Publications

Journal papers:

M. Mahvash, and P. E. Dupont, Stiffness control of surgical continuum manipulators, IEEE Transactions on Robotics, 2011, 2011; 27(2):334-345.

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M. Arbabtafti, M. Moghaddam, A. Nahvi, M. Mahvash, B. Richardson, B. Shirinzadeh, Physics-based haptic simulation of bone machining, IEEE Transactions on Haptics, 2011.

M. Mahvash, and P. E. Dupont, Mechanics of dynamic needle insertion into a biological material, IEEE Transactions on Biomedical Engineering, vol 57, no 4, 2010, [PDF]

Mahvash, M., Okamura A., Friction Compensation for Enhancing Transparency of a Teleoperator with Compliant Transmission, IEEE Transactions on Robotics. Volume 23,  Issue 6,  pp.1240 - 1246, 2007, [PDF]

Mahvash, M., Voo L, Kim D., Jeung K., Wainer J., Okamura A., Modeling Force of Cutting with Surgical Scissors, IEEE Transactions on Biomedical Engineering, 2008.[PDF]

Mahvash, M. 2006, Novel Approach for Modeling Separation Forces Between Deformable Bodies, IEEE Transactions on Information Technology in Biomedicine, vol. 10, no. 3, pp. 618-926, 2006.[PDF]

Mahvash, M., Hayward, V. 2005., High fidelity passive force reflecting virtual environments. IEEE Transactions on Robotics, 21(1):38-46. [Abstract] [PDF]

Mahvash, M., Hayward, V. 2004. High Fidelity Haptic Synthesis of Contact With Deformable Bodies. IEEE Computer Graphics and Applications. (Special Issue on Haptic Rendering), 24(2): 48-55, 2004.[Abstract] [PDF]

Mahvash, M., Hayward, V. 2001.Haptic Rendering of Cutting: A Fracture Mechanics Approach. Haptics-e, Vol. 2, No. 3. [Abstract] [link]

 Book Chapters:

M. Okamura, L. N. Verner, C. E. Reiley, and M. Mahvash. Haptics for robot-assisted minimally invasive surgery. In International Symposium Robotics Research, Springer Tracts in Advanced Robotics. Springer-Verlag.

Okamura, K. Kuchenbecker, and M. Mahvash, Measurement-based modeling for haptic rendering, M. Lin and M. Otaduy(Eds), Haptic Rendering: Algorithms and Applications, A. K.Peters, Ltd..

Mahvash, M., Hayward, V. 2003b. Haptic Simulation of a Tool In Contact With a Nonlinear Deformable Body. In " IS4TM: International Symposium on Surgery Simulation and Soft Tissue Modelling", Ayache, N., Delingette, H. (Eds), Lecture Notes in Computer Science (LNSC 2673), Springer Verlag. pp. 311-320.[Abstract] [PDF]

 Conference Papers:

M. Mahvash, MA Zenati ”Toward a Hybrid Snake Robot for Single-Port Surgery”, 33rd Annual International IEEE-EMBC Conference, Boston, August, 2011.

Mahvash M. and P. Dupont, Stiffness Control of a Continuum Manipulator in Contact with a Soft Environment, IEEE /RSJ International Conference on Intelligent Robots and Systems, 2010

J. Lock, G. Laing, M. Mahvash, P. Dupont, Kinematic Modeling of Concentric Tube Robots Incorporating Externally Applied Loading , IEEE /RSJ International Conference on Intelligent Robots and Systems, 2010 .

M. Mahvash, and P. Dupont, Fast needle insertion to minimize tissue deformation and damage   IEEE International Conference on Robotics and Automation, 2009.

J. Gwilliam, M. Mahvash, B. Vagvolgyi, A. Vacharat, D. Yuh, and A. Okamura, Effects of haptic and graphical force feedback for teleoperated palpation, IEEE International Conference on Robotics and Automation, 2009.

M. Mahvash, J. Gwilliam, R. Agarwal, B. Vagvolgyi, L.-M. Su, D. D. Yuh, and A. M. Okamura. Force-feedback surgical teleoperator: Controller design and palpation experiments. In 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pages 465-471, 2008

M. Arbabtafti, M. Moghaddam, A. Nahvi, M. Mahvash, and A. Rahimi, Haptic and visual rendering of virtual bone surgery: a physically realistic voxel-based approach, IEEE International Workshop on Haptic, Audio Visual Environments and their Applications, HAVE 2008.

M. Mahvash, and P. E. Dupont, Bilateral teleoperation of flexible surgical robots, IEEE International Conference on Robotics and Automation, Workshop on New Vistas and Challenges in Telerobotics 2008.

M. Moghaddam, A. Nahvi, M Arbabtafti, and M. Mahvash, A physically realistic voxel-based method for haptic simulation of bone machining, Proceeding of Eurohaptic 2008.

M. Mahvash and A. Okamura, Enhancing transparency of a position-exchange teleoperator, WorldHaptics Conference 2007, pp. 470 – 475. . [PDF].

M. Mahvash and A. M. Okamura, Friction Compensation for a Force-Feedback Teleoperator with Compliant Transmission , 45th IEEE Conference on Decision and Control, December 13-15,  San Diego, California USA.[PDF]

M. Mahvash and A. M. Okamura, Friction compensation for a force-feedback telerobotic system, IEEE International Conference on Robotics and Automation, 2006.[PDF]

M. Mahvash and A. M. Okamura, A Fracture Mechanics Approach to Haptic Synthesis of Tissue Cutting with Scissors, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), 2005, pp. 356-362.[PDF]

Mahvash, M., Hayward, V. 2003a. Passivity-Based High-Fidelity Haptic Rendering of Contact. Proc. IEEE Int. Conf. on Robotics and Automation. pp. 3722-3728.[Abstract] [PDF]

Mahvash, M., Hayward, V., Lloyd, J. E. 2002. Haptic Rendering of Tool Contact. Proc. Eurohaptics 2002. pp. 110-115.[Abstract] [PDF]

 Thesis:

Mahvash, M., Sept 2002. Haptic Rendering of Tool Contact and Cutting. Ph.D . Dissertation,McGill University.[PDF]