• 2106 Citations
  • 25 h-Index
20042019
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Research Output 2004 2019

2019
2 Downloads (Pure)

A contactless and biocompatible approach for 3D active microrobotic targeted drug delivery

Ongaro, F., Niehoff, D., Mohanty, S. & Misra, S., 31 Jul 2019, In : Micromachines. 10, 8, 11 p., 504.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Motion control
Induction heating
Biocompatibility
Surgery
Robotics
13 Downloads (Pure)

Bi-directional transportation of micro-agents induced by symmetry-broken acoustic streaming

Mohanty, S., Siciliani de Cumis, U., Solsona, M. & Misra, S., 29 Mar 2019, In : AIP advances. 9, 3, 5 p., 35352.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
acoustic streaming
broken symmetry
acoustic frequencies
microchannels
actuation
26 Downloads (Pure)

Bio-Inspired Terrestrial Motion of Magnetic Soft Millirobots

Kalpathy Venkiteswaran, V., Fernando Samaniego, L., Sikorski, J. & Misra, S., 1 Apr 2019, In : IEEE Robotics and automation letters. 4, 2, p. 1753-1759 7 p., 8636997.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Robot
Robots
Turtle
Motion
External Field
2 Citations (Scopus)
6 Downloads (Pure)

Design of an Electromagnetic Setup for Independent Three-Dimensional Control of Pairs of Identical and Nonidentical Microrobots

Ongaro, F., Pane, S., Scheggi, S. & Misra, S., Feb 2019, In : IEEE transactions on robotics. 35, 1, p. 174-183 10 p., 8525258.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Testbeds
Electromagnets
Microspheres
Mean square error
Magnetic fields
8 Downloads (Pure)

Force characterization and analysis of thin film actuators for untethered microdevices

Ongaro, F., Jin, Q., Siciliani de Cumis, U., Ghosh, A., Denasi, A., Gracias, D. H. & Misra, S., 14 May 2019, In : AIP advances. 9, 5, 055011.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
actuators
thin films
output
robotics
surgery
45 Downloads (Pure)

Multi-core optical fibers with Bragg gratings as shape sensor for flexible medical instruments

Khan, F., Denasi, A., Barrera, D., Madrigal, J., Sales, S. & Misra, S., 14 Mar 2019, In : IEEE sensors journal.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Bragg gratings
Optical fibers
Fiber Bragg gratings
optical fibers
fibers
1 Citation (Scopus)
19 Downloads (Pure)

Precise Model-Free Spline-Based Approach for Magnetic Field Mapping

Ongaro, F., Heunis, C. M. & Misra, S., 1 Jan 2019, In : IEEE Magnetics Letters. 10, 5 p., 8540879.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Splines
Magnetic fields
Electromagnets
Electromagnetic fields
Robotic arms

Reconstructing Endovascular Catheter Interaction Forces in 3D using Multicore Optical Shape Sensors

Heunis, C. M., Belfiore, V., Vendittelli, M. & Misra, S., 20 Jun 2019, (Accepted/In press) Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Catheters
Sensors
Tissue
Fiber Bragg gratings
User interfaces

Shape and Contact Force Estimation of Continuum Manipulators using Pseudo Rigid Body Models

Kalpathy Venkiteswaran, V., Sikorski, J. & Misra, S., Sep 2019, In : Mechanism and machine theory. 139, p. 34-45 12 p.

Research output: Contribution to journalArticleAcademicpeer-review

Manipulators
Finite element method
Sensors
12 Downloads (Pure)
Robotics
Magnetic fields
Robotic arms
End effectors
Power transmission
2018
8 Downloads (Pure)

A Beating Heart Testbed for the Evaluation of Robotic Cardiovascular Interventions

Vrooijink, G. J., Irzan, H. & Misra, S., 9 Oct 2018, BIOROB 2018: 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. Piscataway, NJ: IEEE Computer Society, p. 1076-1082 7 p. 8487725

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Open Access
File
Testbeds
Robotics
Catheters
Repair
Ablation
1 Citation (Scopus)
21 Downloads (Pure)

