Following is the research topics that I have worked on during my
PhD and masters:
Assisted Minimally Invasive Treatment of Pelvic Osteolysis Using a
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
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 2016), 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 2014, pp. 6521–6525, 2014. [Online]
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" Minor Revision, IEEE Transaction on Medical Robotics and Bionics (TMRB), January 2019.
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.(Best Paper Award Finalist)[pdf][video]
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",accepted in the MICCAI 2018 CBM XIII Workshop, 2018.
|Autonomous Model-Independent Deformable
Object Manipulation in Free or Obstructed Environments with the da Vinci Research Kit (dVRK)
F. Alambeigi, Z.
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," 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]
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. [paper]
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.
sensing and Control of continuum manipulators using
fiber bragg grating (FBG) optical sensors
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", Submitted to IEEE Transaction on Robotics (TRO), January 2019.
Sefati S, Hegeman H, Alambeigi F, 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. [Online]
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.
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
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.
"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).
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.
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.
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.
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