Mohammad Salehizadeh

All Publications

• Monocular Vision-Based Endoscopic Sinus Navigation: A SLAM Driven Approach With CT Integration. Healthcare technology letters Soberanis-Mukul, R. D., Chan, C. H., Chou, R., Mangulabnan, J. E., Seenivasan, L., Chen, X., Salehizadeh, M., Vedula, S. S., Taylor, R. H., Ishii, M., Hager, G., Unberath, M. 2025; 12 (1): e70046

  Abstract

  Surgical navigation is critical in sinus surgery to enhance the surgeon's spatial awareness and improve precision, particularly around occluded critical structures. While external tracker-based navigation systems exist, vision-based solutions are preferred for being less intrusive and for enabling endoscopic image analysis to assist surgeons. However, monocular endoscopy navigation faces challenges associated with monocular reconstruction and camera pose estimation. This paper presents a proof of concept for monocular vision-based sinus navigation that utilizes only preoperative CT data and the endoscope video stream to navigate the sinus anatomy. We developed a vision-based navigation system that incorporates a SLAM algorithm to estimate the camera pose and reconstruct the 3D surface of the anatomy. Given an initial semi-automated registration, the algorithm maps the SLAM-based trajectories to the CT space while employing the reconstructed point cloud to solve for the scale interactively. The system displays the updates in the CT triplane visualization as SLAM reconstructs the scene and recovers pose information. We tested our system by performing an off-site navigation in ten recorded endoscopic video streaming generated from sequences obtained from eight cadaveric subjects, comparing the vision-based navigation to reference optical tracker pose data and obtaining translation and rotation errors of 3.2 mm and 4.9 degrees, respectively. Additionally, we performed three on-site tests of our system on two different cadaver experiments. Our work evaluates a fully integrated system that closes the loop between image-based reconstruction and CT visualization, and discusses the challenges to address to achieve clinical level surgical navigation.

  View details for DOI 10.1049/htl2.70046

  View details for PubMedID 41377485

  View details for PubMedCentralID PMC12686831

• Admittance Switching for Stability and Transparency in Human-Robot Collaborative Microsurgery IEEE ROBOTICS AND AUTOMATION LETTERS Banks, B., Salehizadeh, M., Munawar, A., Taylor, R. H., Tumerdem, U. 2024; 9 (2): 1891-1898

  View details for DOI 10.1109/LRA.2024.3349811

  View details for Web of Science ID 001166421100009

• Dynamic Modeling and Identification of a Robotic Intracardiac Echo Catheter Salehizadeh, M., Pedrosa, F., Bassan, H., Patel, R., Jagadeesan, J., IEEE IEEE. 2023: 4668-4674

  View details for DOI 10.1109/ICRA48891.2023.10160319

  View details for Web of Science ID 001036713003089

• Path Planning and Tracking for an Underactuated Two-Microrobot System IEEE ROBOTICS AND AUTOMATION LETTERS Salehizadeh, M., Diller, E. D. 2021; 6 (2): 2674-2681

  View details for DOI 10.1109/LRA.2021.3062343

  View details for Web of Science ID 000633637000006

• Compensating deep focusing distortion for femtosecond laser inscription of low-loss optical waveguides OPTICS LETTERS Alimohammadian, E., Liu, S., Salehizadeh, M., Li, J., Herman, P. 2020; 45 (22): 6306-6309

  Abstract

  Various beam shaping approaches were examined to counter the negative influence of surface aberration arising when inscribing optical waveguides deeply inside of glass with a femtosecond laser. Aberration correction was found unable to completely recover the low-loss waveguide properties, prompting a comprehensive examination of waveguides formed with focused Gaussian-Bessel beams. Diverging conical phase fronts are presented as a hybrid means of partial aberration correction to improve insertion loss and a new, to the best of our knowledge, means of asymmetric beam shaping. In this way, low-loss waveguides are presented over shallow to deep writing depth (2.8 mm) where morphological and modal properties could be further tuned with conical phase front.

