S.M.Hadi Sadati

S.M.Hadi Sadati
King's College London | KCL · Surgical and Interventional Engineering

PhD
Continuum Medical Robotics

About

64
Publications
27,455
Reads
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440
Citations
Citations since 2016
48 Research Items
436 Citations
2016201720182019202020212022020406080100
2016201720182019202020212022020406080100
2016201720182019202020212022020406080100
2016201720182019202020212022020406080100
Introduction
I am a Research Fellow at Robotics and Vision in Medicine (RViM) Lab, King's College London (KCL), UK. I have been a postdoc in Robotic System Eng. at RViM Lab, KCL, in 2019-21, and in Morphological Computation at the University of Bristol, UK, in 2017-19. I have a PhD in Robotics from KCL in 2018. My research experience is in the fields of soft medical robotics, morphological contribution, bioinspiration, system dynamics, and mechatronics. www.smh-sadati.com
Additional affiliations
October 2019 - December 2019
École Polytechnique Fédérale de Lausanne
Position
  • Researcher
April 2019 - April 2021
King's College London
Position
  • PostDoc Position
Description
  • Postdoctoral Research Associate in Robotic Systems Engineering at RViM: Robotics and Vision in Medicine (RViM) Lab, Department of Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, King's College London, UK.
December 2017 - December 2017
Clemson University
Position
  • Visiting Scholar
Education
January 2014 - August 2018
King's College London
Field of study
  • Robotics
September 2010 - April 2015
Amirkabir University of Technology
Field of study
  • Mechanical Engineering
September 2010 - September 2012
Sharif University of Technology
Field of study
  • Mechanical Engineering, Applied Design

Publications

Publications (64)
Article
Full-text available
. Passive walkers perform a walking like stable limit cycle on small slopes without any external control. In this research, a deployed model of biped that can be built has been considered, and then its walking performance sensitivity such as efficiency, stability and robustness on uneven trains due to variation of structural parameters and their op...
Article
Full-text available
The agile nature of physical interactions in animal and plant species has inspired many recent advances in robotics and their control frameworks. However, they still face challenges in interaction with ever-changing unconstructured world that we live in. Intelligence is one of nature’s survival solutions for biological creatures to adapt to and res...
Conference Paper
Full-text available
The concept of continuum and soft robotics has opened new abilities that were previously unachievable by rigid robotics alone, such as squeezing, growing, and morphing to their environments. As an example, Concentric Tube Robots (CTR) are continuum robots made of a series of pre-curved, elastic tubes where each tube can individually be rotated, as...
Article
Full-text available
Concentric tube robots (CTRs) are catheter-like robots that can navigate anatomical lumen to reach surgical targets that are deep inside the body. While CTRs have been extensively studied in quasi-static conditions, unique robot behaviours such as hysteresis and snapping, i.e. the sudden release of elastic energy accumulated due to robot tubes’ twi...
Article
Identifying terrain type is important for safely operating robots exploration in unstructured environments. In this letter, we firstly proposed a novel tapered whisker-based semi-supervised reservoir computing (TWSSRC) system for improving terrain classification and terrain property estimation for traversability assessment with low computing cost....
Conference Paper
Full-text available
Continuum surgical robots can navigate anatom-ical pathways to reach pathological locations deep inside thehuman body. Their flexibility, however, generally comes with re-duced dexterity at their tip and limited workspace. Building onrecent work on eccentric tube robots, this paper proposes a newcontinuum robot architecture and theoretical framewor...
Chapter
Full-text available
The agile nature of physical interactions in animal and plant species has inspired many recent advances in robotics and their control frameworks. However, they still face challenges in interaction with ever-changing unconstructured world that we live in. Intelligence is one of nature's survival solutions for biological creatures to adapt to and res...
Article
Full-text available
This paper presents a multi-purpose gripping and incision tool-set to reduce the number of required manipulators for targeted therapeutics delivery in Minimally Invasive Surgery. We have recently proposed the use of multi-arm Concentric Tube Robots (CTR) consisting of an incision, a camera, and a gripper manipulator for deep orbital interventions,...
