| 2021 | IROS | Robot-assisted Breast Ultrasound Scanning Using Geometrical Analysis of the Seroma and Image Segmentation. | Mojtaba Akbari, Jay Carriere, Ron Sloboda, Tyler Meyer, Nawaid Usmani, Siraj Husain, Mahdi Tavakoli |
| 2020 | IROS | Optimal Design of a Novel Spherical Scissor Linkage Remote Center of Motion Mechanism for Medical Robotics. | Mehrnoosh Afshar, Jay Carriere, Tyler Meyer, Ron Sloboda, Siraj Husain, Nawaid Usmani, Mahdi Tavakoli |
| 2015 | ICRA | Needle shape estimation in soft tissue based on partial ultrasound image observation. | Jay Carriere, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli |
| 2015 | ICRA | A mechanics-based model for simulation and control of flexible needle insertion in soft tissue. | Mohsen Khadem, Bita Fallahi, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli |
| 2015 | ICRA | A virtual sensor for needle deflection estimation during soft-tissue needle insertion. | Thomas Lehmann, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli |
| 2015 | IROS | Extended bicycle model for needle steering in soft tissue. | Bita Fallahi, Mohsen Khadem, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli |
| 2015 | ICRA | 3D shape visualization of curved needles in tissue from 2D ultrasound images using RANSAC. | Michael Waine, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli |