Publications – AMIRo Research Lab

Contents

Refereed Journal Publications

2023

Liu, D., Li, G., Wang, S., Liu, Z., Wang, Y., Connolly, L., Usevitch, D.E., Shen, G., Cleary, K. and Iordachita, I., A magnetic resonance conditional robot for lumbar spinal injection: Development and preliminary validation. The International Journal of Medical Robotics and Computer Assisted Surgery, vol. xx, no. xx, pp. x-x, (13 pages), Online Dec. 2023, https://doi.org/10.1002/rcs.2618
He, Z., Dai, J., Ho, J.D.L., Tong, H.S., Wang, X., Fang, G., Liang, L., Cheung, C.L., Guo, Z., Chang, H.C., Iordachita, I., Taylor, R.H., Poon, W.S., Chan, D.T.M., and Kwok, K.W., “Interactive Multi‐Stage Robotic Positioner for Intra‐Operative MRI‐Guided Stereotactic Neurosurgery.” Advanced Science, p.2305495. Vol. xx, no. xx, pp. x-x (15 pages) Nov. 2023 https://doi.org/10.1002/advs.202305495
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. xx, no. xx, pp. x-x (12 pages) Nov. 2023, https://doi.org/10.1109/TMRB.2023.3336975
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. xx, no. xx, pp. x-x (10 pages) 2023.
Xu, X., Deng, Z., Sforza, D., Tong, Z., Tseng, Y.P., Newman, C., Reinhart, M., Tsouchlos, P., Devling, T., Dehghani, H., Iordachita I., Wong, J.W., and Wang, K.H., “Characterization of a commercial bioluminescence tomography‐guided system for pre‐clinical radiation research.” Medical Physics. 2023 Aug 26., https://doi.org/10.1002/mp.16669
Clancy, M., Alruwaili, F., Saeedi-Hosseiny, M., McMillan, S., Iordachita, I.I. and Abedin-Nasab, M., “Analysis and Optimization of a 6-DoF 3-RRPS Parallel Mechanism for Robot-Assisted Long-Bone Fracture Surgery.” Journal of Mechanisms and Robotics, vol. 16, no. 6, p 061006 (11 pages), Jun. 2024, pp.1-34. Online August 10, 2023, https://doi.org/10.1115/1.4063167
Wang, J., Wu, T., Iordachita, I. and Kazanzides, P., “Calibration and Evaluation of a Motion Measurement System for PET Imaging Studies.” Journal of Medical Robotics Research. Vol. 08, no. 01 and 02, p. 2340003 (10 pages) 5, 2023, https://doi.org/10.1142/S2424905X23400032
Amirkhani, G., Goodridge, A., Esfandiari, M., Phalen, H., Ma, J.H., Iordachita, I. and Armand, M., “Design and Fabrication of a Fiber Bragg Grating Shape Sensor for Shape Reconstruction of a Continuum Manipulator.” IEEE Sensors Journal. vol. 23, no. 12, pp. 12915-12929, Jun. 2023. DOI:1109/JSEN.2023.3274146
Saeedi-Hosseiny, M.S., Alruwaili, F., Clancy, M.P., Corson, E.A., McMillan, S., Papachristou, C., Bouaynaya, N., Iordachita, I.I. and Abedin-Nasab, M.H., “Automatic Alignment of Fractured Femur: Integration of Robot and Optical Tracking System.” IEEE Robotics and Automation Letters. Vol. 8. No. 5, pp. 2438-2445, May 2023, DOI:1109/LRA.2023.3251198
Ghazi, P., Fu, G., Ghazi, T., Kazanzides, P., Iordachita, I. “Narrow Beam Breast CT: Proof‐of‐” Medical Physics. Vol. 50, no. 6, pp. 3418-3434, Jun. 2023. https://doi.org/10.1002/mp.16332
Wang, Y., Kwok, K.W., Cleary, K., Taylor, R.H., and Iordachita, I.I., “Flexible Needle Bending Model for Spinal Injection Procedures.” In IEEE Robotics and Automation Letters, vol. 8, no. 3, pp. 1343-1350, Mar. 2023, DOI:1109/LRA.2023.3239310
Zhou, M., Hennerkes, F., Liu, J., Jiang, Z., Wendler, T., Nasseri, M.A., Iordachita, I. and Navab, N., “Theoretical error analysis of spotlight-based instrument localization for retinal surgery.” Robotica, pp.1-14. Jan. 2023 https://doi.org/10.1017/S0263574722001862

2022

Alruwaili, F., Saeedi-Hosseiny, M.S., Clancy, M., McMillan, S., Iordachita, I.I. and Abedin-Nasab, M.H., “Experimental Evaluation of a 3-Armed 6-DOF Parallel Robot for Femur Fracture Surgery.” Journal of Medical Robotics Research, p.2241009. Dec. 2022, https://doi.org/10.1142/S2424905X22410094
Lezcano, D.A., Iordachita, I.I. and Kim, J.S., “Lie-Group Theoretic Approach to Shape-Sensing Using FBG-Sensorized Needles Including Double-Layer Tissue and S-Shape Insertions.” IEEE Sensors Journal. vol. 22, no. 22, pp. 22232- 22243, Oct. 2022, DOI: 1109/JSEN.2022.3212209
Ji, T., Feng, Z., Sun, E., Ng, S.K., Su, L., Zhang, Y., Han, D., Han-Oh, S., Iordachita, I., Lee, J., Kazanzides, P., Bell, M.A.L., Wong, J., Ding, K. “A phantom-based analysis for tracking intra-fraction pancreatic tumor motion by ultrasound imaging during radiation therapy.” Front Oncol. 12, p: 996537. Sep. 2022, DOI: 10.3389/fonc.2022.996537.
Patel, N., Urias, M., Ebrahimi, A., Taylor, R.H., Gehlbach, P. and Iordachita, I., “Force-Based Control for Safe Robot-Assisted Retinal Interventions: In Vivo Evaluation in Animal Studies.” IEEE Transactions on Medical Robotics and Bionics, vol.4, no. 3, pp.578-587, Aug. 2022, DOI: 1109/TMRB.2022.3191441,
Deng, Z., Xu, X., Iordachita, I., Dehghani, H., Zhang, B., Wong, J.W. and Wang, K.K.H., “Mobile bioluminescence tomography-guided system for pre-clinical radiotherapy research.” Biomedical Optics Express, vol.13, no. 9, pp.4970-4989. Sep. 2022, DOI: 10.1364/BOE.460737
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, DOI: 1109/TRO.2022.3201393
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.
Sommersperger, M., Martin-Gomez, A., Mach, K., Gehlbach, P.L., Nasseri, M.A., Iordachita, I. and Navab, N., “Surgical scene generation and adversarial networks for physics-based iOCT synthesis.” Biomedical Optics Express, vol. 13, no. 4, pp. 2414-2430, Apr. 2022, https://doi.org/10.1364/BOE.454286
Su, H., Kwok, K.W., Cleary, K., Iordachita, I., Cavusoglu, M.C., Desai, J.P., and Fischer, G.S., “State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions.” Proceedings of the IEEE. vol. 110, no. 7, pp. 968-992, Jul. 2022, DOI: 10.1109/JPROC.2022.3169146.

Saeedi-Hosseiny, M.S., Alruwaili, F., McMillan, S., Iordachita, I. and Abedin-Nasab, M.H., “A Surgical Robotic System for Long-Bone Fracture Alignment: Prototyping and Cadaver Study.” IEEE Transactions on Medical Robotics and Bionics. vol. 4, no. 1, pp.172-182, Feb. 2022, DOI:1109/TMRB.2021.3129277
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

2021

Xu, X., Deng, Z., Dehghani, H., Iordachita, I., Lim, M., Wong, J.W. and Wang, K.K.H., “Quantitative Bioluminescence Tomography-guided Conformal Irradiation for Pre-clinical Radiation Research”. International Journal of Radiation Oncology* Biology* Physics., vol. 111, no. 5, pp 1310-1321, Dec. 2021, https://doi.org/10.1016/j.ijrobp.2021.08.010
Zhou, M., Wu, J., Ebrahimi, A., Patel, N., Liu, Y., Navab, N., Gehlbach, P., Knoll, A., Nasseri, M.A. and Iordachita, I.I., “Spotlight-based 3D Instrument Guidance for Autonomous Task in Robot-assisted Retinal Surgery”. In IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7750-7757, Jul. 2021 doi:10.1109/LRA.2021.3100937
Sefati, S., Hegeman, R., Iordachita, I., Taylor, R.H. and Armand, M., “A Dexterous Robotic System for Autonomous Debridement of Osteolytic Bone Lesions in Confined Spaces: Human Cadaver Studies.” IEEE Transactions on Robotics. vol. 38, no. 2, pp. 1213- 1229, Apr. 2022, DOI: 10.1109/TRO.2021.3091283.
Patel, N., Yan, J., Li, G., Monfaredi, R., Priba, L., Donald-Simpson, H., Joy, J., Dennison, A., Melzer, A., Sharma, K., Iordachita, I.I., and Cleary, K., “Body-mounted Robotic System for MRI-guided Shoulder Arthrography: Cadaver and Clinical Workflow Studies MRI-guided Robot for Shoulder Arthrography.” Frontiers in Robotics and AI, vol.8, 10 pages, art. # 667121, May 2021. https://doi.org/10.3389/frobt.2021.667121
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.
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
Rezaee, M., Iordachita, I. and Wong, J.W., “Ultrahigh dose-rate (FLASH) X-Ray irradiator for pre-clinical laboratory research.” Physics in Medicine & Biology. vol. 66, no. 9, pp.1-10, p. 095006, Apr. 2021, https://doi.org/10.1088/1361-6560/abf2fa
Dai, J., He, Z., Fang, G., Wang, X., Li, Y., Cheung, C.L., Liang, L., Iordachita, I.I., Chang, H.C. and Kwok, K.W., “A Robotic Platform to Navigate MRI-guided Focused Ultrasound System.” IEEE Robotics and Automation Letters. vol. 6, no. 3, pp.5137-5144, Jul. 2021, DOI: 1109/LRA.2021.3068953
Sommersperger, M., Weiss, J., Nasseri, M.A., Gehlbach, P., Iordachita, I. and Navab, N., “Real-time tool to layer distance estimation for robotic subretinal injection using intraoperative 4D OCT.” Biomedical Optics Express, vol.12, no.2, pp.1085-1104. Feb. 12, 2021, https://doi.org/10.1364/BOE.415477