Chapter
The direct relationship between early-stage breast cancer detection and survival rates has created the need for a simple, fast and cheap method to detect breast cancer at its earliest stages. Endoscopic evaluation of the mammary ducts known as ductoscopy has great potential to detect early breast cancers. Unfortunately, there are technical limitati...
Preprint
Full-text available
This paper shows analytical and experimental evidence of using the vibration dynamics of a compliant whisker for accurate terrain classification during steady state motion of a mobile robot. A Hall effect sensor was used to measure whisker vibrations due to perturbations from the ground. Analytical results predict that the whisker vibrations will h...
Article
Full-text available
This letter presents MAMMOBOT, one of the first millimetre-scale steerable soft growing robots for medical applications. MAMMOBOT aims to access the breast through the nipple and navigate the mammary ducts to detect precursors of invasive breast cancers. Addressing limitations of the state-of-the-art, MAMMOBOT maintains a hollow inner lumen through...
Preprint
Full-text available
This paper presents MAMMOBOT, one of the first millimetre-scale steerable soft growing robots for medical applications. MAMMOBOT aims to access the breast through the nipple and navigate the mammary ducts to detect precursors of invasive breast cancers. Addressing limitations of the state-of-the-art, MAMMOBOT maintains a hollow inner lumen througho...
Article
Full-text available
Continuum robots can traverse anatomical pathways to intervene in regions deep inside the human body. They are able to steer along 3D curves in confined spaces and dexterously handle tissues. Concentric tube robots (CTRs) are continuum robots that comprise a series of precurved elastic tubes that can be translated and rotated with respect to each o...
Article
In the past decade, the use of soft, deformable materials has gained widespread interest due to their potential to carry out tasks in unstructured environments, such as grasping or manipulating objects with a wide variety of shapes and sizes, locomotion in irregular terrains, and enabling safe and flexible interactions between humans and robots. Th...
Preprint
Full-text available
Soft robots' natural dynamics calls for the development of tailored modeling techniques for control. However, the high-dimensional state space of the commonly practiced modeling approaches for soft robots, i.e. Cosserat rod and Finite Element Methods, has been identified as a key obstacle in controller design. To address this niche, Reduced-Order M...
Preprint
Full-text available
Concentric tube robots (CTRs) are continuum robots that can navigate the lumen to reach surgical targets that are deep inside the body. While CTRs have been extensively studied in quasistatic conditions, limited work on their dynamic modeling exists. This paper presents the dynamic modelling of CTR using Reduced-Order Modeling (ROM) by Polynomial S...
Article
Full-text available
This paper presents a medical robotic system for deep orbital interventions, with a focus on Optic Nerve Sheath Fenestration (ONSF). ONSF is a currently invasive ophthalmic surgical approach that can reduce potentially blinding elevated hydrostatic intracranial pressure on the optic disc via an incision on the optic nerve. The prototype is a multi-...
Article
Full-text available
Soft Robotics is a research field still in its infancy, but it has remarkable potential. Nevertheless, it still has to overcome a number of challenges before it can deliver off-the-shelf solutions. To address these challenges and form a community, the first IEEE international conference of Soft Robotics (RoboSoft 2018) was organized in Livorno (Ita...
Article
Full-text available
In this paper, we propose benefiting from load readings at the base of a continuum appendage for real-time forward integration of Cosserat rod model with application in configuration and tip load estimation. The application of this method is successfully tested for stiffness imaging of a soft tissue, using a 3-DOF hydraulically actuated braided con...
Article
Full-text available
A reliable, accurate, and yet simple dynamic model is important to analyze, design and control hybrid rigid-continuum robots. Such models should be fast, as simple as possible and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a ge...
Chapter
The book was inadvertently published with an incorrect version of an author’s name in Chapter 13 as “Althoefer Kaspar” whereas it has been updated as “Kaspar Althoefer”.
