Publications

Journal articles | Revues avec comité de lecture



  1. M. Khadem, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Geometric Control of 3D Needle Steering in Soft-Tissue. Automatica, vol. 101, pp. 36-43, 2018. 10.1016/j.automatica.2018.11.018 (pdf) BibTeX Abstract
  2. 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
  3. 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, vol. 22, no. 5, pp. 1917-1928, 2018. 10.1109/JBHI.2017.2780192 (pdf) BibTeX Abstract
  4. 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
  5. 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
  6. 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
  7. 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
  8. 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
  9. 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
  10. 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
  11. 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
  12. 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
  13. 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
  14. 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
  15. 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
  16. 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
  17. 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
  18. 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
  19. 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
  20. 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
  21. 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
  22. 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
  23. 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
  24. 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
  25. 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. B. DeBoon, S. Nokleby, N. La Delfa, and C. Rossa - Differentially-clutched series elastic actuator for robot-aided musculoskeletal rehabilitation. IEEE International Conference on Robotics and Automation (ICRA), Montréal, Canada, 2019 - Accepted. BibTeX Abstract
  2. 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
  3. 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
  4. 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
  5. 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
  6. 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
  7. 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
  8. 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
  9. 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
  10. 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
  11. 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
  12. 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
  13. 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
  14. 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
  15. 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
  16. 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
  17. 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
  18. 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
  19. 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
  20. 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
  21. 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. Dispositif à main et système mis en oeuvre par ordinateur et méthode de direction assistée d'une aiguille inserée de manière percutaneé, 2017. CA2967482 (A1), CIPO, (pdf) BibTex Abstract
  2. C. Rossa, J. Lozada, and A. Micaelli - Actuator with hybrid actuation for a force feedback interface. WO2013189946, US20150301553 (A1), 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)