec. 15, 2015.
  17. Whitcomb, L.L., Krieger, A., Susil, R.C., Fichtinger, G., Atalar, E., Iordachita, I.I., “Apparatus for Insertion of a Medical Device within a Body During a Medical Imaging Process and Devices and Methods Related Thereto,” U.S. Patent 8,521,257, Issued Aug. 27 2013.
  18. Stoianovici, D., Fichtinger, G., Wiard, R.M., Iordachita, I.I., Whitcomb, L.L., Taylor, R.H., “Controllable motorized device for percutaneous needle placement in soft tissue target and methods and systems related thereto,” U.S. Patent 7,494,494 B2, Issued Feb. 24, 2009.

Research projects (selection)

    1. Title: Enabling Dexterous Intraocular Surgery with Robotic Assistance.

    Dates:        2/01/2024-1/31/2027

    Grantor:      National Institutes of Health

    Grant #:      R01 EB034397-01A1 (Iulian Iordachita, PI)

    Institution:   Johns Hopkins University

    Amount:      $1,230,856 (Total)

    Summary:   The goal of this project is to develop and evaluate a high-dexterity clinically compatible surgical platform for assisting ophthalmologists in providing therapy in the retinal domain.

    Role:          Principal Investigator

    1. Title: Robot-assisted catheter placement with novel shape-sensing stylet to facilitate adaptive image guided pelvic brachytherapy

    Dates:        08/01/2024-05/31/2028

    Grantor:      NIH, NCI

    Grant #:      1R01EB036015-01 (Junichi Tokuda, Iulian Iordachita, Robert Cormak, MPI)

    Institution:   BWH, subcontract Johns Hopkins University

    Amount:      $ 2,541,052 (Total)

    Summary:   The goal of this project is to develop and evaluate a new technology to facilitate catheter navigation under MRI for adaptive image-guided pelvic brachytherapy.

    Role:          Principal Investigator (of Johns Hopkins University sub-contract, MPI)

    1. Title: Adaptive Percutaneous Prostate Interventions using Sensorized Needle. 

    Dates:        8/01/2019-2/29/2028

    Grantor:      National Institutes of Health

    Grant #:      2R01CA235134-04 (Junichi Tokuda, Iulian Iordachita, Nobuhiko Hata, MPI)

    Institution:   BWH, subcontract Johns Hopkins University

    Amount:      $2,465,224 (Total) 

    Summary:   Develop and validate optical fiber-based shape-sensing needle that can detect the deviation of needle in vivo and feed it back to the physician in real-time.

    Role:          Principal Investigator (of Johns Hopkins University sub-contract, MPI)

    1. Title: Image-Guided Surgical Robotic System for Femur Fracture Reduction

    Dates:        04/01/2024-03/31/2028

    Grantor:      National Institutes of Health

    Grant #:      1R 01EB036365 (Abedin-Nasab, Mohammad, Iulian Iordachita, MPI)

    Institution:   Rowan University, NJ

    Amount:      $2,489,594 (Total)

    Summary:   The goal of this project is to develop and evaluate a clinical grade robotic system for treating femoral shaft fractures, providing mechanical assistance to the clinician for bone gripping, positioning, and highly accurate alignment of the bone fragments.

    Role:          Principal Investigator (of Johns Hopkins University sub-contract, MPI)

    1. Title: Enabling Technology for Safe Robot-assisted Surgical Micromanipulation

    Dates:        4/01/2022-12/31/2025

    Grantor:      National Institutes of Health

    Grant #:      2R01EB023943-04A1 (Iulian Iordachita, MPI)

    Institution:   Johns Hopkins University

    Amount:      $1,579,353 (Total)

    Summary:   The goal of this project is to develop and evaluate enabling technology for safe and reliable bilateral, semi-autonomous robotic assistance integrated with force sensing instruments to assist the surgeon with sensorimotor guidance for safe retinal vein cannulation.

    Role:          Principal Investigator

    1. Title: Enabling technology for image-guided robot-assisted sub-retinal injections. 

    Dates:        9/20/2019-6/30/2023

    Grantor:      National Institutes of Health

    Grant #:      1R01 EB025883-01A1 (Iulian Iordachita, PI)

    Institution:   Johns Hopkins University

    Amount:      $1,453,260 (Total)

    Summary:   Develop and test a cooperatively controlled robotic system that in conjunction with force-sensing microsurgical instruments guided by 4D intraoperative Optical Coherence Tomography could enable safe and reliable access to subretinal space.

    Role:          Principal Investigator