Papers
32
Total Citations
606
H-Index
15
About
Mohsen Khadem is a leading researcher in medical robotics, with particular expertise in needle steering dynamics, continuum robotics, and minimally invasive surgical systems. His foundational work on flexible needle mechanics has significantly advanced the field: his 2015 and 2016 papers, garnering over 50–70 citations each, introduced the first comprehensive dynamical models capable of predicting both needle shape and tip position during insertion in soft tissue, accounting for cutting forces and tissue inhomogeneity that previously contributed to targeting errors in percutaneous procedures. Building on this groundwork, Khadem developed robotic systems featuring notched steerable needles with enhanced curvature control, enabling navigation around complex anatomical obstacles. His research expanded naturally into continuum and concentric tube robots, where he pioneered nonlinear model predictive control strategies for autonomous steering, improving constraint handling and force-velocity manipulability in confined surgical environments. Beyond needle interventions, Khadem has applied his robotics expertise to transformative clinical challenges, including a multi-arm continuum robot for optic nerve sheath fenestration and a novel robotic bronchoscope for distal lung sampling in critically ill patients. With over 390 cumulative citations across his most impactful publications, his work sits at a productive intersection of mechanics modeling, control theory, and clinical translation, making him an influential figure in surgical robotics research.
Research Focus
Key Achievements
Top Papers
- 1A Two-Body Rigid/Flexible Model of Needle Steering Dynamics in Soft Tissue73 citations · 2016
- 2Mechanics of Tissue Cutting During Needle Insertion in Biological Tissue71 citations · 2016
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- 6Optic Nerve Sheath Fenestration With a Multi-Arm Continuum Robot27 citations · 2020
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