2020

Li, G., Patel, N.A., Sharma, K., Monfaredi, R., Dumoulin, C., Fritz, J., Iordachita, I. and Cleary, K., “Body-Mounted Robotics for Interventional MRI Procedures.” IEEE Transactions on Medical Robotics and Bionics, vol. 2, no. 4, pp.557-560, On-line 13 Oct. 2020, DOI: 1109/TMRB.2020.3030532
Sefati, S., Gao, C., Iordachita, I., Taylor, R.H. and Armand, M., 2020. Data-Driven Shape Sensing of a Surgical Continuum Manipulator Using an Uncalibrated Fiber Bragg Grating Sensor. IEEE Sensors Journal. vol. xx, no. x, pp.1-12, On-line 01 Oct. 2020, DOI: 1109/JSEN.2020.3028208
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
Sefati, S., Hegeman, R., Alambeigi, F., Iordachita, I., Kazanzides, P., Khanuja, H., Taylor, R. and Armand, M., “A Surgical Robotic System for Treatment of Pelvic Osteolysis Using an FBG-Equipped Continuum Manipulator and Flexible Instruments.” IEEE/ASME Transactions on Mechatronics., vol. xx, no. x, pp.1-12, On-line 30 Aug. 2020, DOI: 1109/TMECH.2020.3020504
Urias, M.G., Patel, N., Ebrahimi, A., Iordachita, I. and Gehlbach, P.L., “Robotic Retinal Surgery Impacts on Scleral Forces: In Vivo Study.” Translational Vision Science & Technology, vol. 9, no. 10, pp. 109, Sep. 2020, https://doi.org/10.1167/tvst.9.10.2
Lo Presti, D., Massaroni, C., Leitão, C.S.J., Domingues, M.F., Sypabekova, M., Barrera, D., Floris, I., Massari, L., Oddo, C.M., Salvador Sales, S., Iordachita, I.I., Daniele Tosi, D., Emiliano Schena, E., “Fiber Bragg Gratings for medical applications and future challenges: a review,” in IEEE Access, vol. 8, pp. 156863-156888, Sep. 2020, DOI: 1109/ACCESS.2020.3019138
Tsumura, R., Iordachita, I. and Iwata, H., Fine‐Needle Insertion Method for Minimizing Deflection in Lower‐Abdomen: In Vivo Evaluation. The International Journal of Medical Robotics and Computer Assisted Surgery, p.e2139. 16, no. 6, pp.1-12, Dec. 2020, https://doi.org/10.1002/rcs.2139
Li, G., Patel, N., Melzer, A., Sharma, K., Iordachita, I.I, and Cleary, K., “MRI-guided lumbar spinal injections with body-mounted robotic system: cadaver studies.” Minimally Invasive Therapy & Allied Technologies, x, no. x, pp.1-9, On-line 30 Jul. 2020 DOI: 10.1080/13645706.2020.1799017
Li, G., Patel, N., Wang, Y., Dumoulin, C., Loew, W., Loparo, O., Schneider, K., Sharma, K., Cleary, K., Fritz, J. and Iordachita, I.I., “Fully Actuated Body-Mounted Robotic System for MRI-Guided Lower Back Pain Injections: Initial Phantom and Cadaver Studies.” IEEE Robotics and Automation Letters. 5, no. 4, pp.5245-5251, Jul. 2020, 10.1109/LRA.2020.3007459
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
Li, Z., Shahbazi, M., Patel, N., Sullivan, E.O., Zhang, H., Vyas, K., Chalasani, P., Deguet, A., Gehlbach, P.L., Iordachita, I., Yang, G.Z., and Taylor, R.H., “Hybrid Robotic-assisted Frameworks for Endomicroscopy Scanning in Retinal Surgeries.” IEEE Transactions on Medical Robotics and Bionics, vol. 2, no. 2, pp. 176-187, May 2020, https://doi.org/10.1109/TMRB.2020.2988312
Phalen, H., Vagdargi, P., Schrum, M.L., Chakravarty, S., Canezin, A., Pozin, M., Coemert, S., Iordachita, I., Hoffman, S.L., Chirikjian, G.S. and Taylor, R.H., 2020. “A Mosquito Pick-and-Place System for PfSPZ-based Malaria Vaccine Production”, IEEE Transactions on Automation Science and Engineering, vol. x, no. xx, pp. 1-12, Early Access May 2020. https://doi.org/10.1109/TASE.2020.2992131

2019

Urias, M.G., Patel, N., He, C., Ebrahimi, A., Kim, J.W., Iordachita, I. and Gehlbach, P.L., “Artificial intelligence, robotics and eye surgery: are we overfitted?” International Journal of Retina and Vitreous, vol.5, no.1, pp.1-4. Dec. 2019. https://doi.org/10.1186/s40942-019-0202-y
Deng, Z., Xu, X., Garzon-Muvdi, T., Xia, Y., Kim, E., Belcaid, Z., Luksik, A., Maxwell, R., Choi, J., Wang, H., Yu, J., Iordachita, I., Lim, M., Wong. J., and Wang, K., “In vivo Bioluminescence Tomography Center of Mass-Guided Conformal Irradiation.” International Journal of Radiation Oncology* Biology* Physics. Online 15 Nov. 2019. https://doi.org/10.1016/j.ijrobp.2019.11.003
Li, G., Patel, N.A., Hagemeister, J., Yan, J., Wu, D., Sharma, K., Cleary, K. and Iordachita, I., “Body-mounted robotic assistant for MRI-guided low back pain injection.” International Journal of Computer Assisted Radiology and Surgery, pp.1-11. Oct. 2019. https://doi.org/10.1007/s11548-019-02080-3
Alambeigi, F., Pedram, S.A., Speyer, J.L., Rosen, J., Iordachita, I., Taylor, R.H. and Armand, M., 2019. SCADE: SimultaneoSensor Calibration and Deformation Estimation of FBG-Equipped Unmodeled Continuum Manipulators. IEEE Transactions on Robotics. 1109/TRO.2019.2946726
Huang, P., Su, L., Chen, S., Cao, K., Song, Q., Kazanzides, P., Iordachita, I., Bell, M.A.L., Wong, J.W., Li, D. and Ding, K., “2D ultrasound imaging based intra-fraction respiratory motion tracking for abdominal radiation therapy using machine learning.” Physics in Medicine & Biology, Online 19 July 2019. https://iopscience.iop.org/article/10.1088/1361-6560/ab33db/meta
Beisenova, A., Issatayeva, A., Iordachita, I., Blanc, W., Molardi, C. and Tosi, D., “Distributed fiber optics 3D shape sensing by means of high scattering NP-doped fibers simultaneous spatial multiplexing”. Optics Express, vol. 27, no. 16, pp.22074-22087. Aug. 2019, https://doi.org/10.1364/OE.27.022074
He, C., N. Patel, M. Shahbazi, Y. Yang, P. L. Gehlbach, M. Kobilarov, and I. Iordachita. “Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-based Active Interventional Control Framework.” IEEE transactions on bio-medical engineering, On-line 01 July 2019, 1109/TBME.2019.2926060
He, C., Patel, N., Ebrahimi, A., Kobilarov, M. and Iordachita, I., “Preliminary study of an RNN-based active interventional robotic system (AIRS) in retinal microsurgery.” International journal of computer assisted radiology and surgery, vol. 14, no. 6, pp. 945-954, Jun 2019. https://doi.org/10.1007/s11548-019-01947-9
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
Alambeigi, F., Bakhtiarinejad, M., Sefati, S., Hegeman, R., Iordachita, I., Khanuja, H. and Armand, M., “On the Use of a Continuum Manipulator and a Bendable Medical Screw for Minimally-Invasive Interventions in Orthopedic Surgery.” IEEE Transactions on Medical Robotics and Bionics. Vol. 1, no. 1, pp. 14-21, Feb. 2019,
https://ieeexplore.ieee.org/document/8627979

2018

Moreira, P., Patel, N., Wartenberg, M., Li, G., Tuncali, K., Heffter, T., Burdette, E.C., Iordachita, I., Fischer, G.S., Hata, N. and Tempany, C.M., “Evaluation of robot-assisted MRI-guided prostate biopsy: needle path analysis during clinical trials.” Physics in medicine and biology. vol. 63, no. 20, p.20NT02 (9p), Oct. 2018. http://iopscience.iop.org/article/10.1088/1361-6560/aae214
Monfaredi, R., Iordachita, I., Wilson, E., Sze, R., Sharma, K., Krieger, A., Fricke, S. and Cleary, K., “Development of a shoulder-mounted robot for MRI-guided needle placement: phantom study.” International Journal of Computer Assisted Radiology and Surgery, vol. 13, no.11, pp.1829-1841. Nov. 2018. https://doi.org/10.1007/s11548-018-1839-y
Wartenberg, M., Schornak, J., Gandomi, K., Carvalho, P., Nycz, C., Patel, N., Iordachita, I., Tempany, C., Hata, N., Tokuda, J. and Fischer, G.S., “Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion.” Annals of biomedical engineering, pp.1-13. Jun. 2018 https://doi.org/10.1007/s10439-018-2070-2
Patel, N.A., Li, G., Shang, W., Wartenberg, M., Heffter, T., Burdette, E.C., Iordachita, I., Tokuda, J., Hata, N., Tempany, C.M. and Fischer, G.S., “System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy,” Journal of Medical Robotics Research. 4, no. 02, pp. 1950001, Jun. 2019, https://doi.org/10.1142/S2424905X19500016
Tsumura, R., Kim, J.S., Iwata, H., Iordachita, I.I., “Preoperative Needle Insertion Path Planning for Minimizing Deflection in Multi-layered Tissues.” IEEE Robotics and Automation Letters. 3, no. 3, pp.2129-2136, Jul. 2018, https://doi.org/10.1109/LRA.2018.2809540

