Farshid Alambeigi

I am a PhD candidate in ME at Johns Hopkins University, where I work on design, fabrication, and control of dexturous surgical robots. I am a part of Laboratory of Computational Sensing and Robotics (LCSR) and specifically the Biomechanical- and Image-Guided Surgical Systems (BIGSS) laboratory advised by Dr. Mehran Armand and Dr. Russell H. Taylor.

Before JHU, I received an MSc degree in ME at Sharif University of Technology, where in collaboration with Tehran University of Medical Sciences, I worked on design and development of the Sina Telesurgery System.

I also enjoy photography. You can check my Insragram Gallery here.

Research 

My research focuses on developing high dexterity continuum manipulator and soft robots and appropriate tools especially designed for less-invasive treatment of various medical applications and specifically orthopedics. Using these snake-like robots integrated with the fiber bragg grating (FBG) optical sensors, my goal is to take the current rigid orthopedic surgical tools to the next level by making them incredibly flexible and situationally aware. Utilizing these novel surgical instruments with novel control algorithms, I am working toward partnering the dexterous robots with the orthopedic surgeons to elevate their skills and ultimately the quality of the surgery.

My research interests include:

  • Medical robotics and computer integrated surgery
  • Design and fabrication of novel continuum manipulators and soft robots
  • Data-driven model-independent manipulation and control of deformable objects (e.g. deformable tissues and continuum manipulators) in free and obstructed environments
  • Autonomous and semi-autonomous surgical manipulation using calibrated/uncalibrated visual servoing
  • Shape sensing of continuum manipulators using fiber bragg grating (FBG) optical sensors.
  • Real-time Sensor Calibration and Deformation Estimation of FBG-Equipped Unmodeled Continuum Manipulators
  • Biomechanical Study of human bones using Finite Element Analysis
News

2018

2017
Collaborators
  Following is the research topics that I have worked on during my PhD and masters:
 Robot Assisted Minimally Invasive Treatment of Pelvic Osteolysis Using a Continuum Manipulator


Publications:

F. Alambeigi, S. Sefaty, and M. Armand, "A Convex Optimization Framework for Constrained Concurrent Control of a Hybrid Redundant Surgical System," accepted at the American Control Conference (ACC 2018).[Online]


Wilkening P, Alambeigi F, Murphy RJ, Taylor RH, Armand M. “Development and Experimental Evaluation of Concurrent Control of a Robotic Arm and Continuum Manipulator for Osteolytic Lesion Treatment,” IEEE Robotics and Automation Letters 2017.[Online]

Cömert S, Alambeigi F, Deguet A, Carey JP, Armand M, Lueth TC, Taylor RH. “Integration of a Snake-like Dexterous Manipulator for Head and Neck Surgery with the da Vinci Research Kit,” The Hamlyn Symposium on Medical Robotics. London, June 2016. [Online]

Alambeigi F, Wang Y, Murphy RJ, Iordachita I, Armand M. “Toward Robot-Assisted Hard Osteolytic Lesion Treatment Using a Continuum Manipulator,” in Proc. International Conference of the IEEE EMBS (EMBC’16), 2016, pp. 5103-5106. [Online]

Alambeigi F, Sefati S, Murphy RJ, Iordachita I, Armand M. “Design and Characterization of a Debriding Tool in Robot-Assisted Treatment of Osteolysis“, in Proceedings of 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 5664-5669. [Online]

Alambeigi F, Murphy RJ, Basafa E, Taylor RH, Armand M. “Control of the Coupled Motion of a 6 DoF Robotic Arm and a Continuum Manipulator for the Treatment of Pelvis Osteolysis,” In IEEE/EMBS, pp. 6521–6525, 2014. [Online]
  Design and Fabrication of Variable Stiffness Continuum Robots With Low Melting Point   Alloys

Publications:

Alambeigi F, Seifabadi R, Armand M. “A continuum manipulator with phase changing alloy” in Proceedings of 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 5664-5669. [Online]