A GPU-accelerated model-based tracker for untethered submillimeter grippers

Scheggi, S., Yoon, C., Ghosh, A., Gracias, D. H. & Misra, S., 1 May 2018, In : Robotics and autonomous systems. 103, p. 111-121 11 p.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Grippers
Graphics Processing Unit
Model-based
Configuration
Ultrasonics
1 Citation (Scopus)
19 Downloads (Pure)

An observer-based fusion method using multicore optical shape sensors and ultrasound images for magnetically-actuated catheters

Denasi, A., Khan, F., Boskma, K. J., Kaya, M., Hennersperger, C., Göbl, R., Navab, N. & Misra, S., 2018.

Research output: Contribution to conferenceAbstractAcademic

Open Access
File
1 Downloads (Pure)

An Observer-Based Fusion Method using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters

Denasi, A., Khan, F., Boskma, K. J., Kaya, M., Hennersperger, C., Göbl, R., Tirindelli, M., Navab, N. & Misra, S., May 2018. 8 p.

Research output: Contribution to conferencePaperAcademicpeer-review

Catheters
Fusion reactions
Ultrasonics
Sensors
Endoscopy
2 Citations (Scopus)
100 Downloads (Pure)

Flexible Instruments for Endovascular Interventions: Improved Magnetic Steering, Actuation, and Image-Guided Surgical Instruments

Heunis, C. M., Sikorski, J. & Misra, S., 22 Mar 2018, In : IEEE robotics & automation magazine. 25, 3, p. 71-82 12 p., 8322165.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Catheters
Surgery
Cardiovascular system
Robotics
Imaging techniques
57 Downloads (Pure)

Flexible Needle Steering in Moving Biological Tissue with Motion Compensation using Ultrasound and Force Feedback

Chevrie, J., Shahriari, N., Babel, M., Krupa, A. & Misra, S., 21 May 2018, p. 1. 8 p.

Research output: Contribution to conferencePaperAcademicpeer-review

Open Access
File
Motion compensation
Needles
Ultrasonics
Tissue
Feedback
21 Downloads (Pure)

Flexible Needle Steering in Moving Biological Tissue With Motion Compensation Using Ultrasound and Force Feedback

Chevrie, J., Shahriari, N., Babel, M., Krupa, A. & Misra, S., 1 Jul 2018, In : IEEE Robotics and automation letters. 3, 3, p. 2338-2345

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Force Feedback
Motion Compensation
Biological Tissue
Motion compensation
Ultrasound
20 Downloads (Pure)

Grasping Using Magnetically-Actuated Tentacle Catheter: A Proof-of-Concept Study

Sikorski, J., Rutting, E. S. A. A. M. & Misra, S., 9 Oct 2018, BIOROB 2018: 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. Piscataway, NJ: IEEE Computer Society, p. 609-614 6 p. 8487212

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Open Access
File
Catheters
Biopsy
Permanent magnets
Tissue
Sensors
6 Downloads (Pure)

Hybrid control algorithm for flexible needle steering: Demonstration in phantom and human cadaver

Shahriari, N., Georgiadis, J. R., Oudkerk, M. & Misra, S., 1 Dec 2018, In : PLoS ONE. 13, 12, e0210052.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Cadaver
Needles
Demonstrations
gelatin
lungs
51 Downloads (Pure)

Independent and Leader–Follower Control for Two Magnetic Micro-Agents

Denasi, A. & Misra, S., 1 Jan 2018, In : IEEE Robotics and automation letters. 3, 1, p. 218-225 8 p.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Controller
y direction
x direction
Controllers
Micromanipulation
167 Downloads (Pure)

Introducing PneuAct: Parametrically-Designed MRI-Compatible Pneumatic Stepper Actuator

Sojoodi Farimani, F. & Misra, S., May 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA). p. 200-205

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Open Access
File
Pneumatic actuators
Magnetic resonance imaging
Pneumatics
Bearings (structural)
Costs
27 Downloads (Pure)

Multicore optical fibers as shape sensors for flexible medical instruments

Khan, F. & Misra, S., Apr 2018.