2017

Gonenc, B., Chae, J., Gehlbach, P., Taylor, R.H., and Iordachita, I., “Towards Robot-Assisted Retinal Vein Cannulation: A Motorized Force-Sensing Microneedle Integrated with a Handheld Micromanipulator.” vol. 17, no.10. p. 2195 (25 pg.) Sep. 2017. https://doi.org/10.3390/s17102195
Su, L., Iordachita, I., Zhang, Y., Lee, J., Ng, S.K., Jackson, J., Hooker, T., Wong, J., Herman, J.M., Sen, H.T. and Kazanzides, P., “Feasibility study of ultrasound imaging for stereotactic body radiation therapy with active breathing coordinator in pancreatic cancer.” Journal of Applied Clinical Medical Physics. 18, no. 4, pp.84-96, Jul. 2017. https://doi.org/10.1002/acm2.12100
Alambeigi, F., Wang, Y., Sefati, S., Gao, C., Murphy, R.J., Iordachita, I., Taylor, R.H., Khanuja, H. and Armand, M., “A curved-drilling approach in core decompression of the femoral head osteonecrosis using a continuum manipulator.” IEEE Robotics and Automation Letters, 2, no. 3, pp.1480-1487, Jul. 2017,https://doi.org/10.1109/LRA.2017.2668469

Sen, H., Bell, M.L., Zhang, Y., Ding, K., Boctor, E., Wong, J., Iordachita, I. and Kazanzides, P., “System Integration and In-Vivo Testing of a Robot for Ultrasound Guidance and Monitoring during Radiotherapy.” IEEE Transactions on Biomedical Engineering. vol. 64, no. 7, pp. 1608-1618, Jul. 2017, https://doi.org/10.1109/TBME.2016.2612229 .
Channa, R., Iordachita, I., Handa, J.T., “Robotic Vitreoretinal Surgery.” RETINA. . vol. 37, no. 7, pp.1220-1228, Jul. 2017, https://doi.org/11097/IAE.0000000000001398
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, https://doi.org/10.1109/JSEN.2017.2694965
Li, M., Li, G., Gonenc, B., Duan, X. and Iordachita, I., “Towards human‐controlled, real‐time shape sensing based flexible needle steering for MRI‐guided percutaneous therapies.” The International Journal of Medical Robotics and Computer Assisted Surgery. vol. 13, no. 2, e1762, (14 pg.), Jun. 2017, https://doi.org/10.1002/rcs.1762
Marker, D.R., U-Thainual, P., Flammang, A.J., Fichtinger, G., Iordachita, I.I., Carrino, J.A. and Fritz, J., “1.5 T augmented reality navigated interventional MRI: paravertebral sympathetic plexus injections.” Diagnostic and Interventional Radiology, 23, no. 3, pp.227-232, May 2017, https://doi.org/10.5152/dir.2017.16323, PMC5411005
Su, H., Iordachita, I., Tokuda, J., Hata, N., Liu, X., Seifabadi, R., Xu, S., Wood, B., Fischer, G., “Fiber Optic Force Sensors for MRI-Guided Interventions and Rehabilitation: A Review.” IEEE Sensors Journal. vol. 17, no. 7, pp.1952-1963, Apr. 2017, https://doi.org/10.1109/JSEN.2017.2654489
Aalamifar, F., Khurana, R., Cheng, A., Guo, X., Iordachita, I. and Boctor, E.M., “Enabling technologies for robot assisted ultrasound tomography.” The International Journal of Medical Robotics and Computer Assisted Surgery. vol. 13, no. 1, pp.1-11, Mar. 2017. https://doi.org/10.1002/rcs.1746
Gao, A., Murphy, R., Liu, H., Iordachita, I. and Armand, M., “Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions.” IEEE/ASME Transactions on Mechatronics. vol. 22, no. 1, pp.465-475, Feb. 2017, https://doi.org/10.1109.TMECH.2016.2612833

2016

Sen, H.T., Cheng, A., Ding, K., Boctor, E., Wong, J., Iordachita, I. and Kazanzides, P., “Cooperative Control with Ultrasound Guidance for Radiation Therapy,” Frontiers in Robotics and AI, vol. 3, p.49, Sep. 2016, https://doi.org/10.3389/frobt.2016.00049
Seifabadi, R., Aalamifar, F., Iordachita, I., Fichtinger, G., “Toward Teleoperated Needle Steering under Continuous MRI Guidance for Prostate Percutaneous Interventions.” Int. J. Med. Robotics and Comput. Assist. Surg, vol. 12, no. 3, pp. 355-369, Sep. 2016.https://doi.org/10.1002/rcs.1692
Bell, M., Kumar, S., Kuo, L., Tutkun Sen, H., Iordachita, I., & Kazanzides, P., “Toward standardized acoustic radiation force-based ultrasound elasticity measurements with robotic force control.” IEEE Transactions on Biomedical Engineering, 63, no. 7, pp. 1517-1524, Jul. 2016, https://doi.org/10.1109/TBME.2015.2497245
Eslami, S., Shang, W., Li, G., Patel, N., Fischer, G.S., Tokuda, J., Hata, N., Tempany, C.M., Iordachita, I., “In-Bore Prostate Transperineal Interventions with an MRI-guided Parallel Manipulator: System Development and Preliminary Evaluation.” Int. J. Med. Robotics and Comput. Assist. Surg, vol. 12, no. 2, pp. 199-213, Jun. 2016.https://doi.org/10.1002/rcs.1671
Yu, J., Zhang, B., Iordachita, I.I., Reyes, J., Lu, Z., Brock, M.V., Patterson, M.S., Wong, J.W. and Wang, K.K.H., “Systematic study of target localization for bioluminescence tomography guided radiation therapy.” Medical physics, vol. 43, no. 5, pp.2619-2629, May 2016,https://doi.org/10.1118/1.4947481
Marker, D.R., U-Thainual, P., Ungi, T., Flammang. A., Fichtinger, G., Iordachita. I., Carrino, J.A., Fritz, J., “MR-guided Perineural Injection of the Ganglion Impar: Technical Considerations and Feasibility.” Skeletal Radiology, vol. 45, no. 5, pp. 591-597, May, 2016, https://doi.org/10.1007/s00256-016-2333-7
Zhang, B., Wang, K.K-H., Yu, J., Eslami, S., Iordachita, I., Reyes, J., Malek, R., Tran, P.T., Patterson, M.S., Wong, J.W., “Bioluminescence tomography guided radiation therapy for preclinical research,” International Journal of Radiation Oncology* Biology* Physics, vol. 94, no. 5, pp. 1144-1153, Apr. 2016,https://doi.org/10.1016/j.ijrobp.2015.11.039

2015

Liu, H., Farvardin, A., Grupp, R., Murphy, R., Taylor, R.H., Iordachita, I., Armand, M., “Shape tracking of a dexterous continuum manipulator utilizing two large deflection shape sensors,” IEEE Sensor Journal, vol. 15, no. 10, pp. 5494-5503, Oct.2015.
Yang, Y., Armour, M., Wang, K., Gandhi, N., Iordachita, I., Siewerdsen, J., Wong, J., “Evaluation of a cone beam computed tomography geometry for image guided small animal irradiation,” Physics in Medicine and Biology, vol. 60, no. 13, pp. 5163-5177, Jun. 2015.
Yang, Y., Wang, K.K-H., Eslami, S., Iordachita, I., Naser, M., Patterson, M.S., and Wong, J.W., “Systematic calibration of an integrated x-ray and optical tomography system for preclinical radiation research” Med. Phys., vol. 42, no. 4, pp. 1710-1720, Apr. 2015.

2014

Lediju Bell, M.A., Sen, H.T., Iordachita, I., Kazanzides, P., Wong, J., “In vivo reproducibility of robotic probe placement for an novel ultrasound-guided radiation therapy system,” Journal of Medical Imaging, vol. 1, no. 2, p. 025001, Jul.– Sep. 2014
Gurbani, S., Wilkening, P., Zhao, M., Gonenc, B., Cheon, G.W., Iordachita, I., Chien, W.W., Taylor, R.H., Niparko, J., Kang, J.U., “Robot-assisted 3D registration for cochlear implant surgery using a common path SS-OCT probe,” Journal of Biomedical Optics, Accepted April 8th 2014.
Fritz, J., U-Thainual, P., Ungi, T., Flammang, A.J., Kathuria, S., Fichtinger, G., Iordachita, I., Carrino, J.A., “MR-Guided Vertebroplasty with Augmented Reality Image Navigation,” Cardiovasc. Intervent. Radiol., vol. 37, no. 5, pp. 1589-1596, Dec.2014.
He, X., Handa, J., Gehlbach, P., Taylor, R., Iordachita, I., “A Sub-Millimetric 3DOF Force Sensing Instrument with Integrated Fiber Bragg Grating for Retinal Microsurgery,” IEEE Transaction on Biomedical Engineering, vol. 61, no. 2, pp. 522-534, Feb. 2014.

