Publications

Journal articles | Revues avec comité de lecture



  1. J. Carriere, M. Khadem, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Event-triggered 3D needle control using a reduced-order computationally efficient bicycle model in a constrained optimization framework. In Journal of Medical Robotics Research, in press, 2018. 10.1142/S2424905X18420047 (pdf) BibTeX Abstract
  2. M. Khadem, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Robotic-assisted needle steering around anatomical obstacles using notched steerable needles. IEEE Journal of Biomedical and Health Informatics, in press, 2017. 10.1109/JBHI.2017.2780192 (pdf) BibTeX Abstract
  3. J. Carriere, M. Khadem, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Surgeon-in-the-loop 3D needle steering through ultrasound-guided feedback control. IEEE Robotic and Automation Letters , vol. 3, no. 1, pp. 469-476 2018. 10.1109/LRA.2017.2768122 (pdf) BibTeX Abstract
  4. T. Lehmann, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Deflection modeling for a needle actuated by lateral force and axial rotation during insertion in soft phantom tissue. In IFAC Mechatronics Journal (Elsevier), vol. 48, pp. 52-53, 2017. 10.1016/j.mechatronics.2017.10.008 (pdf) BibTeX Abstract
  5. T. Lehmann, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Intraoperative tissue Youngs modulus identification during needle insertion using a laterally actuated needle. In IEEE Transactions on Instrumentation & Measurement, vol. 67, no. 2, pp. 371-381, 2017. 10.1109/TIM.2017.2774182 (pdf) BibTeX Abstract
  6. B. Fallahi, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Sliding-based image-guided 3D needle steering in soft tissue. In Control Engineering Practice, vol. 63, pp. 34-43, 2017. 10.1016/j.conengprac.2017.04.001 (pdf) BibTeX Abstract
  7. C. Rossa, and M. Tavakoli - Issues in closed-loop needle steering. In Control Engineering Practice, vol. 62, pp. 55-69, 2017. 10.1016/j.conengprac.2017.03.004 (pdf) BibTeX Abstract
  8. C. Rossa, T. Lehmann, R. Sloboda, N. Usmani, and M. Tavakoli - A data-driven soft sensor for needle deflection in heterogeneous tissue using just-in-time modelling. In Medical & Biological Engineering & Computing, vol 55, no 8, pp. 1401-1414, 2017. 10.1007/s11517-016-1599-1 (pdf) BibTeX Abstract
  9. M. Khadem, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Semi-automated needle steering in biological tissue using an ultrasound-based deflection predictor. In Annals of Biomedical Engineering, vol. 54, no. 4, pp. 924-938, 2016. 10.1007/s10439-016-1736-x (pdf) BibTeX Abstract
  10. T. Lehmann, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - A real-time estimator for needle deflection during insertion into soft tissue based on adaptive modelling of needle tissue interactions. In IEEE Transactions on Mechatronics, vol 21, no. 6, pp. 2601-2612, 2016. 10.1109/TMECH.2016.2598701 (pdf) BibTeX Abstract
  11. C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - A hand-held assistant for semi-automated percutaneous needle steering. In IEEE Transactions on Biomedical Engineering, vol 64, no. 3, pp. 637-648, 2016. 10.1109/TBME.2016.2565690 (pdf)
    BibTeX Video Abstract
  12. M. Khadem , C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - A two-body rigid/flexible model of needle steering dynamics in soft tissue. In IEEE/ASME Transactions on Mechatronics, vol 11, no. 5, pp. 2352-2364, 2016. 10.1109/TMECH.2016.2549505 (pdf) BibTeX Abstract
