Mehrdad R. Kermani

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This paper presents a new needle deflection model that is an extension of prior work in our group based on the principles of beam theory. The use of a long flexible needle in percutaneous interventions necessitates accurate modeling of the generated curved trajectory when the needle interacts with soft tissue. Finding a feasible model is important in(More)
This paper presents a new approach to account for distributed friction in needle insertion in soft tissue. As is well known, friction is a complex nonlinear phenomenon, and it appears that classical or static models are unable to capture some of the observations in systems subject to significant frictional effects. To characterize dynamic features when the(More)
Percutaneous therapies and in particular needle insertion treatments require an accurate model of needle-tissue interaction. Friction is a major interaction force component during needle insertion, and force-velocity mapping is an indicator of the interaction characteristics. However, soft tissue deformation is an inevitable and complex phenomenon that(More)
In this paper we present the design and experimental validation of a Magneto-Rheological (MR) clutch developed for servo control applications in human friendly robotic systems. The clutch is developed as a practical prototype for potential industrial applications in the low to mid torque range. Conventional servo motors have been shown to lack the necessary(More)
In this study, a distributed approach to account for dynamic friction during needle insertion in soft tissue is presented. As is well known, friction is a complex nonlinear phenomenon. It appears that classical or static models are unable to capture some of the observations made in systems subjected to significant frictional effects. In needle insertion,(More)
The integration of industrial robots into the human workspace presents a set of unique challenges. This paper introduces a new sensory system for modeling, tracking, and predicting human motions within a robot workspace. A reactive control scheme to modify a robot's operations for accommodating the presence of the human within the robot workspace is also(More)