Publications

Peer Reviewed Conference Papers

• Zhang, J., Roland, J., Manolidis, S., Simaan, N., “Path Planning and Workspace Determination for Robot-Assisted Insertion of Steerable Electrode Arrays for Cochlear Implant Surgery,” accepted for publication in the 11th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI’2008), 2008.
• Salerno, A., Zhang, J., Bhatla, A., , Lyulko, O. V., Nie, J., Dutta, A., Garty, G., Simaan, N., Randers-Pehrson, G., Yao Y-L., Brenner, D. J., “Design Considerations for a Minimally Invasive High-Throughput Automation System for Radiation Biodosimetry,” IEEE Conference on Automation Science and Engineering, Scottsdale, Arizona, USA, 2007.
• Wei, W., Goldman, R., Simaan, N., Fine, H., Chang, S., "Design and Theoretical Evaluation of Micro-Surgical Manipulators for Orbital Manipulation and Intraocular Dexterity," Accepted for ICRA'2007 - International Conference on Robotics and Automation, 2007.
• Kapoor, A., Xu, K., Wei, W., Simaan, N., Taylor, R., “Telemanipulation of Snake-Like Robots for Minimally Invasive Surgery of the upper Airway”, MICCAI’2006 (9th International Conference on Medical Image Computing and Computer-Assisted Intervention), presented at the workshop on medical robotics, 2006.
• Zhang, J., Xu, K., Simaan, N., “A Pilot Study of Robot-Assisted Cochlear Implant Surgery Using Steerable Electrode Arrays,” MICCAI’ 2006 International Conference on Medical Image Computing and Computer-Assisted Intervention, Copenhagen, Sweden, pp. 33-40, 2006.
• Xu, K., Wei, W., Simaan, N., “Actuation Compensation for Snake-like Robots with Redundant Remote Actuation,” International Conference on Robotics and Automation, Florida, pp. 4148-4154, 2006.
• Wei, W., Ku, K., Simaan, N. “A Compact Two-Armed Slave Manipulator for Minimally Invasive Surgery of the Throat,” The first IEEE/RAS-EMB International Conference on Biomedical Robotics and Biomechatronics (BIOROB’2006), Pisa, Italy, pp. 287-292, 2006.
• Kapoor A., Simaan N., Taylor R., "Suturing in Confined Spaces: Constrained Motion Control of a Hybrid 8-DoF Robot", International Conference on Advanced Robotics (ICAR'2005), pp. 452-459, 2005.
• Simaan N., "Snake-Like Units Using Flexible Backbones and Actuation Redundancy for Enhanced Minaturization," ICRA'2005, International Conference on Robotics & Automation, Barcelona - Spain, pp. 3023-3028, 2005.
• Kapoor, A., Simaan, N., Kazanzides, P., “A System for Speed and Torque Control of DC Motors with Application to Small Snake Robots," IEEE Conference on Mechatronics & Robotics (MECHROB’ 2004), Aachen, Germany, September 13-15, 2004.
• Simaan, N., Russell H. Taylor, Paul Flint, “High Dexterity Snake-like Robotic Slaves for Minimally Invasive Telesurgery of the Upper Airway,” MICCAI 2004 - the 7th International Conference on Medical Image Computing and Computer-Assisted Intervention, Saint Malo, France, September 26-30, 2004.
• Simaan, N., Russell H. Taylor, Paul Flint, "A Dexterous System for Laryngeal Surgery: Multi-Backbone Bending Snake-like Slaves for Teleoperated Dextrous Surgical Tool Manipulation," IEEE International Conference on Robotics and Automation, pp. 351-357, 2004.
• Simaan, N., and Shoham, “Stiffness Synthesis of a Variable Geometry Planar Robot," the 8th International Symposium on Advances in Robot Kinematics (ARK 2002). Included in Advances In Robot Kinermatics: Theory and applications, J. Lenarcic and F. Thomas, Eds., Kluwer Academic, 2002.
• Simaan, N., and Shoham, M., "Remarks on Hidden Lines in Parallel Robots," 7th International Symposium on Advances in Robot Kinematics (ARK 2000), Piran-Portoroz, Slovenia, June 26-30, 2000. (conference presentation) Simaan, N., Shoham, M., "Robot Construction for Surgical Applications," The First IFAC Conference on Mechatronic Systems, September 18-20, 2000, Darmstadt, Germany.
• Simaan, N., and Shoham, M., "Robot Construction for Surgical Applications," Second Israeli Symposium on Computer-Aided Surgery, Medical Robotics, and Medical Imaging (ISRACAS'99), Hebrew University of Jerusalem, Jerusalem, Israel, May 6, 1999.
• Shoham, M., Goldberger, S., Roffman, M., and Simaan, N., "Robot Construction for Surgery," First Israeli Symposium on Computer-Aided Surgery, Medical Robotics, and Medical Imaging (ISRACAS'98), Technion City, Haifa, Israel, May 6, 1998.
• Simaan, N., Glozman, D., Shoham, M., “Design Considerations of New Six Degrees-Of-Freedom Parallel Robots,” IEEE International Conference on Robotics and Automation, 1998, Vol. 2, pp. 1327-1333.