  13. B. Fallahi, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Sliding-based switching control for image-guided needle steering in soft tissue. In IEEE Robotics and Automation Letters (RA-L), vol 1, no. 2, pp860-867, 2016. 10.1109/LRA.2016.2528293 (pdf) BibTeX Abstract
  14. M. Khadem C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Mechanics of tissue cutting during needle insertion in biological Tissue. In IEEE Robotics and Automation Letters (RA-L), vol 1, no. 2, pp 800-807, 2016. 10.1109/LRA.2016.2528301 (pdf) BibTeX Abstract
  15. C. Rossa, M. Khadem, , R. Sloboda, N. Usmani, and M. Tavakoli - Adaptive quasi-static modelling of needle deflection during steering in soft tissue. In IEEE Robotics and Automation Letters (RA-L), vol 1, no. 2, pp 916-923, 2016. 10.1109/LRA.2016.2527065 (pdf) BibTeX Abstract
  16. C. Rossa, J. Fong, N. Usmani, R. Sloboda, and M. Tavakoli - Multi-actuator haptic feedback on the wrist for needle steering guidance in brachytherapy. In IEEE Robotics and Automation Letters (RA-L), vol 1, no. 2, pp 852-859, 2016. Also, selected for presentation at the IEEE International Conference on Robotics and Automation, Stockholm, Sweden, 2016. 10.1109/LRA.2016.2528295 (pdf) BibTeX Video Abstract
  17. M. Khadem, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Ultrasound-guided model predictive control of needle steering in biological tissue. In the Journal of Medical Robotics Research (JMRR), vol 1, no. 1, 2016. 10.1142/S2424905X16400079 (pdf) BibTeX Abstract
  18. M. Waine, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Needle tracking and deflection prediction for robot-assisted needle insertion using 2D ultrasound images. In the Journal of Medical Robotics Research (JMRR), vol 1, no. 1, 2016. 10.1142/S2424905X16400018 (pdf) BibTeX Abstract
  19. C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Estimating needle tip deflection in biological tissue from a single transverse ultrasound image: Application to brachytherapy. In The International Journal of Computer Assisted Radiology and Surgery (IJCARS), vol 11, no. 7, pp 1347-1359, 2015. 10.1007/s11548-015-1329-4 (pdf) BibTeX Abstract
  20. M. Waine, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Three-Dimensional needle shape estimation in TRUS-guided prostate brachytherapy using 2D ultrasound images. In IEEE Journal of Biomedical and Health Informatics (J-BHI), vol 20, no 6, pp 1621-1631, 2016. 10.1109/JBHI.2015.2477829 (pdf) BibTeX Video Abstract
  21. C. Rossa, J. Lozada, and A. Micaelli - Design and control of a dual unidirectional brake hybrid actuation system for haptic interfaces. In IEEE Transactions on Haptics. Vol 7, no 4, pp 442-453, 2014. 10.1109/TOH.2014.2346501 (pdf)
    BibTeX Abstract
  22. C. Rossa, A. Jaegy, A. Micaelli, and J. Lozada - Design considerations for magnetorheological brakes. In IEEE/ASME Transactions on Mechatronics. Vol 19, no. 5, 2014. 10.1109/TMECH.2013.2291966 (pdf) BibTeX Abstract
  23. C. Rossa, A. Jaegy, J. Lozada, and A. Micaelli - Development of a multilayered wide-raged torque magnetorheological brake. In Smart Material and Structures. Vol 23, no. 2. 025028, 2014. 10.1088/0964-1726/23/2/025028 (pdf) BibTeX Abstract
  24. C. Rossa, L. Eck, J. Lozada, and A. Micaelli - On a novel torque detection technique for magnetorheological actuators. In IEEE Sensors Journal. Vol 14, no. 4, pp 1223-1231, 2014. 10.1109/JSEN.2013.2287730 (pdf) BibTeX Abstract