Research output: Contribution to conferencePosterOther research output

Open Access
File
8 Downloads (Pure)

Near Surface Effects on the Flagellar Propulsion of Soft Robotic Sperms

Khalil, I. S. M., Hafez, M., Klingnert, A., Scheggi, S., Adel, B. & Misra, S., 9 Oct 2018, BIOROB 2018: 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. Piscataway, NJ: IEEE Computer Society, p. 384-389 6 p. 8488084

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Open Access
File
Propulsion
Robotics
Electrospinning
Fluidics
Trajectories
13 Citations (Scopus)
31 Downloads (Pure)

Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance

Pacchierotti, C., Ongaro, F., van den Brink, F., Yoon, C., Prattichizzo, D., Gracias, D. H. & Misra, S., 17 Jan 2018, In : IEEE transactions on automation science and engineering. 15, 1, p. 290-306 17 p., 7820145.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Grippers
Robots
Haptic interfaces
Biopsy
Navigation
14 Downloads (Pure)

Surgical robotics: the happy accident in my life

Misra, S., 29 Nov 2018, Enschede: University of Twente. 20 p.

Research output: Book/ReportInaugural speechOther research output

Open Access
File
42 Downloads (Pure)

Tele-Operated MRI-Guided Needle Insertion for Prostate Interventions

Moreira, P., Kuil, L., Dias, P., Borra, R. & Misra, S., 9 Apr 2018, In : Journal of medical robotics research. 3, 4, p. 1842003

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Magnetic resonance
Needles
Robots
Imaging techniques
Robotics

Welcome

Van Der Kooij, H. & Misra, S., 9 Oct 2018, 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). IEEE, Vol. 7. (Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics; vol. 7).

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

2017
1 Citation (Scopus)

A magnetic bilateral tele-manipulation system using paramagnetic microparticles for micromanipulation of nonmagnetic objects

Seif, M. A., Hassan, A., El-Shaer, A. H., Alfar, A., Misra, S. & Khalil, I. S. M., 21 Aug 2017, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. IEEE, p. 1095-1102 8 p. 8014165

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Robots
Motion control
Magnetic fields
Control systems
16 Citations (Scopus)
77 Downloads (Pure)

Autonomous Planning and Control of Soft Untethered Grippers in Unstructured Environments

Ongaro, F., Scheggi, S., Yoon, C., van den Brink, F., Oh, S. H., Gracias, D. H. & Misra, S., Jun 2017, In : Journal of micro-bio robotics. 12, 1-4, p. 45-52 8 p.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Grippers
Planning
Biological materials
Micromanipulators
Lab-on-a-chip
5 Citations (Scopus)

Computed tomography (CT)-compatible remote center of motion needle steering robot: Fusing CT images and electromagnetic sensor data

Shahriari, N., Heerink, W., van Katwijk, T., Hekman, E. E. G., Oudkerk, M. & Misra, S., Jul 2017, In : Medical engineering & physics. 45, p. 71-77 7 p.

Research output: Contribution to journalArticleAcademicpeer-review

Electromagnetic Phenomena
Needles
Tomography
Robots
Sensors
6 Citations (Scopus)
25 Downloads (Pure)

Design, characterization and control of thermally-responsive and magnetically-actuated micro-grippers at the air-water interface

Ongaro, F., Scheggi, S., Ghosh, A., Denasi, A., Gracias, D. H. & Misra, S., 13 Dec 2017, In : PLoS ONE. 12, 12, e0187441.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Miniaturization
Grippers
Minimally Invasive Surgical Procedures
Air
Technology
2 Citations (Scopus)

Feeling paramagnetic micro-particles trapped inside gas bubbles: A tele-manipulation study

Khalil, I. S. M., Michel, Y., Su, B. & Misra, S., 18 Jan 2017, 2016 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO). IEEE, p. 225-230 6 p. 7824920

