Farshid Alambeigi

I am currently a PhD Graduand in the Mechanical Engineering Department at Johns Hopkins University. I am also 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.

I accomplished my PhD thesis objectives on the design, fabrication, and control of dexterous surgical robots. Besides, I initiated a new research topic in 2016 and worked on model-independent data-driven learning and manipulation of deformable tissues and continuum manipulators. I also spent the summer of 2018 at Auris Health Inc. as the System's Team Intern.

In summer of 2018, I was honored as the 2019 SIEBEL SCHOLAR of Johns Hopkins University.

I will be joining the Department of Mechanical Engineering in the University of Texas at Austin as a new Assistant Professor in August 2019. I will also work with other outstanding faculties in the UT Austin Robotics Program.

Before JHU, I received an MSc degree in the Mechanical Engineering Department 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 Instagram 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



Collaborators
News

2019
2018
2017
  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
system
ortho-snake
Publications:

1. 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]

2. P. Wilkening, F. Alambeigi , 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]

3. 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]

4. F. Alambeigi , 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]

5. F. Alambeigi, 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 2016), pp. 5664-5669. [Online]

6. F. Alambeigi , 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 2014, pp. 6521–6525, 2014. [Online]
  Design and Fabrication of Variable Stiffness Continuum Robots With Low Melting Point Alloys
StructurePCCM_GIF
Publications:

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

2. 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
conceptual DrillingCurved Drilling in Human Cadaver
Publications:

1. F. Alambeigi, M. Bakhtiarinejad, S. Sefaty, R. Hegeman, I. Iordachita, H. Khanuja, and M. Armand, "On the Use of a Continuum Manipulator and a Bendable Medical Screw for Minimally-Invasive Interventions in Orthopedic Surgery", IEEE Transaction on Medical Robotics and Bionics (TMRB), January 2019. [Online]

2. F. Alambeigi, 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]

3. 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.(Best Paper Award Finalist)[pdf][video]

4. Mahsan Bakhtiarinejad, Farshid Alambeigi, Alireza Chamani, Mathias Unberath, Harpal Khanuja, Mehran Armand,"A biomechanical study on the use of curved drilling technique for treatment of osteonecrosis of femoral head", In press, MICCAI 2018 CBM XIII Workshop, 2018. [paper]

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

1. 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]

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

3. 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]

4. F. Alambeigi, Z. Wang, R. Hegeman, Y. H. Liu, R. H. Taylor, and M. Armand, ”Autonomous Data-Driven Manipulation of Unknown Anisotropic Deformable Tissues Using Unmodelled Continuum Manipulators,” IEEE Robotics and Automation Letters, December 2018.

5. F. Alambeigi, Z. Wang,  Y. H. Liu, R. H. Taylor, and M. Armand, ”A Versatile Data-Driven Framework for Model-Independent Control of Continuum Manipulators Interacting with Obstructed Environments with Unknown Geometry and Stiffness,” International Journal of Robotics Research (IJRR), December 2018.

6. S. A. Pedram*, P. Ferguson*, F. Alambeigi, C. Shin, A. Mehta, E. Dutson, J. Rosen, "Toward Synergic Learning for Autonomous Manipulation of Deformable Tissues via Surgical Robots: An Approximate Q-Learning Approach," Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), February 2019. {* denotes co-first authorship}


Shape sensing and Control of continuum manipulators using fiber bragg grating (FBG) optical sensors and intermittent fluoroscopic images
fbg
Publications:

1. F. Alambeigi, S. Aghajani Pedram, J. Speyer, I. Iordachita, R. H. Taylor, and M. Armand, "SCADE: Simultaneous Sensor Calibration and Deformation Estimation of FBG-Equipped Unmodeled Continuum Manipulators", Revise and Resubmit to the IEEE Transaction on Robotics (TRO), March 2019.

2. Sefati S, Hegeman H, F. Alambeigi, Iordachita I, Taylor R, Armand M.  "FBG-Based Position Estimation of Highly Deformable Continuum Manipulators: Model-Dependent vs. Data-Driven Approaches",
acceptd in ISMR 2019. Finalist for the Best Student Paper Award, [Online].

3. Sefati S, F. Alambeigi, 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]

4. 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]

5. Sefati S, F. Alambeigi, 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]

Other Relevant Medical Robotics and Computer Integrated Surgery Researches
Publications:

1. A. Ebrahimi, F. Alambeigi, Ingrid E. Zimmer-Galler, Peter Gehlbach, R. H. Taylor, and  I. Iordachita, "Toward Improving Patient Safety and Surgeon Comfort in a Synergic Robot-Assisted Eye Surgery: A Comparative Study,"Accepted in the IEEE IROS 2019, June 2019.

2.
B. Azizi,  J. Fotouhi, F. Alambeigi, K. Cleary, N. Navab, "Radiation-Free Methods for Navigated Screw Placement in Slipped Capital Femoral Epiphysis Surgery," International Journal of Computer Assisted Radiology and Surgery (IJCARS), June 2018,  
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 2018), Madrid, 2018. Organizers: A. M. Esfahani (University of Birmingham), F. Alambeigi, S. Aghajani Pedram (UCLA), Renaud Detry (JPL Nasa), Veronica J. Santos (UCLA), R. Stolkin
(University of Birmingham).

Patents:

1. 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.

2. F. Alambeigi, S. Sefati, R. Murphy, M. Armand, C. Gordon, J. Liu," A cutting machine for resizing raw implants during surgery," Patent No. WO 2016086049 A1, Published Jun 2, 2016.

3. F. Alambeigi and M. Armand, "Steerable device for treatment of hard-tissue-related diseases and minimally invasive surgery”, application number of PCT/US2018/012162, January 2018.

Teaching Experiences:

EN.601.655 – Computer Integrated Surgery I (Dr. Russell H. Taylor), Sept. 2018 - Nov. 2018
EN.530.343 – Design and Analysis of Dynamic Systems (
Dr. Louis Whitcomb), Jan. 2018 - May 2018
EN.530.344 – Design and Analysis of Dynamic Systems Laboratory
(Dr. David Marra), Jan. 2018- May2018
EN.530.647 - Adaptive Systems
(Dr. Louis Whitcomb), Sept. 2017 - Nov. 2017
EN.530.343 – Design and Analysis of Dynamic Systems
(Dr. David Marra), Jan. 2017 - May 2017
EN.530.707 - Robot Systems Programming 
(Dr. Louis Whitcomb), Jan. 2016 - May 2016
EN.530.343 - Design and Analysis of Dynamic Systems
(Dr. David Marra), Jan. 2015 - May 2015
This guy makes a nice webpage.