Conference papers | Conférences internationales



  1. C. Rossa, M. Najafi, M. Tavakoli, and K. Adams - Nonlinear workspace mapping for telerobotic assistance of upper limb in patients with severe movement disorders. IEEE International Conference on Systems, Man, and Cybernetics, Banff, Canada, pp. 2255-2260, Oct 2017. 10.1109/SMC.2017.8122956 (pdf) BibTeX Abstract
  2. M. Khadem, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Feedback-linearization-based 3D needle steering in a Frenet-Serret frame using a reduced order bicycle model. American Control Conference, Seattle, USA, pp. 1438-1443, May 2017. (Best student paper award finalist). 10.23919/ACC.2017.7963155 (pdf) BibTeX Abstract
  3. C. Rossa, M. Khadem, N. Usmani, R. Sloboda, and M. Tavakoli - Constrained optimal control of needle deflection for semi-manual steering. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576933 (pdf) BibTeX Abstract
  4. M. Waine, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - An integrator-backstepping control approach for out-of-plane needle deflection minimization. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576998 (pdf) BibTeX Video Abstract
  5. M. Khadem, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Introducing notched flexible needles with increased deflection curvature in soft tissue. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576931 (pdf) BibTeX Abstract
  6. J. Carriere, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Real-time needle shape prediction in soft-tissue based on image segmentation and particle filtering. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576934 (pdf) BibTeX Abstract
  7. B. Fallahi, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Partial estimation of needle tip orientation in generalized coordinates in ultrasound image-guided needle insertion. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 110.1109/AIM.2016.7576999 (pdf) BibTeX Abstract
  8. T. Lehmann, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Needle path control during insertion in soft tissue using a force-sensor-based deflection estimator. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576929 (pdf) BibTeX Abstract
  9. C. Rossa, J. Fong, N. Usmani, R. Sloboda, and M. Tavakoli - Multi-actuator haptic feedback on the wrist for needle steering guidance in brachytherapy. IEEE International Conference on Robotics and Automation, Stockholm, Sweden, 2016. Published in IEEE Robotics and Automation Letters. 10.1109/LRA.2016.2528295 (pdf) BibTeX Video Abstract
  10. B. Fallahi, M. Khadem, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Extended bicycle model for needle steering in soft tissue. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, Oct 2015. 10.1109/IROS.2015.7353998 (pdf) BibTeX Abstract
  11. T. Lehmann, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - A virtual sensor for needle deflection estimation during soft-tissue needle insertion. IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. 10.1109/ICRA.2015.7139346 (pdf) BibTeX Video Abstract
  12. M. Khadem, B. Fallahi, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - A mechanics-based model for simulation and control of flexibleneedle steering in soft tissue. IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. 0.1109/ICRA.2015.7139499 (pdf) BibTeX Video Abstract
  13. M. Waine, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - 3D shape visualization of curved needles in tissue from 2D ultrasound images using RANSAC. IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. 10.1109/ICRA.2015.7139855 (pdf) BibTeX Video Abstract
  14. J. Carriere, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Needle shape estimation in soft tissue based on partial ultrasound image observation. IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. 10.1109/ICRA.2015.7139501 (pdf) BibTeX Abstract
  15. C. Rossa, A. Anastassova, A. Micaelli, and J. Lozada - Perceptual evaluation of the passive/active torque and stiffness asymmetry of a hybrid haptic device. International Conference Eurohaptics 2014, LNCS 8618, pp. 55-60. Versailles, France, Jun 2014. 10.1007/978-3-662-44193-0_8 (pdf) BibTeX Abstract
  16. C. Rossa, J. Lozada, and A. Micaelli - Actionneur hybride pour interface à retour d'effort. SEEDS/ JCGE. Saint Nazaire, France, Jun 2013. 10.13140/2.1.3502.0160 (pdf) BibTeX Abstract
  17. C. Rossa, J. Lozada, and A. Micaelli - Stable haptic interaction using passive and active actuators. IEEE International Conference on Robotics and Automation (ICRA), pp. 2386, 2392. Karlsruhe, Germany, May 2013. 10.1109/ICRA.2013.6630901 (pdf) BibTeX Abstract
  18. C. Rossa, J. Lozada, and A. Micaelli - A new hybrid actuator approach for force-feedback devices. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4054-4049. Vila Moura, Portugal, Oct 2012. 10.1109/IROS.2012.6385784 (pdf) BibTeX Abstract
  19. C. Rossa, J. Lozada, and A. Micaelli - Magnetic flux analysis on magnetorheological actuators can detect external force variation. IEEE Sensors Conference. Taipei, Taiwan, Oct 2012. 10.1109/ICSENS.2012.6411116 (pdf) BibTeX Abstract
  20. C. Rossa, J. Lozada, and A. Micaelli - Interaction power flow based control of a 1-DOF hybrid haptic device. International Conference Eurohaptics 2012, pp. 151-156. Tampere, Finland, Jun 2012. 10.1007/978-3-642-31404-9_26 (pdf)
    BibTeX Abstract

Patents | Brevets



  1. C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Hand-held device and computer-implemented system and method for assisted steering of a percutaneously inserted needle. May 2016. Canadian/US patent application 62/337.785.
  2. C. Rossa, J. Lozada, and A. Micaelli - Actuator with hybrid actuation for a force feedback interface. WO2013189946, US20150301553A1, Jun 2013. (Wipo) (FPO) (pdf WO) (pdf US) BibTex Abstract

Chapitres d'ouvrages scientifiques | Book chapters



  1. C. Rossa, M. Keri, and M. Tavakoli - Brachytherapy needle steering guidance using image overlay - Handbook of Research on Biomimetics and Biomedical Robotics. 2018. 10.4018/978-1-5225-2993-4 (pdf) BibTeX Abstract

Non-refereed publications | Contributions sans comité de lecture



Thesis

  1. C. Rossa - A hybrid actuation system for haptic interfaces. University of Paris VI, PhD thesis, Dec 2013. (theses.fr) (slides) (full text) BibTeX Abstract

Technical reports | Rapports techniques

  1. V. Samy - Développement d'une interface hybride à retour de force à 2 degrés de liberté. Rapport de projet de fin d'études - Institut National des Sciences Appliquées (INSA) de Lyon, et Commissariat à l'Energie Atomique (CEA), Sep 2013. (pdf)
  2. A. Jaegy - Conception d'un actionneur hybride frein/moteur pour les interfaces haptiques. Rapport de projet de fin d'études - Institut National des Sciences Appliquées (INSA) de Strasbourg, et Commissariat à l'Energie Atomique (CEA), Aug 2012. (pdf)