2013

Seifabadi, R., Cho, N.B., Song, S.E., Tokuda, J., Hata, N., Tempany, C.M., Fichtinger, G., Iordachita, I., “Accuracy Study of a Robotic System for MRI-guided Prostate Needle Placement,” Int. J. Med. Robot., vol. 9, no. 3, pp. 305-3016, Sep. 2013.
Fritz, J., U-Thainual, P., Ungi, T., Flammang, A.J., McCarthy, E., Fichtinger, G., Iordachita, I., Carrino, J.A., “Augmented Reality Visualization using Image Overlay Technology for MR-Guided Interventions: Cadaveric Bone Biopsy at 1.5 Tesla,” Invest. Radiol., vol. 48, no. 6, pp. 464-470, Jun. 2013.
Song, S.E., Hata, N., Iordachita, I., Fichtinger, G., Tempany, C.M., Tokuda, J. A., “Workspace-oriented Needle Guiding Robot for 3T MRI-guided Transperineal Prostate Intervention: Evaluation of In-bore Workspace and MRI Compatibility,” Int. J. Med. Robot., vol. 9, no. 1, pp. 67-74, Mar. 2013.
Tuli, R., Armour, M., Surmak, A., Reyes, J., Iordachita, I., Patterson, M., Wong, J., “Accuracy of Off-Line Bioluminescence Imaging to Localize Targets in Preclinical Radiation Research,” Radiation Research, Feb. 22, 2013. [Epub ahead of print].
Cutler, N., Balicki, M., Finkelstein, M., Wang, J., Gehlbach, P., McGready, J., Iordachita, I., Taylor, R., Handa, J. T., “Auditory Force Feedback Substitution Improves Surgical Precision during Simulated Ophthalmic Surgery,” Invest. Ophthalmol. Vis. Sci., vol. 54, no. 2, pp. 1316-1324, Feb. 2013.
U-Thainual, P., Fritz, J., Moonjaita, C., Ungi, T., Flammang, A.J., Carrino, J.A., Fichtinger, G., Iordachita, I.I., “MR Image Overlay Guidance: System Evaluation for Pre-clinical use,” Int. J. Comput. Assist. Radiol. Surg., vol. 33, no. 1, pp. 200-206, Jan. 2013.
Sunshine, S., Balicki, M., He, X., Olds, K., Kang, J.U., Gehlbach, P., Taylor, R.H., Iordachita, I., Handa, J.T., “A Force-sensing Microsurgical Instrument That Detects Forces Below Human Tactile Sensation,” Retina, vol. 33, no. 1, pp. 200-206, Jan. 2013.
Fritz, J., U-Thainual, P., Ungi, T., Flammang, A.J., Fichtinger, G., Iordachita, I.I., Carrino, J.A., “Augmented reality visualization using an image overlay system for MR-guided interventions: technical performance of spine injection procedures in human cadavers at 1.5 Tesla,” Eur. Radiol., vol. 23, no. 1, pp. 235-245, Jan. 2013.

2012

Tokuda, J., Song, S.E., Fischer, G.S., Iordachita, I., Seifabadi, R., Cho, N.B., Tuncali, K., Fichtinger, G., Tempany, C.M., Hata, N., ‘Preclinical evaluation of MRI-compatible pneumatic robot for angulated needle placement in prostate interventions,” Int. J. Comput. Assist. Radiol. Surg., vol. 7, no. 6, pp. 949-957, Nov. 2012.
Fritz, J., U-Thainual, P., Ungi, T., Flammang, A.J., Fichtinger, G., Iordachita, I.I., Carrino, J.A., ‘Augmented Reality Visualization with Use of Image Overlay Technology for MR Imaging-guided Interventions: Assessment of Performance in Cadaveric Shoulder and Hip Arthrography at 1.5 T,” Radiology, vol. 265, no. 1, pp. 254-259, Oct. 2012.
Krieger, A., Song, S.E., Cho, N.B., Iordachita, I.I., Guion, P., Fichtinger, G., Whitcomb, L.L., ‘Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention,” IEEE ASME Trans. Mechatron., vol. 18, no. 1, pp. 273-284, Sep. 2012.
Tokuda, J., Tuncali, K., Iordachita, I., Song, S.E., Fedorov, A., Oguro, S., Lasso, A., Fennessy, F.M., Tempany, C.M., Hata, N., “In-bore setup and Software for 3T MRI-guided Transperineal Prostate Biopsy,” Phys. Med. Biol. vol. 57, no. 18, pp. 5823-5840, Sep. 2012.
Song, S.E., Cho, N.B., Iordachita, I., Guion, P., Fichtinger, G., Kaushal, A., Camphausen, K., Whitcomb, L.L., “Biopsy Needle Artifact Localization in MRI-Guided Robotic Transrectal Prostate Intervention,” IEEE Trans. Biomed. Eng., vol. 59, no. 7, pp. 1902-1911, Jul. 2012.
Liu, X., Iordachita, I.I., He, X., Taylor, R.H., Kang, J.U., “Miniature fiber-optic force sensor for vitreoretinal microsurgery based on low-coherence Fabry-Perot interferometry,” Biomed. Opt. Express., vol. 3, no. 5, pp. 1062-1076, May 2012.
Jain, A., Deguet, A., Iordachita, I., Chintalapani, G., Vikal, S., Blevins, J., Le, Y., Armour, E., Burdette, C., Song, D., Fichtinger, G., “Intra-operative 3D Guidance and Edema Detection in Prostate Brachytherapy using a non-isocentric C-arm,” Med. Image Anal., vol. 16, no. 3, pp. 731-743, Apr. 2012.
Seifabadi, R., Song, S.E., Krieger, A., Cho, N.B., Tokuda, J., Fichtinger, G., Iordachita, I., “Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study,” Int. J. Comput. Assist. Radiol. Surg., vol. 7, no. 2, pp. 181-190, Mar. 2012.
Fritz, J., U-Thainual, P., Ungi, T., Flammang, A.J., Cho, N.B, Fichtinger, G., Iordachita, I.I., Carrino, J.A., “Augmented Reality Visualization whit Image-Overlay for MR-Guided Interventions: Accuracy for Lumbar Spinal Procedures with a 1.5-Tesla MRI System,” Am. J. Roentgenol., vol. 198, no. 3, pp. W266-W273, Mar. 2012.

2011

Krieger, A., Iordachita, I., Guion, P., Singh, A.K., Kaushal, A., Ménard, C., Pinto, P.A., Camphausen, K., Fichtinger, G., Whitcomb, L.L., “An MRI-Compatible Robotic System with Hybrid Tracking for MRI-Guided Prostate Intervention,” IEEE Trans. Biomed. Eng., vol. 58, no. 11, pp. 3049-3060, Nov. 2011.
Song, D.Y., Burdette, E.C., Fiene, J., Armour, E., Kronreif, G., Deguet, A., Zhang, Z., Iordachita, I., Fichtinger, G., Kazanzides, P., “Robotic needle guide for prostate brachytherapy: Clinical testing of feasibility and performance,” Brachytherapy, vol. 10, no. 1, pp. 57-63, Jan.-Feb. 2011.

2010

Armour, M., Ford, E., Iordachita, I., Wong, J., “CT Guidance is Needed to Achieve Reproductive Positioning of the Mouse Head for Repeat Precision Cranial Irradiation,” Radiat. Res., vol. 173, no. 1, pp. 119-123, Jan. 2010.
Vikal, S., U-Thainual, P., Carrino, J., Iordachita, I., Fisher, G., Fichtinger, G., “Perk Station – Percutaneous Surgery Training and Performance Measurement Platform,” Comput. Med. Imaging Graph,. vol. 34 no. 1, pp. 19-32, Jan. 2010.

Refereed Conference Proceedings

2023

Wang, J., Iordachita, I., Kazanzides, P., “Methos for Robotic Motion Compensation during PET Imaging of Mobile Subjects.” In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Detroit, MI, US, pp.1-7, Oct. 2023
Zhao, B., Esfandiari, M., Usevitch, D.E., Gehlbach, P. and Iordachita, I., “Human-Robot Interaction in Retinal Surgery: A Comparative Study of Serial and Parallel Cooperative Robots.” In 2023 32^nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Busan, Korea, pp. 1-7, Aug. 2023.
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
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
Wang, Y., Xu, Y., Kwok, K.W., Iordachita, I., “In Situ Flexible Needle Adjustment Towards MRI-Guided Spinal Injections Based on Finite Element Simulation.” In 2023 International Symposium on Medical Robotics (ISMR), pp. 1-7, Apr. 2023.
Cheng, A., Lezcano, D.A., Kim, J.S., Iordachita, I., “Optical Fiber-Based Needle Shape Sensing: Three-Channel Single Core vs. Multicore Approaches.” In 2023 International Symposium on Medical Robotics (ISMR), pp. 1-8, Apr. 2023.

2022

Mach, K., Wei, S., Kim, J.W., Martin-Gomez, A., Zhang, P., Kang, J.U., Nasseri, M.A., Gehlbach, P., Navab, N., Iordachita, I., “OCT-guided Robotic Subretinal Needle Injections: A Deep Learning-Based Registration Approach.” In 2022 IEEE Int. Conf. on Bioinformatic and Biomedicine (BIBM), Las Vegas, NV, US, pp. 781-786, Dec. 2022
Liu, G., Wang, Y., Li, G., Cleary, K., and Iordachita, I., “Evaluation of Needle Driver Designs for Robot-Assisted Needle Insertions Under MRI Guidance”, ASME Int. Mechanical Engineering Cong. & Expo., IMECE 2022, Columbus, OH, p. 96678, Oct-Nov. 2022
Lezcano, D.A., Kim, M.J., Iordachita, I., and Kim, J.S., “Toward FBG-Sensorized Needle Shape Prediction in Tissue Insertions.” In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Kyoto, Japan, pp. 3506-3511, Oct. 2022.
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 44^th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 3307-3312, IEEE. Glasgow, UK. Jul. 2022.
Kim, M.J., Lezcano, D.A., Kim, J.S., and Iordachita, I., “Toward FBG-Sensorized Needle Shape Detection in Real Tissue Insertions.” In 2022 44^th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC,) 4397-4401, IEEE. Glasgow, UK. Jul. 2022.
Zhou, M., Hennerkes, F., Liu, J., Jiang, Z., Wendler, T., Nasseri, M.A., Iordachita, I., and Navab, N., “Theoretical Error Analysis of Spotlight-Based Instrument Localization for Retinal Surgery”, In 2022 International Conference of Advanced Robotics and Mechatronics (ARM)(pp. 1-8). IEEE. Guilin, China, Jul. 2022
Jinno, M., Iordachita, I., “Microgripper Using Flexible Wire Hinge for Robotic Intraocular Snake”, In 2022 IEEE Int. Conf. on Robotics and Automation (ICRA), Philadelphia, PA, US, pp. 6218-6224, May 2022.
Dehghani, S., Sommersperger, M., Yang, J., Salehi, M., Busam, B., Huang, K., Gehlbach, P., Iordachita, I., Navab, N., Nasseri, M.A., “ColibriDoc: An Eye-in-Hand Autonomous Trocar Docking System.” In 2022 IEEE Int. Conf. on Robotics and Automation (ICRA), Philadelphia, PA, US, pp. 7717-7723, May 2022
Alruwaili, F., Saeedi-Hosseiny, M.S., Guzman, L., McMillan, S., Iordachita, I., Abedin-Nasab, M., “A 3-Armed 6-DOF Parallel Robot for Femur Fracture Reduction: Trajectory and Force Testing.” In 2022 International Symposium on Medical Robotics (ISMR), pp. 1-7, Apr. 2022.
Shi, K., Zhou, Y., Ebrahimi, A., Li, G., Iordachita, I., “Optimization-based Concurrent Control of a High Dexterity Robot for Vitreoretinal Surgery.” In 2022 International Symposium on Medical Robotics (ISMR), pp. 1-7, Apr. 2022.
Wang, J., Wu, T., Iordachita, I., Kazanzides, P., “Evaluation of a Motion Measurement System for PET Imaging Studies.” In 2022 International Symposium on Medical Robotics (ISMR), pp. 1-7, Apr. 2022.
Xiao, B., Alamdar, A., Song, K., Ebrahimi, A., Gehlbach, P.L., Taylor, R.H., Iordachita, I., “Delta Robot Kinematic Calibration for Precise Robot-Assisted Retinal Surgery.” In 2022 International Symposium on Medical Robotics (ISMR), pp. 1-7, Apr. 2022.