Article
Full-text available
Mammals like rats, who live in dark burrows, heavily depend on tactile perception obtained through the vibrissal system to move through gaps and to discriminate textures. The organization of a mammalian whisker follicle contains multiple sensory receptors and glands strategically organized to capture tactile sensory stimuli of different frequencies...
Conference Paper
Full-text available
Hybrid rigid-continuum robot design addresses a range of challenges associated with using soft robots in application areas such as robotic surgery. Design of such robots poses challenges beyond standard rigid-body robots. A fast, reliable, accurate yet simple dynamic model is important to support the design, analysis, and control of hybrid rigid-co...
Article
Full-text available
Robust mechanisms for slip resistance are an open challenge in legged locomotion. Animals such as goats show impressive ability to resist slippage on cliffs. It is not fully known what attributes in their body determine this ability. Studying the slip resistance dynamics of the goat may offer insight toward the biologically inspired design of robot...
Conference Paper
Full-text available
A reliable, accurate, and yet simple dynamic model is important to analyze, design and control continuum manip-ulators. Such models should be fast, as simple as possible and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new mod-eling methods for continuum manipulators: a general...
Article
Various methods based on hyperelastic assumptions have been developed to address the mathematical complexities of modeling motion and deformation of continuum manipulators. In this study, we propose a quasistatic approach for 3D modeling and real-time simulation of a pneumatically actuated soft continuum robotic appendage to estimate the contact fo...
Article
Various methods based on hyperelastic assumptions have been developed to address the mathematical complexities of modeling motion and deformation of continuum manipulators. In this study, we propose a quasistatic approach for 3D modeling and real-time simulation of a pneumatically actuated soft continuum robotic appendage to estimate the contact fo...
Conference Paper
Full-text available
Having a reliable accurate and at the same time simple dynamic model is important in analysis, design, path planning and control of robotic systems. Such models should be fast, convenient and simple to use to be accepted by the ever growing robotics research community. Among all the challenges, controlling complex systems with compound rigid and co...
Article
Full-text available
Several semi-analytical models are considered for a double-gyre problem in a turbulent flow regime for which a reference fully numerical eddy-resolving solution is obtained. The semi-analytical models correspond to solving the depth-averaged Navier–Stokes equations using the spectral Galerkin approach. The robustness of the linear and Smagorinsky e...
Thesis
This thesis investigates how the problem of stiffness regulation of continuum manipulators can be simplified by inspiration from morphology of biological fish scales and experimental observation of manipulator geometry deformation. Soft continuum “trunk and tentacle” manipulators have high inherent dexterity and reconfigurability and have become an...
Chapter
Spiders are able to extract crucial information, such as the location prey, predators, mates, and even broken threads from propagating web vibrations. The complex structure of the web suggests that the morphology itself might provide computational support in form of a mechanical signal processing system - often referred to as morphological computat...
Article
Full-text available
We present a 3D-printable thermoactive scale jamming interface as a new way to control a continuum manipulator dexterity by taking inspiration from the helical arrangement of fish scales. A highly articulated helical interface is 3D-printed with thermoactive functionally graded joints using a conventional 3D printing device that utilizes UV curable...
Conference Paper
Full-text available
Spiders are able to extract crucial information, such as the location prey, predators, mates, and even broken threads from propagating web vibrations. The complex structure of the web suggests that the morphology itself might provide computational support in form of a mechanical signal processing system-often referred to as morphological computatio...
Conference Paper
Full-text available
We present a 3D-printable thermoactive scale jamming interface as a new way to control a continuum manipulator dexterity by taking inspiration from the helical arrangement of fish scales. A highly articulated helical interface is 3D-printed with thermoactive functionally graded joints using a conventional 3D printing device that utilizes UV curable...
Conference Paper
Full-text available
Inspired by teleost fish scale, this paper investigates the possibility of implementing stiffness control as a new source of robots dexterity and flexibility control. Guessing about the possibility of biological scale jamming in real fish, we try to understand the possible underlying actuation mechanism of such behavior by conducting experiments on...