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

sensory feedback
trapped particles
Drag
Surface tension
manipulators
6 Citations (Scopus)
334 Downloads (Pure)

Force Sensing in Continuum Manipulators using Fiber Bragg Grating Sensors

Khan, F., Roesthuis, R. & Misra, S., Sep 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Open Access
File
Fiber Bragg gratings
Manipulators
Sensors
Feedback
Force measurement
3 Citations (Scopus)
27 Downloads (Pure)

Gastric cancer screening in low-income countries: System Design, Fabrication, and Analysis for an Ultralow-Cost Endoscopy Procedure

Campisano, F., Gramuglia, F., Dawson, I. R., Lyne, C. T., Izmaylov, M. L., Misra, S., De Momi, E., Morgan, D. R., Obstein, K. L. & Valdastri, P., 11 May 2017, In : IEEE robotics & automation magazine. 24, 2, p. 73-81 9 p., 7926363.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Endoscopy
Screening
Systems analysis
Fabrication
Costs
14 Citations (Scopus)
2 Downloads (Pure)

Introducing BigMag – A novel system for 3D magnetic actuation of flexible surgical manipulators

Sikorski, J., Dawson, I., Denasi, A., Hekman, E. E. G. & Misra, S., 29 May 2017, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Singapore, p. -

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

7 Citations (Scopus)
88 Downloads (Pure)

Magnetic motion control and planning of untethered soft grippers using ultrasound image feedback

Scheggi, S., Chandrasekar, K. K. T., Yoon, C., Sawaryn, B., van de Steeg, G., Gracias, D. H. & Misra, S., 29 May 2017, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Singapore: IEEE, p. -

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

File
Grippers
Motion control
Motion planning
Ultrasonics
Feedback
6 Citations (Scopus)

Modeling of Unidirectional-Overloaded Transition in Catalytic Tubular Microjets

Klingner, A., Khalil, I. S. M., Magdanz, V., Fomin, V. M., Schmidt, O. G. & Misra, S., 13 Jul 2017, In : Journal of physical chemistry C. 121, 27, p. 14854-14863 10 p.

Research output: Contribution to journalArticleAcademicpeer-review

Hydrogen peroxide
Hydrogen Peroxide
bubbles
hydrogen peroxide
Nucleation
3 Citations (Scopus)
6 Downloads (Pure)

Model predictive control of a robotically actuated delivery sheath for beating heart compensation

Vrooijink, G. J., Denasi, A., Grandjean, J. G. & Misra, S., 1 Feb 2017, In : International journal of robotics research. 36, 2, p. 193-209 17 p.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Model predictive control
Model Predictive Control
Cardiovascular surgery
Minimally Invasive Surgery
Control Strategy
5 Citations (Scopus)

Segmentation and three-dimensional reconstruction of lesions using the automated breast volume scanner (ABVS)

Araújo, T., Abayazid, M., Rutten, M. J. C. M. & Misra, S., Sep 2017, In : International journal of medical robotics and computer assisted surgery. 13, 3, e1767.

Research output: Contribution to journalArticleAcademicpeer-review

Breast
Gelatin
Tissue
Image quality
Ultrasonics
23 Downloads (Pure)

Stimuli-responsive soft untethered grippers for drug delivery and robotic surgery

Ghosh, A., Yoon, C., Ongaro, F., Scheggi, S., Selaru, F. M., Misra, S. & Gracias, D. H., 26 Jul 2017, In : Frontiers in Mechanical Engineering. 3, 7.

Research output: Contribution to journalReview articleAcademicpeer-review

Open Access
File
Robotics
Hydrogels
Minimally Invasive Surgical Procedures
Magnetic Fields
Microspheres
1 Downloads (Pure)

The MIRIAM Robot: A Novel Robotic System for MR-Guided Needle Insertion in the Prostate

Moreira, P., van de Steeg, G., Krabben, T., Zandman, J., Hekman, E. E. G., van der Heijden, F., Borra, R. & Misra, S., Dec 2017, In : Journal of medical robotics research. 2, 4, 1 p., 1750006.

