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Ali Asadian

Photo of AliResearch Fellow

Toronto Rehabilitation Institute

 

ali.asadian@uhn.ca

 

 

 

Biography

Ali Asadian received his B.Sc. degree in Electrical Engineering/Control Systems from Sharif University of Technology in 2002, and his M.Sc. degree in the same field from University of Tehran in 2005. Ali obtained his PhD in Electrical and Computer Engineering specialized in Medical Robotics from The University of Western Ontario (UWO) in 2013. His PhD project on surgical needle insertion/steering focused on analyzing needle-tissue interaction, and modeling needle deflection as well as contact forces during percutaneous interventions into soft tissue. Furthermore, he developed a robotics-assisted stochastic motion planner for guiding flexible needles with applications to surgery.

Prior to joining TRI in 2014, Ali was a Postdoctoral Fellow in NSERC Computer-Assisted Medical Intervention (CAMI) program at Canadian Surgical Technologies and Advanced Robotics (CSTAR), London, Canada. His postdoc research activities at CSTAR and Western included collaboration on (1) designing position and force control schemes in concentric-tube continuum robots, (2) dynamic characterization of tool-tissue interaction for tumor localization during tissue palpation using a master-slave robotic platform, and (3) developing a highly-transparent haptic device using smart materials for medical applications.

Ali’s current work at the Toronto Rehabilitation Institute aims at developing an intelligent haptics-enabled robotic platform for upper limb tele-rehabilitation after stroke: assessment and therapy. His research interests in general comprise control theory and applications, surgical and rehabilitation robotics, sensor data fusion, and modeling/estimation.

Publications

Journal Papers

  1. N. Najmaei, A. Asadian, M.R. Kermani, and R.V. Patel, "Design and Performance Evaluation of a Prototype MRF-based Haptic Interface for Medical Applications," To appear in IEEE/ASME Transactions on Mechatronics, 2015.
  2. A. Asadian, R.V. Patel, and M.R. Kermani, “Dynamics of Translational Friction in Needle-Tissue Interaction During Needle Insertion,” Annals of Biomedical Engineering, vol. 42, no. 1, pp. 73-85, 2014.
  3. A. Asadian, M.R. Kermani, and R.V. Patel, “A Novel Force Modeling Scheme for Needle Insertion Using Multiple Kalman Filters,” IEEE Transactions on Instrumentation and Measurement, vol. 61, no. 2, pp. 429-438, 2012.
  4. A. Asadian, M.R. Kermani, and R.V. Patel, “Robot-Assisted Needle Steering Using a Control Theoretic Approach,” Journal of Intelligent and Robotic Systems, vol. 62, no. 3-4, pp. 397-418, 2011.
  5. A. Asadian, B. Moshiri, and A.K. Sedigh, “A Robust Approach for Data Fusion in an Integrated GPS/SDINS System and its Comparison with Extended Kalman Filtering in Critical Situations,” ISICE Journal of Control, vol. 2, no. 2, pp. 1-11, 2009.

Selected Peer-reviewed Conference Papers

  1. N. Najmaei, A. Asadian, M.R. Kermani, and R.V. Patel, "Performance Evaluation of Magneto-Rheological Based Actuation for Haptic Feedback in Medical Applications," Submitted to IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Germany, 2015.
  2. N. Najmaei, A. Asadian, M.R. Kermani, and R.V. Patel, "Magneto-Rheological Actuators for Haptic Devices: Design, Modeling, Control, and Validation of a Prototype Clutch," To Appear in Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), USA, 2015.
  3. R. Xu*, A. Asadian*, S.F. Atashzar*, and R.V. Patel, “Real-time Trajectory Tracking for Externally Loaded Concentric-tube Robots," In Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 4374-4379, Hong Kong, 2014 (* shared first authorship).
  4. I. Khalaji, M. Hadavand, A. Asadian, R.V. Patel, and M.D. Naish, “Analysis of Needle-Tissue Friction During Vibration-Assisted Needle Insertion,” In Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 4099-4104, Japan, 2013.
  5. R. Xu, A. Asadian, A. Naidu, and R.V. Patel, “Position Control of Concentric-tube Continuum Robots Using a Modified Jacobian-Based Approach,” In Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 5793-5798, Germany, 2013.
  6. A. Asadian, R.V. Patel, and M.R. Kermani, “Compensation for Relative Velocity between Needle and Soft Tissue for Friction Modeling in Needle Insertion,” In Proc. of the 34th Annual Int. Conf. of IEEE Engineering in Medicine and Biology Society (EMBC), pp. 960-963, USA, 2012.
  7. A. Asadian, M.R. Kermani, and R.V. Patel, “An Analytical Model for Deflection of Flexible Needles During Needle Insertion,” In Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 2551-2556, USA, 2011.
  8. A. Asadian, R.V. Patel, and M.R. Kermani, “A Distributed Model for Needle-Tissue Friction in Percutaneous Interventions,” In Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1896-1901, China, 2011.
  9. A. Asadian, M.R. Kermani, and R.V. Patel, “Compact Dynamic Force Model for Needle-Tissue Interaction," In Proc. of the 32nd Annual Int. Conf. of IEEE Engineering in Medicine and Biology Society (EMBC), pp. 2292-2295, 2010.
  10. A. Asadian, M.R. Kermani, and R.V. Patel, “Accelerated Needle Steering Using Partitioned Value Iteration,” In Proc. of IEEE American Control Conf. (ACC), pp. 2785-2790, USA, 2010.
  11. A. Asadian, B. Moshiri, and J. Rezaie, “Robustness Assessment of Intelligent Information Fusion Techniques in Navigation Systems Encountering Satellite Outage,” In Proc. of the 4th IEEE Conf. on Innovations in Information Technology (IIT), pp. 46-50, 2007.
  12. J. Rezaie, B. Moshiri, B.N. Araabi, and A. Asadian, “GPS/INS Integration Using Nonlinear Blending Filters,” In Proc. of IEEE SICE Annual Conf, pp. 1674-1680, 2007.
  13. A. Asadian, B. Moshiri, and A.K. Sedigh, “A Novel Data Fusion Approach in an Integrated GPS/INS System Using Adaptive Fuzzy Particle Filters,” In Proc. of the 5th IEEE Conf. on Technology and Automation (ICTA), pp. 125-130, Greece, 2005.
  14. A. Asadian, B. Moshiri, A.K. Sedigh, and C. Lucas, “GA-based Data Fusion Approach in an Intelligent Integrated GPS/INS System,” In Proc. of IFAC/AAAI Int. Conf. on Informatics on Control, Automation and Robotics (ICINCO), vol. 1, pp. 216-221, Spain, 2005.
  15. A. Asadian, B. Moshiri, A.K. Sedigh, and C. Lucas, “Optimized Data Fusion in an Intelligent Integrated GPS/INS System Using Genetic Algorithm,” In Proc. of Int. Conf. of Artificial Intelligence and Computer Science, vol. 5, pp. 221-224, 2005.