• Alexander T. Hillel, Ankur Kapoor, Nabil Simaan, Russell H. Taylor and Paul Flint, " Applications of Robotics for Laryngeal Surgery," Otolaryngologic Clinics of North America, Nasir Bhatti & Ralph P. Tufano Eds., Volume 41, Issue 4, Pages 781-791,  August 2008.
• Xu, K., Simaan, N.  “A Closed-Form Solution for the Shape and Statics of Flexible Continuum Robots with Actuation Redundancy”, to be submitted to ASME Journal of Mechanical Design, 2008.
• Simaan, N., Xu, K., Kapoor, A., Kazanzides, P., Flint, P., Taylor, R., “Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat,” submitted to International Journal of Robotics Research (IJRR special issue on medical robotics, 2008).
• Zhang, J., Simaan, N., “Optimal Path Planning for Robotic Insertion of Steerable Electrode Arrays in Cochlear Implant Surgery”, submitted to ASME Journal of Medical Devices, 2008.
• Wei, W., Goldman, R., Fine, H., Chang, S., Simaan, N., “Modeling and Performance Evaluation of Hybrid Multi-Arm Robots Operating on Hollow Suspended Organs”, accepted, IEEE Transactions on Robotics, expected to appear in December issue, 2008.
• Xu, K., Simaan, N., “An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots,” IEEE Transactions on Robotics, Vol. 24, No. 3, pp. 576-587, 2008.
• Simaan, N., Shoham, M., "Stiffness synthesis of a Double Planar Variable Geometry Six Degrees-of-Freedom Parallel Robot", International Journal of Robotics Research, Vol. 22, No. 9, pp. 757 - 775, September 2003
• Simaan, N., and Shoham, M., “Geometric Interpretation of the Derivatives of Parallel Robot's Jacobian Matrix with Application to Stiffness Control", ASME Journal of Mechanical Design , Vol 125, pp. 33-42., 2003.
• Simaan, N., and Shoham, M., "Singularity Analysis of a Class of Composite Serial In-Parallel Robots", IEEE Transactions on Robotics and Automation, Vol. 17, No. 3, pp. 301-311, June 2001.
• Simaan, N., Task-Based Design and Synthesis of Variable Geometry Parallel Robots, Ph.D. dissertation, Technion, Israel, 2002.
• Simaan, N., Analysis and Synthesis of Parallel Robots for Medical Applications, Master Thesis, Technion, Israel, 1999.