Chapter
Full-text available
As it was discussed in previous chapters of Part I, soft continuum trunk and tentacle manipulators have high inherent dexterity and reconfigurability and have become an attractive candidate for safe manipulation and explorations in surgical and space robotic applications, recently. However, achieving accuracy in precise tasks is a challenge with th...
Article
Full-text available
To address the challenges with real-time accurate modeling of multi-segment continuum manipulators in the presence of significant external and body loads, we introduce a novel series solution for variable-curvature Cosserat rod static and Lagrangian dynamic method. By combining a modified Lagrange polynomial series solution, based on experimental o...
Conference Paper
Full-text available
Investigations on control and optimization of continuum manipulators have resulted in a number of kinematic and dynamic modeling approaches each having their own advantages and limitations in various applications. In this paper, a comparative study of five main methods in the literature for kinematic, static and dynamic modeling of continuum manipu...
Conference Paper
Full-text available
Cat free fall righting maneuverer has inspired many aerial, space and legged robotic research. Conservation of angular momentum principle is used to derive the inverse differential kinematic and TMT vector form dynamics of the motion for three robotic models: a two-link model, a three-link model with tail, and a comprehensive eight-link model with...
Article
Full-text available
Continuum manipulators have gained significant attention in the robotic community due to their high dexterity, deformability, and reachability. Modeling of such manipulators has been shown to be very complex and challenging. Despite many research attempts, a general and comprehensive modeling method is yet to be established. In this paper, for the...
Conference Paper
Full-text available
Smart attachment mechanisms are believed to contribute significantly in stiffness control of soft robots. This paper presents a working prototype of an active Velcro based stiffness controllable fastening mechanism inspired from micro active hooks found in some species of plants and animals. In contrast to conventional passive Velcro, this active V...
Conference Paper
Control and optimization of continuum manipulators with compound structure is a controversial subject. Different kinematic and dynamic modeling approaches have been presented and tested in previous research with advantageous and limiting features in different which can be categorized into three groups: 1) Lumped model elements using Lagrangian demo...
Article
Full-text available
The use of complex systems with switching behavior and control design such as multitask walking and flying robots which need different Equation of Motion (EOM) for their states has become more popular recently. Having a reliable, exact and easy to drive dynamic model is important for their analysis, design, path planning and control. While the Newt...
Conference Paper
Full-text available
Continuum and soft robotics showed many applications in medicine from surgery to health care where their compliant nature is advantageous in minimal invasive interaction with organs. Stiffness control is necessary for challenges with soft robots such as minimalistic actuation, less invasive interaction, and precise control and sensing. This paper p...
Conference Paper
Full-text available
We investigate how unmanned aerial vehicles (UAVs) with flexible wings can be designed to exploit the aeroelasticity of wing deformation that is present in bat wings, with a view to improve the efficiency of flight. We constructed a robotic bat wing with fully passive elastic wing-folding properties. The robotic wing is powered by a gearbox running...
Conference Paper
Full-text available
Three-phase landing for a 7-links 2D cat model is studied using semi-flat dynamic and force-control methods on rigid and flexible surfaces, considering switching constraints and a spring-damper model on impact points respectively, in presence of rotational angle, velocity, torque constraints and control signal delay. The landing phases are: pre-lan...
Article
Full-text available
راهروندههای غیرفعال، ربات‌هایی هستند که بر روی شیب‌های کوچک، می‌توانند حرکت سیکلی پایداری شبیه راه‌رفتن را بدون کنترل خارجی، داشته باشند. این مفهوم در دهه‌ی 90 میلادی توسط مک‌گیر معرفی شد. در سال‌های اخیر تحقیقات مختلفی در این زمینه صورت گرفته است. با توجه به تازگی موضوع، تاثیر پارامترهای ساختاری بر حرکت راه‌رونده و بهینه‌سازی آن‌ها‌ و شبیه‌سازی نر...
Conference Paper
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