2021

Song, K., Lezcano, D.A., Sun, G., Kim, J.S., and Iordachita, I., “Towards Automatic Robotic Calibration System for Flexible Needles with FBG Sensors”, In 2021 International Symposium on Medical Robotics (ISMR), pp. 1-7, Nov. 2021.
DOI: 10.1109/ISMR48346.2021.9661542.
Roth, R., Wu, J., Alamdar, A., Taylor, R.H., Gehlbach, P., and Iordachita, I., “Towards a Clinically Optimized Tilt Mechanism for Bilateral Micromanipulation with Steady-Hand Eye Robot”, In 2021 International Symposium on Medical Robotics (ISMR), pp. 1-7, Nov. 2021. DOI:1109/ISMR48346.2021.9661579
Saeedi-Hosseiny, M.S., Alruwaili, F., Patel, A.S., McMillan, S., Iordachita, I.I., and Abedin-Nasab, M.H., “Spatial Detection of the Shafts of Fractured Femur for Image-Guided Robotic Surgery.” In 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)(pp. 3301-3304). Nov. 2021.
Liu, Y., Wu, T., Iordachita, I.I., Paquette, C. and Kazanzides, P., “Analysis of Human Head Motion and Robotic Compensation for PET Imaging Studies.” In 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)(pp. 4836-4839). IEEE. Nov. 2021.
Li, W., Zhang, Z., He, Z., Vora, P., Lai, A., Vagvolgyi, B., Leonard, S., Goodridge, A., Iordachita, I., Chakravarty, S., Sim, K.L., Hoffman, S.L., and Taylor, R.H., “Progress in Development of an Automated Mosquito Salivary Gland Extractor: A Step Forward to Malaria Vaccine Mass Production.” In 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), pp. 968-974, Aug. 2021.
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 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Prague, Czech Republic, pp. 1835-1842, Sep. 2021.

Li, W., He, Z., Vora, P., Wang, Y., Vagvolgyi, B., Leonard, S., Goodridge, A., Iordachita, I., Hoffman, S.L., Chakravarty, S., Taylor, R.H., “Automated Mosquito Salivary Gland Extractor for PfSPZ-based Malaria Vaccine Production”, In Proc. 2021 IEEE Int. Conf. on Robotics and Automation (ICRA), Xi’an, China, pp. 866-872, May-Jun. 2021.
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.
Kim, J.W., Zhang, P., Gehlbach, P., Iordachita, I. and Kobilarov, M., “Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control.” In Proceedings of machine learning research, nr. 155, pp. 2347 – 2358, 2021.

2020

Jinno, M., Iordachita, I., “Improved Integrated Robotic Intraocular Snake”, In 2020 International Symposium on Medical Robotics (ISMR), pp. 1-7, Nov. 2020.
Wu, J., He, C., Zhou, M., Ebrahimi, A., Urias, M., Patel, N., Liu, Y., Gehlbach, P., and Iordachita, I., “Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study”, In 2020 International Symposium on Medical Robotics (ISMR), pp. 8-14, Nov. 2020.
Zhou, M., Wu, J., Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Taylor, R.H., Knoll, A., Nasseri, M.A., and Iordachita, I., “Spotlight-based 3D Instrument Guidance for Retinal Surgery”, In 2020 International Symposium on Medical Robotics (ISMR), pp. 69-75, Nov. 2020.
Ebrahimi, A., Urias, M., Patel, N., Gehlbach, P., Alambeigi, F., and Iordachita, I., “FBG-based Kalman Filtering and Control of Tool Insertion Depth For Safe Robot-assisted Vitrectomy”, In 2020 International Symposium on Medical Robotics (ISMR), pp. 146-151, Nov. 2020.
Han, S., Wu, R., He, C., Iordachita, I., Wang, N., and Yang, Y., “Tissue Cutting properties in Robot-assisted Scleral Flap Preparation”, In 2020 International Symposium on Medical Robotics (ISMR), pp. 15-21, Nov. 2020.
Wu, J., Li, G., Muller Urias, N.A.P., Liu, Y.H., Gehlbach, P., Taylor, R.H. and Iordachita, I., “An Optimized Tilt Mechanism for a New Steady-Hand Eye Robot.” In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA (Virtual), pp. 867- 873, Oct. 2020. Best Paper Award Finalist
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 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA (Virtual), pp. 3274 – 3280, Oct. 2020.
Lezcano, D., Iordachita, I., and Kim, J.S., “Trajectory Generation of FBG-Sensorized Needles for Insertions Into Multi-Layer Tissue” In 19^th IEEE Sensor, SENSORS 2020, Rotterdam, The Netherlands, pp. 1-4, 2020,
Patel, N., Urias, M., Ebrahimi, A., Gehlbach, P. and Iordachita, I., “Scleral Force Evaluation during Vitreoretinal Surgery: In an in vivo Rabbit Eye Model.” In 2020 42nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 6049-6053, Jul. 2020.
Patel, N., Urias, M., He, C., Gehlbach, P. and Iordachita, I., “A Comparison of Manual and Robot Assisted Retinal Vein Cannulation in Chicken Chorioallantoic Membrane.” In 2020 42nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 5101-5105, Jul. 2020.
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.
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.
Kim, J.W., He, C., Urias, M., Gehlbach, P., Hager, G.D., Iordachita, I., and Kobilarov, M., “Autonomously Navigating a Surgical Tool inside the Eye by Learning from Demonstration.” In 2020 IEEE Int. Conf. on Robotics and Automation (ICRA), Paris, France, pp. 7351-7357, Jun. 2020.
Monet, F., Sefati, S., Lorre, P., Poiffaut, A., Kadoury, S., Armand, M., Iordachita, I., and Kashyap, R., “High-Resolution Optical Fiber Shape Sensing of Continuum Robots: A Comparative Study.” In 2020 IEEE Int. Conf. on Robotics and Automation (ICRA), Paris, France, pp. 8877-8883, Jun. 2020.
He, C.Y., Patel, N., Kobilarov, M. and Iordachita, I., “Real Time Prediction of Sclera Force with LSTM Neural Networks in Robot-Assisted Retinal Surgery.” In Applied Mechanics and Materials, vol. 896, pp. 183-194 Trans Tech Publications Ltd. Feb. 2020, https://www.scientific.net/AMM.896.183

2019

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.
Li, Z., Shahbazi, M., Patel, N., O’Sullivan, E., Zhang, H., Vyas, K., Chalasani, P., Gehlbach, P., Iordachita, I., Yang, G.Z., and Taylor, R.H., “A Novel Semi-Autonomous Control Framework for Retina Confocal Endomicroscopy Scanning” In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Macau, China, pp. 7083-7090, Nov. 2019.