Patents

• Nabil Simaan, Wei Wei, Roger Goldman, Howard Fine, Stanley Chang, “Systems, Devices, And Methods for Surgery On A Hollow Anatomically Suspended Organ,” International Patent WO/2008/036304, 2007.
• Jian Zhang, Alessio Salerno, Nabil Simaan, Y. Lawrence Yao, Gerhard Randers-Pehrson, Guy Garty, Aparajita Dutta, David J. Brenner, “Systems And Methods For Robotic Transport”, US patent application # 11/895,485, 2007.
• Guy Garty, David J. Brenner, Gerhard Randers-Pehrson, Y. Lawrence Yao, Nabil Simaan, Alessio Salerno, Anubha Bhatla, Jian Zhang, Oleksandra V. Lyulko, Aparajita Dutta, “Systems And Methods For High-Throughput Radiation Biodosimetry” US patent application #11/895,417, 2007.
• Guy Garty, David J. Brenner, Gerhard Randers-Pehrson, Y. Lawrence Yao, Nabil Simaan, Alessio Salerno, Anubha Bhatla, US patent application #11/895,517, “Systems And Methods For Etching Materials, 2007.
• Anubha Bhatla, Alessio Salerno, Nabil Simaan, Y. Lawrence Yao, Gerhard Randers-Pehrson, Guy Y. Garty, Aparajita Dutta, David J. Brenner, “Systems And Methods For Cutting Materials”, US patent application #11/895,557,  2007.
• Simaan, N., Wei W., Goldman, R., Fine, H., Chang, S., A Dual-Arm Workstation for Intraocular Dexterity-Enhanced Microsurgery of the Eye and In-Organ Dexterity Enhancement and Manipulation of Suspended Organs, Columbia University provisional patent #19240.TBDUS1, 2006.
• Simaan, N., Manolidis, S., “Robot-Assisted Cochlear Implant Insertion and Active-Bending Electrode Arrays”, Provisional filed with Columbia University Licensing, August 2005.
• Simaan, N., Taylor, R., Handa, J., A System for Macro-Micro Distal Dexterity in Microsurgery of the Eye,” Johns Hopkins Provisional Patent (JHU Ref# 4456), 2005.
• Simaan, N., Taylor, R., Flint, P., Chirikjian, G., “Devices, Systems and Methods for Minimally Invasive Surgery of the Throat and Other Portions of Mammalian Body”, US patent 20050059960, May 21, 2004.
• Simaan, N., Taylor, R., Flint, P., Chirikjian, G., “Devices, Systems and Methods for Minimally Invasive Surgery of the Throat and Other Portions of Mammalian Body”, World patent WO/2005/009482 , May 21, 2004.
• Simaan, N., Taylor, R., Flint, P., Chirikjian, G., Stein, D., “Minimally Invasive Surgical Assistance System for Throat Surgery§,” US provisional patent application. Johns Hopkins University Licensing and Technology Development, Reference No. DM-4254., May 2003. 

Invited Book Chapters/Abstracts

• Garty G., Randers-Pehrson, G., Lyulko, O. V., Dutta, A., Nie, J., Schettino, G., Bhatla, A., Zhang, J., Salerno, A., Simaan, N., Yao, L., Brenner, D., “Development of an ultrahigh-throughput robotically-based biodosimetry workstation using in-situ assays”, Abstract in ICRR’2007 – International Congress of Radiation Research, 2007.
• Manolidis, S., Zhang J., Xu K., Roland T., Simaan N.  “Robotic insertion of cochlear implant electrodes to minimize cochlear Trauma”, Abstract in 6th European Congress of Oto – Rhino – Laryngology, Head & Neck Surgery. July 2nd, 2007, Vienna, Austria.
• Simaan, N., Taylor, R., Hillel, A., Flint, R., “Minimally Invasive Surgery of the Upper Airways Addressing the Challenges of Dexterity Enhancement in Confined Spaces”, In press, Invited book chapter to a medical robotics book, Russell Faust (Editor), Nova Science Publications, 2005.