F. Alambeigi, R. Seifabadi, and M. Armand, "Devices with low melting point alloy for control of device flexibility," Patent No. US 20160311108 A1, Published Oct 27, 2016. [Online]
  Core Decomression of Femoral Osteonecrosis Using the Curved Drilling Technique and a Bendable Medical Screw

Publications:

Alambeigi F, Wang Y, Sefati S, Gao C, Murphy RJ, Iordachita I, Taylor RH, Khanuja H, Armand M. “A Curved-Drilling Approach in Core Decompression of the Femoral Head Osteonecrosis using a Continuum Manipulator,” IEEE Robotics and Automation Letters 2017. [Online]

F. Alambeigi, M. Bakhtiarinejad, A. Azizi, R. Hegeman, I. Iordachita, P. Khanuja, and M. Armand,"Inroads Toward Robot-Assisted Internal Fixation of Bone Fractures Using a Bendable Medical Screw and the Curved Drilling Technique," Accepted, to be appeared in Proc. of IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (Biorob 2018), 2018, pp. 1-6. [pdf[video]

Autonomous Model-Independent Deformable Object Manipulation in Free or Obstructed Environments with the da Vinci Research Kit (dVRK)

Publications:

F. Alambeigi
, Z. Wang, Y.-H. Liu, M. Armand, and R. H. Taylor, Smart Autonomous Unknown Deformable Object Manipulation Using the da Vinci research Kit: from Soft Tissues to Continuum Robots Manipulation Hamlyn Symposium Surgical Robot Challenge, 2017. Best Innovation Prize.
[Video]

F. Alambeigi, Z. Wang, Y. H. Liu, R. H. Taylor, and M. Armand, "Toward Autonomous Needle Insertion Using Collaborative Manipulation of Unmodeled Deformable Tissues," Accepted, Annals of Biomedical Engineering, March 2018 (The Second Top Journal in the Field of Biomedical Engineering, IF=3.221) [paper] [video]

F. Alambeigi, Z. Wang, R. Hegeman, Y. H. Liu, R. H. Taylor, and M. Armand, ”A Robust Data-Driven Approach for Online Learning and Manipulation of Unmodeled 3-D Heterogeneous Compliant Objects,” IEEE Robotics and Automation Letters and IROS 2018 conference, June 2018.
[video]
Shape sensing and Control of continuum manipulators using fiber bragg grating (FBG) optical sensors

Publications:

Sefati S, Alambeigi F, Iordachita I, Taylor R, Armand M.  "On The Effect of Vibration on Shape Sensing of Continuum Manipulators Using Fiber Bragg Gratings",
acceptd in ISMR 2018. [Online]

S. Sefaty, M. Pozin, F. Alambeigi, I. Iordachita, R. H. Taylor and M. Armand, "A Highly Sensitive Fiber Bragg Grating Shape Sensorfor Continuum Manipulators with Large Deflections," in Proc. International Conference of the IEEE SENSORS (SENSORS’17), 2017.
Finalist for the Best Student Paper Award, [Online]

Sefati S, Alambeigi F, Murphy R, Iordachita I, M. Armand. “FBG-Based Large Deflection Shape Sensing of a Continuum Manipulator: Manufacturing Optimization,” in Proc. International Conference of the IEEE SENSORS (SENSORS’16), 2016, pp. 1511-1513. [Online]

Development of the SINA Telesurgical System

Publications:

F. Alambeigi
, S. Behzadipour, G. Vossoughi, and F. Farahmand, "Simulation and control of a multi-DOF laparoscopic tele-surgery system in virtual reality," in Control, Instrumentation and Automation (ICCIA), 2011 2nd International Conference on, 2011, pp. 1060-1066.
Organized Workshops:

"A One Day Workshop on Task-Informed Grasping (TIG) for rigid and deformable object manipulation”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018. Organizers: A. M. Esfahani, F. Alambeigi, S. Aghajani Pedram, Renaud Detry, Veronica J. Santos, R. Stolkin

This guy makes a nice webpage.