  View details for DOI 10.1364/OL.403823

  View details for Web of Science ID 000591012000049

  View details for PubMedID 33186976

• Three-dimensional independent control of multiple magnetic microrobots via inter-agent forces INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Salehizadeh, M., Diller, E. 2020; 39 (12): 1377-1396

  View details for DOI 10.1177/0278364920933655

  View details for Web of Science ID 000556849400001

• Millimeter-scale flexible robots with programmable three-dimensional magnetization and motions SCIENCE ROBOTICS Xu, T., Zhang, J., Salehizadeh, M., Onaizah, O., Diller, E. 2019; 4 (29)

  Abstract

  Flexible magnetic small-scale robots use patterned magnetization to achieve fast transformation into complex three-dimensional (3D) shapes and thereby achieve locomotion capabilities and functions. These capabilities address current challenges for microrobots in drug delivery, object manipulation, and minimally invasive procedures. However, possible microrobot designs are limited by the existing methods for patterning magnetic particles in flexible materials. Here, we report a method for patterning hard magnetic microparticles in an elastomer matrix. This method, based on ultraviolet (UV) lithography, uses controlled reorientation of magnetic particles and selective exposure to UV light to encode magnetic particles in planar materials with arbitrary 3D orientation with a geometrical feature size as small as 100 micrometers. Multiple planar microrobots with various sizes, different geometries, and arbitrary magnetization profiles can be fabricated from a single precursor in one process. Moreover, a 3D magnetization profile allows higher-order and multi-axis bending, large-angle bending, and combined bending and torsion in one sheet of polymer, creating previously unachievable shape changes and microrobotic locomotion mechanisms such as multi-arm power grasping and multi-legged paddle crawling. A physics-based model is also presented as a design tool to predict the shape changes under magnetic actuation.

  View details for DOI 10.1126/scirobotics.aav4494

  View details for Web of Science ID 000467970500001

  View details for PubMedID 33137716

• Independent Position Control of Two Magnetic Microrobots via Rotating Magnetic Field in Two Dimensions Salehizadeh, M., Li, Z., Diller, E. edited by Haliyo, S., Sill, A., Zhou, Q., Kallio, P., Fatikow, S. IEEE. 2019

  View details for DOI 10.1109/marss.2019.8860954

  View details for Web of Science ID 000661919000033

• Parallel Pick and Place Using Two Independent Untethered Mobile Magnetic Microgrippers Zhang, J., Salehizadeh, M., Diller, E., IEEE IEEE COMPUTER SOC. 2018: 123-128

  View details for Web of Science ID 000446394500013

• 3D shape evolution of microparticles and 3D enabled applications using non-uniform UV flow lithography (NUFL) SOFT MATTER Choi, K., Salehizadeh, M., Da Silva, R., Hakimi, N., Diller, E., Hwang, D. 2017; 13 (40): 7255-7263

  Abstract

  The generation of microparticles with non-spherical morphologies has generated extensive interest because of their enhanced physical properties that can increase their performance in a wide variety of clinical and industrial applications. A flow lithographic technique based on stop flow lithography (SFL) recently showed the ability to fabricate particles with 3D shapes via manipulation of the UV intensity profile in a simple 2D microfluidic channel. Here, we further explore this flow lithographic method, called non-uniform flow lithography (NUFL), to investigate the 3D-shape tuning ability for the generation of 3D magnetic microparticles and their potential applications. We characterize the morphological microparticle shape change through variation of polymerization objective, UV intensity, and solution opacity. We also couple the particles' intrinsic anisotropic magnetic properties with an external magnetic field to create chains of bullet- and bell-shaped particles and a valve-like micromachine. In addition, in contrast to other complex and multi-step methodologies, NUFL shows a simple route for the facile creation of 3D microstructure platforms such as microneedles with fully modifiable tip morphology. This method presents intriguing possibilities for growing research within 3D microstructure assembly, micromachine systems and minimally invasive medical interventions.

  View details for DOI 10.1039/c7sm00987a

  View details for Web of Science ID 000413199900003

  View details for PubMedID 28960218

• Two-agent formation control of magnetic microrobots in two dimensions JOURNAL OF MICRO-BIO ROBOTICS Salehizadeh, M., Diller, E. 2017; 12 (1-4): 9-19

  View details for DOI 10.1007/s12213-017-0095-5

  View details for Web of Science ID 000408482500002

• Two-Agent Formation Control of Magnetic Microrobots Salehizadeh, M., Diller, E. edited by Haliyo, S., Sill, A., Regnier, S., Fatikow, S. IEEE. 2016

  View details for Web of Science ID 000389549100036

• Laser Cavity Squeezing using Optimal Servo Controller in Optomechanical Sensors Salehizadeh, M., Habibi, J., Aghdam, A. G., Kabir, M. Z., IEEE IEEE COMPUTER SOC. 2012: 5843-5848

  View details for Web of Science ID 000310776206025

• Size Distribution Estimation of Stone Fragments via Digital Image Processing Salehizadeh, M., Sadeghi, M. T., Hussain, M., KarHan, T., Crawfis, R., Thalmann, D., Kao, D., Avila, L. edited by Bebis, G., Boyle, R., Parvin, B., Koracin, D., Chung, R., Hammound, R. SPRINGER-VERLAG BERLIN. 2010: 329-+

  View details for Web of Science ID 000290358400034