Publications

Sadati, S. M. Hadi, Shiva, A., Herzig, N., Rucker, C., Hauser, H., Walker, I., Bergeles, C., Althoefer, K., Nanayakkara, T. (2020). Stiffness imaging with a continuum appendage: real-time shape and tip force estimation from base load readings. IEEE Robotics and Automation Letters.

Z. Mitros, S. M. Hadi Sadati, C. Seneci, E. Bloch, K. Leibrandt, M. Khadem, L. Da Cruz*, C. Bergeles* (2020). Optic nerve sheath fenestration with a multi-arm continuum robot. IEEE Robotics and Automation Letters.

C. Ravasio, T. Pissas, E. Bloch, B. Flores, S. Jalali, D. Stoyanov, M. J. Cardoso, L. Da Cruz*, C. Bergeles* (2020). Learned optical flow for intra-operative tracking of the retinal fundus. Int. J. Computer Assisted Radiology and Surgery.

K. Sonaike, S. M. Hadi Sadati, C. Bergeles, I. D. Walker (2020). Exploiting the Morphology of a Shape Memory Spring as the Active Backbone of a Highly Dexterous Tendril Robot (ATBR). IEEE/RSJ Int. Conf. Intelligent Robots and Systems.

H. Natalius, P. Lambert, M. K. Tiwari, L. Da Cruz*, C. Bergeles* (2020). Design, static and performance analysis of a parallel robot for head stabilisation in vitreoretinal surgery. Int. Workshop on New Trends in Medical and Service Robots.

P. Lambert, L. Da Cruz*, C. Bergeles* (2020). Design, modelling, and implementation of a 7-DOF cable-driven haptic device with a configurable cable platform. IEEE Robotics and Automation Letters.

R. do Nunez, P. Sen, R. Rasheed, A. Bagchi, A. Bagchi, L. Nicholson, A. M. Dubis, C. Bergeles*, S. Sivaprasad* (2020). Deep learning-based segmentation and quantification of retinal capillary non-perfusion on ultra-wide-field retinal fluorescein angiography. J. Clinical Medicine.

T. Pissas, E. Bloch, B. Flores, O. Georgiadis, S. Jalali, C. Ravasio, D. Stoyanov, L. Da Cruz*, C. Bergeles* (2020). Deep iterative vessel segmentation in OCT angiography. Biomedical Optics Express.

M. Khadem, J. O'Neill, Z. Mitros, L. Da Cruz*, C. Bergeles* (2020). Autonomous steering of concentric tube robots via nonlinear model predictive control. IEEE Trans. Robotics.

S. M. Hadi Sadati, S. E. Naghibi, A. Shiva, M. Brendan, L. Renson, M. Howard, D. Rucker, K. Althoefer, T. Nanayakkara, Steffen Zschaler, C. Bergeles, H. Hauser, I. Walker (2019). TMTDyn: a matlab package for modeling and control of hybrid rigid-continuum robots based on discretized lumped system and reduced order models. Int. J. Robotics Research.

E. Vander Poorten, C. N. Riviere, J.J. Abbott, C. Bergeles, M. Ali Nasseri, Jin U Kang, R Sznitman, K. Faridpooya, I. Iordachita (2019). Robotic retinal surgery. Handbook of Robotic Image-Guided Surgery.

Sadati, S. M. Hadi, Shiva, A., Renson, L., Rucker, C., Althoefer, K., Nanayakkara, T., Bergeles, C., Hauser, H., Walker, I. D. (2019). Reduced order vs. discretized lumped system models with absolute and relative states for continuum manipulators. Robotics Science and Systems.

S. Nousias, M. Lourakis, C. Bergeles (2019). Large-scale, metric structure from motion for unordered light fields. IEEE Int. Conf. Computer Vision and Pattern Recognition.

M. Khadem, J. O'Neill, Z. Mitros, L. Da Cruz*, C. Bergeles* (2019). Autonomous steering of concentric tube robots with enhanced force/velocity manipulability. IEEE/RSJ Int. Conf. Intelligent Robots and Systems.

Z. Mitros, M. Khadem, C. Seneci, S. Ourselin, L. Da Cruz*, C. Bergeles* (2018). Towards modelling multi-arm robots: eccentric arrangement of concentric tubes. IEEE Int. Conf. Biomedical Robotics and Biomechatronics.

A. Mablekos-Alexiou, S. Ourselin, L. Da Cruz*, C. Bergeles* (2018). Requirements based design and end-to-end dynamic modeling of a robotic tool for vitreoretinal surgery. IEEE Int. Conf. Robotics and Automation.

Z. Mitros, M. Khadem, C. Seneci, L. Da Cruz*, C. Bergeles* (2018). Mechanics modelling of eccentrically arranged concentric tubes. Hamlyn Symposium on Medical Robotics.

B. Davidson, A. Kalitzeos, J. Carroll, A. Dubra, S. Ourselin, M. Michaelides, C. Bergeles (2018). Automatic cone photoreceptor localisation in healthy and stargardt afflicted retinas using Deep Learning. Nature Scientific Reports.

S. Nousias, F. Chadebecq, J. Pichat, P. Keane, S. Ourselin, C. Bergeles (2017). Corner-based geometric calibration of multi-focus plenoptic cameras. IEEE Int. Conf. Computer Vision.

K Leibrandt, C Bergeles, G.-Z. Yang (2017). Concentric tube robots: rapid, stable path-planning and guidance for surgical use. IEEE Robotics and Automation Magazine.

C Bergeles, A Gosline, N V Vasilyev, P Codd, P J del Nido, P E Dupont (2015). Concentric tube robot design and optimization based on task and anatomical constraints. IEEE Trans. Robotics, 31(1).

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