Publications

Refereed Journal Publications


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.” Sensors. vol. 17, no.10. p. 2195 (25 pg.) Sep. 2017.
  • 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. vol. 18, no. 4, pp.84-96, Jul. 2017.
  • 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, vol. 2, no. 3, pp.1480-1487, Jul. 2017
  • 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.
  • Channa, R., Iordachita, I., Handa, J.T., “Robotic Vitreoretinal Surgery.” RETINA.  vol. 37, no. 7, pp.1220-1228, Jul. 2017.
  • 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
  • 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.
  • 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, vol. 23, no. 3, pp.227-232, May 2017.
  • 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.
  • 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.
  • 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.

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.
  • 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. Online March 30th, 2016, In Press.
  • 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.
  • 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, vol. 63, no. 7, pp. 1517-1524, Jul. 2016.
  • 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.
  • 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.
  • 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 Feasability.” Skeletal Radiology, vol. 45, no. 5, pp. 591-597, May, 2016.
  • 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.

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


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 39th 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 39th 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. 38th 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. 38th 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 38th 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 38th 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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