Patel, N., Urias, M., Ebrahimi, A., He, C., Gehlbach, P., and Iordachita, I., “Sclera Force Evaluation during Vitreoretinal Surgeries in Ex Vivo Porcine Eye Model.” In SENSORS, 2019 IEEE, (pp. xxx-xxx). Oct. 2019,
Patel, N., Urias, M., He, C., Gehlbach, P., and Iordachita, I., “A Comparison of Manual and Robot Assisted Retinal Vein Cannulation.” In Proc. 28^th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), New Delhi, India, pp. xxx-xxx, Oct. 2019.
Sefati, S., Sefati, S., Iordachita, I., Taylor, R.H. and Armand, M., “Learning to Detect Collisions for Continuum Manipulators without a Prior Model.” In International Conference on Medical Image Computing and Computer-Assisted Intervention (pp. 182-190). Springer, Cham. Oct. 2019.
Wu, H., Mu, J., Da, T., Xu, M., Taylor, R.H., Iordachita, I. and Chirikjian, G.S., “Multi-mosquito object detection and 2D pose estimation for automation of PfSPZ malaria vaccine production.” In 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), (pp. 411-417). Aug. 2019.
Phalen, H., Vagdargi, P., Pozin, M., Chakravarty, S., Chirikjian, G.S., Iordachita, I. and Taylor, R.H., “Mosquito pick-and-place: Automating a key step in pfspz-based malaria vaccine production.” In 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), (pp. 12-17). Aug. 2019.
Xu, M., Lyu, S., Xu, Y., Kocabalkanli, C., Chirikjian, B.K., Chirikjian, J.S., Davis, J., Kim, J.S., Iordachita, I., Taylor, R.H. and Chirikjian, G.S., “Mosquito staging apparatus for producing PfSPZ malaria vaccines.” In 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), (pp. 443-449). Aug. 2019.
Kim, G.H., Patel, N., Yan, J., Wu, D., Li, G., Cleary, K. and Iordachita, I., “Shoulder-mounted Robot for MRI-Guided Arthrography: Clinically Optimized System.” In 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), (pp. 1977-1980). Jul. 2019.
Wu, D., Li, G., Patel, N., Yan, J., Kim, G.H., Monfaredi, R., Cleary, K. and Iordachita, I., “Remotely Actuated Needle Driving Device for MRI-Guided Percutaneous Interventions: Force and Accuracy Evaluation.” In 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) (pp. 1985-1989). Jul. 2019.
He, C., Yang, E. and Iordachita, I., “Dual-Stiffness Force-Sensing Cannulation Tool for Retinal Microsurgery.” In 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), (pp. 3212-3216). Jul. 2019.
Yan, J., Patel, N., Li, G., Wu, D., Cleary, K. and Iordachita, I., “Body-Mounted MRI-Conditional Parallel Robot for Percutaneous Interventions Structural Improvement, Calibration, and Accuracy Analysis.” In 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) (pp. 1990-1993). Jul. 2019.
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 Proc. 2019 IEEE Int. Conf. on Robotics and Automation (ICRA), Montreal, Canada, pp. 9073-9079, May 2019, Best Paper Award in Medical Robotics.
He, C., Patel, N., Iordachita, I., and Kobilarov, M., “Enabling Technology for Safe Robot-Assisted Retinal Surgery: Early Warning for Unsafe Sclera Force.” In Proc. 2019 IEEE Int. Conf. on Robotics and Automation (ICRA), Montreal, Canada, pp. 3889-3894, May 2019,
Ebrahimi, A., He, C., Patel, N., Kobilarov, M., Gehlbach, P. and Iordachita, I., “Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback.” In 2019 International Symposium on Medical Robotics (ISMR), pp. 1-7, Apr. 2019.
Sefati, S., Hegeman, R., Alambeigi, F., Iordachita, I. and Armand, M., “FBG-Based Position Estimation of Highly Deformable Continuum Manipulators: Model-Dependent vs. Data-Driven Approaches.” In 2019 International Symposium on Medical Robotics (ISMR), pp. 1-6, Apr. 2019, Best Student Paper Award
Wu, D., Li, G., Patel, N., Yan, J., Monfaredi, R., Cleary, K. and Iordachita, I., “Remotely Actuated Needle Driving Device for MRI-Guided Percutaneous Interventions.” In 2019 International Symposium on Medical Robotics (ISMR), pp. 1-7, Apr. 2019

2018

Wartenberg, M., Gandomi, K., Carvalho, P., Schornak, J., Patel, N., Iordachita, I., Tempany, C., Hata, N., Tokuda, J., and Fischer, G., “In-Bore Experimental Validation of Active Compensation and Membrane Puncture Detection for Targeted MRI-Guided Robotic Prostate Biopsy.” in Proc. Int. Symposium on Experimental Robotics (ISER), Buenos Aires, Argentina, (pp. 1-10), Nov. 2018
He, C., Roizenblatt, M., Patel, N., Ebrahimi, A., Yang, Y., Gehlbach, P., and Iordachita, I., “Towards Bimanual Robot-Assisted Retinal Surgery: Tool-to-Sclera Force Evaluation” In SENSORS, 2018 IEEE, (pp. 1701-1704). Oct. 2018
Sefati, S., Murphy, R., Alambeigi, F., Pozin, M., Iordachita, I., Taylor, R.H., and Armand, M., “FBG-Based Control of a Continuum Manipulator Interacting with Obstacles.” In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Madrid, Spain, pp. 6477- 6483, Oct. 2018
Patel, N. A., Yan, J., Levi, D., Monfaredi, R., Cleary, K., & Iordachita, I., “Body-Mounted Robot for Image-Guided Percutaneous Interventions: Mechanical Design and Preliminary Accuracy Evaluation.” In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Madrid, Spain, pp. 1443-1448, Oct. 2018.
He, C., Ebrahimi, A., Roizenblatt, M., Patel, N., Yang, Y., Gehlbach, P., and Iordachita, I., “User Behavior Evaluation in Robot-Assisted Retinal Surgery,” in Proc 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Nanjing, China, pp. 174-179, Aug. 2018.
Alambeigi, F., Bakhtiarinejad, M., Azizi, A., Hegeman, R., Iordachita, I., Khanuja, H. and Armand, M., “Inroads Toward Robot-Assisted Internal Fixation of Bone Fractures Using a Bendable Medical Screw and the Curved Drilling Technique.” In 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 595-600, Aug. 2018.
Ebrahimi, A., He, C., Roizenblatt, M., Patel, N., Sefati, S., Gehlbach, P., and Iordachita, I., “Real-Time Sclera Force Feedback for Enabling Safe Robot Assisted Vitreoretinal Surgery,” in Proc 40th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC), Honolulu, HI, USA, pp. 3650-3655, Jul. 2018.
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.
Sefati, S., Alambeigi, F., Iordachita, I., Taylor, R.H., and Armand, M., “On the effect of vibration on shape sensing of continuum manipulators using fiber Bragg gratings.” in Proc. 1st Int. Symposium on Medical Robotics (ISMR) IEEE, Atlanta, GA, (pp. 1-6), Mar. 2018.
Patel, N.A., Azimi, E., Monfaredi, R., Karun, S., Cleary, K., and Iordachita, I., “Robotic system for MRI-guided shoulder arthrography: accuracy evaluation,” in Proc. 1st Int. Symposium on Medical Robotics (ISMR) IEEE, Atlanta, GA, (pp. 1-6), Mar. 2018.

2017

Gonenc, B., Gehlbach, P., Taylor, R.H., and Iordachita, I., “Safe tissue manipulation in retinal microsurgery via motorized instrument with force sensing” In SENSORS, 2017 IEEE, (pp. 582-584). Oct. 2017.
Sefati, S., Pozin, M., Alambeigi, F., Iordachita, I., Taylor, R.H., and Armand, M., “A highly sensitive fiber Bragg grating shape sensor for continuum manipulator with large deflections” In SENSORS, 2017 IEEE, (pp. 454-456). Oct. 2017.
Gupta, A., Singh, S., Gonenc, B., Kobilarov, M., and Iordachita, I., “Toward sclera-force-based robotic assistance for safe micromanipulation in vitreoretinal surgery” In SENSORS, 2017 IEEE, (pp. 457-459). Oct. 2017.
Azimi, E., Jiang, B., Tang, E., Kazanzides, P., and Iordachita, I., “Teleoperative control of intraocular robotic snake: vision-based angular calibration” In SENSORS, 2017 IEEE, (pp. 588-590). Oct. 2017.
Kim, J.S., Chatrasingh, M., Suthakorn, J., and Iordachita, I., “Fiber Bragg grating based needle shape sensing for needle steering system: evaluation in inhomogeneous tissue” In SENSORS, 2017 IEEE, (pp. 594-596). Oct. 2017.
Zhang, H., Gonenc, B., Iordachita, I., “Admittance control for robot-assisted retinal vein micro-cannulation under human-robot collaborative mode.” In proceedings of IEEE 17th International Conference on Control, Automation and Systems (ICCAS), Jeju Island, South Korea, pp. 862-866, Oct. 2017.
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.
Kim, J.S., Levi, D., Monfaredi, R., Cleary, K., and Iordachita, I., “A New 4-DOF Parallel Robot for MRI-Guided Percutaneous Interventions: Kinematic Analysis,” in Proc 39^th Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC), Jeju Island, Korea, pp. 4251-4255, Jul. 2017.
Chen, S., Gonenc, B., Li, M., Song, D.Y. Burdette, E.C., Iordachita, I., and Kazanzides, P., “Needle Release Mechanism Enabling Multiple Insertions with an Ultrasound-guided Prostate Brachytherapy Robot,” in Proc 39^th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC), Jeju Island, Korea, pp. 4339-4342, Jul. 2017.
Song, J., Gonenc, B., Guo, J., and Iordachita, I., “Intraocular Snake Integrated with the Steady-Hand Eye Robot for Assisted Retinal Microsurgery,” 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, pp. 6724-6729, May 2017.

2016

Alambeigi, F., Wang, Y., Murphy, R.J., Iordachita, I., and Armand, M., “Toward Robot-Assisted Hard Osteolytic Lesion Treatment Using a Continuum Manipulator,” in Proc. 38^th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC), Orlando, FL. pp. 5103-5106, Aug. 2016.
Gao, A., Murphy, R.J., Liu, H., Iordachita, I., and Armand, M., ” Evaluating the Deflection of Dexterous Continuum Manipulators with Unevenly Distributed Compliant Joints,” in Proc. 38^th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC), Orlando, FL. pp. 5099-5102, Aug. 2016.
Wang, Y., Kim, S., Burdette, E.C., Kazanzides, P., and Iordachita, I., “Robotic System with Multiplex Power Transmission for MRI-guided Percutaneous Interventions,” in Proc 38^th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC), Orlando, FL. pp. 5228-5232, Aug. 2016.
Gonenc, B., Tran, N., Gehlbach, P., Taylor, R.H., and Iordachita, I., “Robot-Assisted Retinal Vein Cannulation with Force-Based Puncture Detection: Micron vs. the Steady-Hand Eye Robot,” in Proc 38^th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC), Orlando, FL. pp. 5107-5111, Aug. 2016.
Gao, A., Gonenc, B., Guo, J., Liu, H., Gehlbach, P., Iordachita, I., “3-DOF Force-Sensing Micro-Forceps for Robot-Assisted Membrane Peeling: Intrinsic Actuation Force Modeling.” Proc. IEEE RAS & EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob), UTown, Singapore, pp. 489-494, Jun. 2016.
Farvardin, A., Murphy, R.J., Grupp, R.B., Iordachita, I. and Armand, M., “Towards Real-Time Shape Sensing of Continuum Manipulators Utilizing Fiber Bragg Grating Sensors.” Proc. IEEE RAS & EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob), UTown, Singapore, pp. 593-598, Jun. 2016.
Gao, A., Carey, J.P., Murphy, R.J., Iordachita, I., Taylor, R.H., and Armand, M., “Progress toward Robotic Surgery of Lateral Skull base: Integration of a Dexterous Continuum Manipulator and Flexible Ring Curette.” Proc. 2016 IEEE Int. Conf. on Robotics and Automation (ICRA), Stockholm, Sweden, pp. 4429-4435, May 2016.
Alambeigi, F., Sefati, S., Murphy, R.J., Iordachita, I. and Armand, M., “Design and characterization of a debriding tool in robot-assisted treatment of osteolysis.” Proc. 2016 IEEE Int. Conf. on Robotics and Automation (ICRA), Stockholm, Sweden, pp. 5664- 5669, May 2016.
Zhang, B., Iordachita, I., Wong, J.W. and Wang, K.K.H., “Multi-projection bioluminescence tomography guided system for small animal radiation research platform (SARRP).” In SPIE BiOS (pp. 97010J-97010J). International Society for Optics and Photonics. Mar. 2016