Research output: Contribution to journalArticleAcademicpeer-review

Magnetic resonance
Needles
Robotics
Robots
Imaging techniques
4 Citations (Scopus)

Towards MRI-guided flexible needle steering using fiber Bragg grating-based tip tracking

Moreira, P., Boskma, K. J. & Misra, S., 21 Jul 2017, ICRA 2017 - IEEE International Conference on Robotics and Automation. IEEE, p. 4849-4854 6 p. 7989564

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Fiber Bragg gratings
Needles
Magnetic resonance imaging
Magnetic resonance
Biopsy
2016
4 Citations (Scopus)
121 Downloads (Pure)

An experimental comparison of path planning techniques applied to micro-sized magnetic agents

Scheggi, S. & Misra, S., 18 Jul 2016, Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS). Haliyo, S., Sill, A., Regnier, S. & Fatikow, S. (eds.). Paris, France: IEEE, p. 1-6

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

File
Motion planning
Trajectories
Motion control
Drug products
Surgery
3 Citations (Scopus)
43 Downloads (Pure)

A Robust controller for micro-sized agents: The prescribed performance approach

Denasi, A. & Misra, S., 18 Jul 2016, Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS). Haliyo, S., Sill, A., Regnier, S. & Fatikow, S. (eds.). Paris, p. -

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Open Access
File
Controllers
Surgery
Image processing
Trajectories
Targeted drug delivery
6 Citations (Scopus)
1 Downloads (Pure)

Closed-loop control of a magnetically-Actuated catheter using two-dimensional ultrasound images

Boskma, K. J., Scheggi, S. & Misra, S., 26 Jun 2016, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. Kukreja, S. & Masia, L. (eds.). Singapore: IEEE Computer Society, p. 61-66

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

13 Citations (Scopus)
147 Downloads (Pure)

Control of untethered soft grippers for pick-and-place tasks

Ongaro, F., Yoon, C., van den Brink, F., Abayazid, M., Oh, S. H., Gracias, D. H. & Misra, S., 26 Jun 2016, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. Krukreja, S. (ed.). Singapore: IEEE Computer Society, p. 299-304 (July; vol. 2016).

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

File
payloads
remote control
materials science
robotics
robots
3 Citations (Scopus)

Disturbance observer-based motion control of paramagnetic microparticles against time-varying flow rates

Abass, H., Shoukry, M., Klingner, A., Hosney, A., Misra, S. & Khalil, I. S. M., 26 Jun 2016, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. Kukreja, S. & Masia, L. (eds.). Singapore: IEEE Computer Society, p. 67-72 (July 2016; vol. 2016).

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

10 Citations (Scopus)
69 Downloads (Pure)

Evaluation of an electromagnetic system with haptic feedback for control of untethered, soft grippers affected by disturbances

Ongaro, F., Pacchierotti, C., Yoon, C., Prattichizzo, D., Gracias, D. H. & Misra, S., 26 Jun 2016, 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob). Kukreja, S. & Masia, L. (eds.). IEEE Computer Society, p. 900-905

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Open Access
File
8 Citations (Scopus)
2 Downloads (Pure)

Experimental evaluation of co-manipulated ultrasound-guided flexible needle steering

Abayazid, M., Pacchierotti, C., Lopes da Frota Moreira, P., Alterovitz, R., Prattichizzo, D. & Misra, S., 15 Jul 2016, In : International journal of medical robotics and computer assisted surgery. 12, 2, p. 219-230

Research output: Contribution to journalArticleAcademicpeer-review

Needles
Ultrasonics
Feedback
Sensory Feedback
Robotics
168 Downloads (Pure)

Haptic feedback for microrobotics applications: A review

Pacchierotti, C., Scheggi, S., Prattichizzo, D. & Misra, S., 2016, In : Frontiers in robotics and AI. 3, 53, p. - 1 p., 53.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Feedback
Surgery
Biomedical engineering
Biopsy
Remote control