2015

Kim, K. Y., Li, M., Gonenc, B., Shang, W., Eslami, S., & Iordachita, I., “Design of an MRI-compatible modularized needle driver for In-bore MRI-guided prostate interventions.” In proceedings of IEEE 15th International Conference on Control, Automation and Systems (ICCAS), Busan, South Korea, pp. 1520-1525, Oct. 2015
Gonenc, B., Gehlbach, P., Taylor, R. H., & Iordachita, I., “Effects of micro-vibratory modulation during robot-assisted membrane peeling.” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 3811-3816, Sep. 2015
Gonenc, B., Tran, N., Riviere, C.N., Gehlbach, P., Taylor, R.H., and Iordachita, I., “Force-Based Puncture Detection and Active Position Holding for Assisted Retinal Vein Cannulation,” in Proc. IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems (MFI’15), San Diego, USA, pp. 322-327, Sep. 2015 (Best Paper Award).
Horise, Y., He, X., Gehlbach, P., Taylor, R.H., Iordachita, I., “FBG-Based Sensorized Light Pipe for Robotic Intraocular Illumination Facilitates Bimanual Retinal Microsurgery,” Proc. 37th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS), Milano, Italy, pp. 13-16, Aug. 2015.
Monfaredi, R., Wilson, E., Sze, R., Sharma, K., Azizi, B., Iordachita, I., Cleary, K. “Shoulder-mounted Robot for MRI-Guided Arthrography: Accuracy and Mounting Study,” Proc. 37th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS), Milano, Italy, pp. 3643-3646, Aug. 2015.
Li, M., He, X., Eslami, S., Wang, K.K., Zhang, B., Wong, J.W., Iordachita, I., “A Dual-use Imaging System for Pre-clinical Small Animal Radiation Research,” Proc. 37th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS), Milano, Italy, pp. 6904-6907, Aug. 2015.
Sen, H.T., Muyinatu, A.L.B., Yin, Z., Kai, D., Wong, J., Iordachita, I., Kazanzides, P., “System Integration and Preliminary In-Vivo Experiments of a Robot for Ultrasound Guidance and Monitoring during Radiotherapy,” Proc. 17th Int.Conf. on Advanced Robotics (ICAR 2015), Istanbul, Turkey, p. 149, 7 pgs., Jul. 2015
Li, M., Gonenc, B., Kim, K., Shang, W., Iordachita, I., “Development of an MRI-Compatible Needle Driver for In-Bore Prostate Biopsy,” Proc. 17th Int. Conf. on Advanced Robotics (ICAR 2015), Istanbul, Turkey, p. 102, 7 pgs., Jul. 2015,
Liu, H., Farvardin, A., Pedram, S.A., Iordachita, I., Taylor, R.H., Armand, M., “Large Deflection Shape Sensing of a continuum Manipulator for Minimally-Invasive Surgery,” Proc. 2015 IEEE Int. Conf. on Robotics and Automation (ICRA), Seattle, USA, pp. 201-206, May. 2015. NIHMSID 685484.
He, X., van Geirt, V., Gehlbach, P., Taylor, R.H., Iordachita, I., “IRIS: Integrated Robotic Intraocular Snake,” Proc. 2015 IEEE Int. Conf. on Robotics and Automation (ICRA), Seattle, USA, pp. 1764-1769, May. 2015.
Aalamifar, F., Jiang, D., Zhang, H.K., Cheng, A., Guo, X., Khurana, R., Iordachita, I., Boctor, E.M., “Co-robotic ultrasound tomography: dual arm setup and error analysis,” Conf. Proc. SPIE Medical Imaging, Orlando, FL, vol. 94190N, p. 94190N-9, Mar. 2015.

2014

Gonenc, B., Gehlbach, P., Handa, J., Taylor, R.H., Iordachita, I., “Force-Sensing Microneedle for Assisted Retinal Vein Cannulation,” Proc. IEEE Sensor 2014, Valencia, Spain, pp. 698- 701, Nov. 2014. (Best Student Paper Award), (Best Medical Paper Award)
Olds, K., Chalasani, P., Pacheco-Lopez, P., Iordachita, I., Akst, L.M., Taylor, R.H., “Preliminary Evaluation of a New Microsurgical Robotic System for Head and Neck Surgery,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Chicago, USA, pp. 1276-1281, Sep, 2014.
Gupta, A., Gonenc, B., Balicki, M., Olds, K., Gehlbach, P., Handa, J., Taylor, R.H., Iordachita, I., “Human Eye Phantom for Developing Computer and Robot-Assisted Epiretinal Membrane Peeling,” Proc. 36th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS), Chicago, USA, pp. 6864-6867, Aug. 2014.
He, X., Gehlbach, P., Handa, J., Taylor, R.H., Iordachita, I., “Toward Robotically Assisted Membrane Peeling with 3-DOF Distal Force Sensing in Retinal Microsurgery,” Proc. 36th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS), Chicago, USA, pp. 6859-6863, Aug. 2014.
Monfaredi, R., Seifabadi, R., Iordachita, I., Sze, R., Safdar, M.N., Sharma, K., Fricke, S., Krieger, A., Cleary, K., “A Prototype Body-Mounted MRI-Compatible Robot for Needle Guidance in Shoulder Arthrography,” Proc. IEEE RAS & EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob), Sao Paulo, Brazil, pp. 40-45, Aug. 2014.
Gonenc, B., Gehlbach, P., Handa, J., Taylor, R.H., Iordachita, I., “Motorized Force-Sensing Micro-Forceps with Tremor Cancelling and Controlled Micro-Vibrations for Easier Membrane Peeling,” Proc. IEEE RAS & EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob), Sao Paulo, Brazil, pp. 244-251, Aug. 2014.
He, X., Gehlbach, P., Handa, J., Taylor, R.H., Iordachita, I., “Development of A Miniaturized 3-DOF Force Sensing Instrument for Robotically Assisted Retinal Microsurgery and Preliminary Results,” Proc. IEEE RAS & EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob), Sao Paulo, Brazil, pp. 252-258, Aug. 2014.
Lediju Bell, M.A., Sen, T.H., Iordachita, I., Kazanzides, P., “Force-controlled ultrasound robot for consistent tissue pre-loading: Implications for acoustic radiation force elasticity imaging,” Proc. IEEE RAS & EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob), Sao Paulo, Brazil, pp. 259-264, Aug. 2014.
Wilkening, P., Chien, W., Gonenc, B., Niparko, J., Kang, J.U., Iordachita, I., Taylor, R.H., “Evaluation of Virtual Fixtures for Robot-Assisted Cochlear Implant Insertion,” Proc. IEEE RAS & EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob), Sao Paulo, Brazil, pp. 232-238, Aug. 2014.
Gonenc, B., Feldman, E., Gehlbach, P., Handa, J., Taylor, R.H., Iordachita, I., “Towards Robot-Assisted Vitreoretinal Surgery: Force-Sensing Micro-Forceps Integrated with a Handheld Micromanipulator,” 2014 IEEE Int. Conf. on Robotics and Automation (ICRA), Hong Kong, China, pp. 1399-1404, Jun. 2014.
He, X., Balicki, M., Gehlbach, P., Handa, J., Taylor, R.H., Iordachita, I., “A Multi-Function Force Sensing Instrument for Variable Admittance Robotic Control in Retinal Microsurgery,” 2014 IEEE Int. Conf. on Robotics and Automation (ICRA), Hong Kong, China, pp. 1411-1418, Jun. 2014.(Best Student Paper Award Finalist)
Aalamifar, F., Khurana, R., Cheng, A., Taylor, R.H., Iordachita, I., Boctor, E.M., “Enabling technologies for robot assisted ultrasound tomography: system setup and calibration,” Conf. Proc. SPIE Medical Imaging, San Diego, CA, vol. 9036, p. 903611, Feb. 2014.
Bell, M.L., Sen, H.T., Iordachita, I., Kazanzides, P., Wong, J., “In vivo reproducibility of robotic probe placement for an integrated US-CT image-guided radiation therapy system,” Conf. Proc. SPIE Medical Imaging, San Diego, CA, vol. 9036, p. 903611, Feb. 2014.
Cheon, G.W., Jeong, H.W., Chalasani, P., Chien, W.W., Taylor, R.H., Iordachita, I., Niparko, J., Kang, J.U., “3D optical coherence tomography image registration for guiding cochlear implant insertion,” Conf. Proc. SPIE Photonic Therapeutics and Diagnostics X, San Francisco, CA, vol. 8926, p. 89261Z, Feb. 2014.

2013

Sen, H.T., Bell, M.L., Iordachita, I., Wong, J., Kazanzides, P., “A Cooperatively Controlled Robot for Ultrasound Monitoring of Radiation Therapy,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Tokyo, Japan, pp. 3071-3076, Nov. 2013.
Seifabadi, R., Escobar-Gomez, E., Aalamifar, F., Fichtinger, G., Iordachita, I., “Real-time Tracking of a Bevel-tip Needle with Varying Insertion Depth: Toward Teleoperated MRI-guided Needle Steering,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Tokyo, Japan, pp. 469-476, Nov. 2013.
Gonenc, B., Handa, J., Gehlbach, P., Taylor, R.H., Iordachita, I., “Design of 3-DOF Force Sensing Micro-Forceps for Robot Assisted Vitreoretinal Surgery,” Proc. 35th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS), Osaka, Japan, pp. 5686-5689, Jul. 2013.
Gonenc, B., Handa, J., Gehlbach, P., Taylor, R.H., Iordachita, I., “A Comparative Study for Robot Assisted Vitreoretinal Surgery: Micron vs. the Steady-Hand Robot,” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, pp. 4817-4822, May 2013.
He, X., Balicki, M., Gehlbach, P., Handa, J., Taylor, R.H., Iordachita, I., “A Novel Dual Force Sensing Instrument with Cooperative Robotic Assistant for Vitreoretinal Surgery,” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, pp. 213-218, May 2013.
Eslami, S., Fischer, G.S., Song, S.E., Tokuda, J., Hata, N., Tempany, C.M., Iordachita, I., “Towards Clinically Optimized MRI-Guided Surgical Manipulator for Minimally Invasive Prostate Percutaneous Interventions: Constructive Design.” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, pp. 1220-1225, May 2013.
He, C., Olds, K., Iordachita, I., Taylor, R.H., “A New ENT Microsurgery Robot: Error Analysis and Implementation,” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, pp. 1213-1219, May 2013.
Eslami, S., Yang, Y., Wong, J., Patterson, M.S., Iordachita, I., “An Integrated X-Ray/Optical Tomography System for Pre-clinical Radiation Research,” Conf. Proc. SPIE Medical Imaging, Orlando, FL, vol. 8668, p. 866830, Feb. 2013.
Ungi, T., U-Thainual, P., Fritz, J., Iordachita, I.I., Flammang, A.J., Carrino, J.A., Fichtinger, G., “Software for MR image overlay guided needle insertions: the clinical translation process,” Conf. Proc. SPIE Medical Imaging, Orlando, FL, vol. 8671, p. 867116, Feb. 2013.
Monfaredi, R., Seifabadi, R., Fichtinger, G., Iordachita, I., “Design of a Decoupled MRI-compatible Force Sensor using Fiber Bragg Grating Sensors for Robot-assisted Prostate Interventions,” Conf. Proc. SPIE Medical Imaging, Orlando, FL, vol. 8671, p. 867118, Feb. 2013.
Zhao, M., Wade W. Chien, W.W., Taylor, R.H., Iordachita, I., Huang, Y., Niparko, J., Kang, J.U., “Sensing and three-dimensional imaging of cochlea and surrounding temporal bone using swept source high-speed optical coherence tomography,” Conf. Proc. SPIE BiOS, San Francisco, CA, p. 8571-72, Feb. 2013.
Zhao, M., Wade W. Chien, W.W., Iordachita, I., Huang, Y., Taylor, R.H., Niparko, J., Kang, J.U., “Sensing and Three-dimensional OCT Imaging of The Cochlea and Temporal Bone: Image-Guided Cochlear Implantation,” Conf. Proc. SPIE BiOS, San Francisco, CA, p. 8565-64, Feb. 2013.

2012

He, X., Roppenecker, D., Gierlach, D., Balicki, M., Olds, K., Gehlbach, P., Handa, J., Taylor, R.H., Iordachita, I., “Toward Clinically Applicable Steady-Hand Eye Robot for Vitreoretinal Surgery,” Proc. ASME Int. Mechanical Engineering Cong. & Expo., Huston, TX, p. 88384, Nov. 2012.
He, C., Olds, K., Akst, L.M., Ishii, M., Chien, W.W., Iordachita, I., Taylor, R.H., “Evaluation, Optimization, and Verification of the Wrist Mechanism of a New Cooperatively Controlled Bimanual ENT Microsurgery Robot,” Proc. ASME Int. Mechanical Engineering Cong. & Expo., Huston, TX, p. 88460, Nov. 2012.
Gonenc, B., Balicki, M.A., Handa, J., Gehlbach, P., Riviere, C.N., Taylor R.H., Iordachita, I., “Preliminary Evaluation of a Micro-Force Sensing Handheld Robot for Vitreoretinal Surgery,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, pp. 4125-4130, Oct. 2012.
Kuru, I., Gonenc, B., Balicki, M., Handa, J., Gehlbach, P., Taylor, R.H., Iordachita, I., “Force Sensing Micro-Forceps for Robot Assisted Retinal Surgery.” Proc. 34th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS), San Diego, CA, pp. 1401-1404, Aug. 2012.
Tokuda, J, Song, S.E., Tuncali, K., Tempany, C.M., Hata, N., Fischer, G.S., Iordachita, I., Cho, B.J., Seifabadi, R., Fichtinger, G., “Preclinical evaluation of MRI-compatible pneumatic robot for angulated needle placement in prostate interventions,” Proc. Int. Congr. Computer Assisted Radiology and Surgery (CARS), Pisa, Italy, pp. S15-S17, Jun. 2012.
U-Thainual, P., Fritz, J., Moonjaita, C., Ungi, T., Flammang, A., Carrino, J.A., Fichtinger, G., Iordachita, I., “MR Image Overlay guidance System (MR-IOS): system evaluation for clinical use,” Proc. Int. Congr. Computer Assisted Radiology and Surgery (CARS), Pisa, Italy, pp. S179-S180, Jun. 2012.
Fritz, J., U-Thainual, P., Iordachita, I., Carrino, J.A., Flammang, A., Ungi, T., Fichtinger, G., “Augmented reality visualization using image-overlay for MR-guided interventions: performance assessment of paravertebral sympathetic perineural injections in cadavers at 1.5 Tesla,” Proc. Int. Congr. Computer Assisted Radiology and Surgery (CARS), Pisa, Italy, pp. S509-S511, Jun. 2012. (Poster Award, 2nd Place)
Seifabadi, R., Iordachita, I., Fichtinger, G., “Design of a Teleoperated needle steering system for MRI-guided prostate interventions,” Proc. IEEE RAS & EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob), Rome, Italy, pp. 793-798, Jun. 2012.
Liu, X., Iordachita, I.I., He, X., Taylor, R.H., Kang, J.U., “Miniature fiber-optic force sensor for vitreoretinal microsurgery based on low-coherence Fabry-Pȳrot interferometry,” Conf. Proc. SPIE BiOS, San Francisco, CA, p. 8218-82180O, Jan. 2012.
He, X., Balicki, M.A., Kang, J.U., Gehlbach, P.L., Handa, J.T., Taylor R.H., Iordachita, I.I., ‘Force sensing micro-forceps with integrated fiber Bragg grating for vitreoretinal surgery,” Conf. Proc. SPIE BiOS, San Francisco, CA, p. 8218-82180W, Jan. 2012.
Bohren, J., Iordachita, I., Whitcomb, L.L., “Design Requirements and Feasibility Study for a 3-DOF MRI-Compatible Robotic Device for MRI-Guided Prostate Intervention,” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), St. Paul, MN, pp. 677-682, Jun. 2012.

2011

Taylor, R., Kang, J., Iordachita, I., Hager, G., Kazanzides, P., Riviere, C., Gower, E., Richa, R., Balicki, M., He, X., Liu, X., Olds, K., Sznitman, R., Vagvolgyi, B., Gehlbach, P., Handa, J., “Recent Work Toward a Microsurgical Assistant for Retinal Surgery,” Hamlyn Symposium on Medical Robotics, London, UK, pp. 3-4, Jun. 2011.
Su, H., Iordachita, I., Yan, X., Cole, G.A., Fischer, G.S., “Reconfigurable MRI-Guided Robotic Surgical Manipulator,” Proc. 33th Annu. Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS), Boston, MA, pp. 2111-2114, Aug.-Sep. 2011.
Song, S., Cho, N., Iordachita, I., Guion, P., Fichtinger, G., Whitcomb, L.L., “A Study of Needle Image Artifact Localization in Confirmation Imaging of MRI-guided Robotic Prostate Biopsy,” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Shanghai, China, pp. 4834-4839, May 2011.

2010

Song, S.E., Cho, N., Tokuda, J., Hata, N., Tempany, C., Fichtinger, G., Iordachita, I., “Preliminary Evaluation of a MRI-compatible Modular Robotic System for MRI-guided Prostate Interventions,” Proc. 3rd IEEE RAS & EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob), Tokyo, Japan, pp. 796-801, Sep. 2010.
Uneri, A., Balicki, M., Handa, J., Gehlbach, P., Taylor, R.H., Iordachita. I., “New Steady-Hand Eye Robot with Micro-Force Sensing for Vitreoretinal Surgery,” Proc. 3rd IEEE RAS & EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob), Tokyo, Japan, pp. 814-819, Sep. 2010.
Balicki, M., Uneri, A., Iordachita, I., Handa, J., Gehlbach, P., Taylor, R.H., “Micro-force Sensing in Robot Assisted Membrane Peeling for Vitreoretinal Surgery,” Proc. 13th Int. Conf. on Medical Image Computing and Computer-Assisted Intervention (MICCAI), Beijing, China, LNCS6363, pp. 303-310, Sep. 2010.
Song, S.E., Cho, B.N., Tokuda, J., Hata, N., Tempany, C.M., Fichtinger, G., Iordachita, I., “MRI compatibility study of a pneumatically actuated robotic system for transperineal prostate needle placement,” Proc. Int. Congr. Computer Assisted Radiology and Surgery (CARS), Geneva, Switzerland, pp. 26-27, Jun. 2010.
Krieger, A., Iordachita, I., Song, S.E., Cho, N.B., Fichtinger, G., Whitcomb L.L., “Development and Preliminary Evaluation of an Actuated MRI-Compatible Robotic Device for MRI-Guided Prostate Intervention,” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Anchorage, AK, pp. 1066-1073, May 2010.
Song, S.E., Cho, N.B., Hata, N., Tempany, C., Fichtinger, G., Iordachita, I., “Development of a Pneumatic Robot for MRI-guided Transperienal Prostate Biopsy and Brachytherapy: New Approaches,” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Anchorage, AK, pp. 2580-2585, May 2010.
Mantifar, M., Iordachita, I., Wong, J., Kazanzides, P., “Robotic Delivery of Complex Radiation Volumes for Small Animal Research,” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Anchorage, AK, pp. 2056-2061, May 2010.

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