• O. Goksel, E. Dehghan, and S.E. Salcudean, ”Modeling and Simulation of Flexible Needles”,
  Medical Engineering and Physics, in press doi:10.1016/j.medengphy.2009.07.007
• A. Baghani, S.E. Salcudean and R. Rohling, Theoretical limitations of the elastic wave equation
  inversion for tissue elastography, Journal of the Acoustical Society of America, 126(3,
  pp.1541-1551, September 2009. Also selected for the September 15, 2009 issue of the Virtual
  Journal of Biological Physics Research (http://www.vjbio.org).
  
• H. Eskandari, A. Baghani, S.E. Salcudean and R. Rohling. The influence of the boundary
  conditions on longitudinal wave propagation in a viscoelastic medium, Physics in Medicine &
  Biology, 54, pp. 3997-4017, 2009.
  
• A. Baghani, H. Eskandari, S. Salcudean, R. Rohling. Measurement of viscoelastic properties of
  tissue mimicking material using longitudinal wave excitation. IEEE Trans. Ultrasonics,
  Ferroelectrics & Frequency Control. 56(7), pp. 1405-1418, 2009.
  
• O. Goksel and S.E. Salcudean. B-mode Ultrasound Image Simulation in Deformable 3D Medium.
  IEEE Trans. Medical Imaging. (29)4, pages TBD, electronic version out, 2009.
  
• H. Eskandari, S.E. Salcudean, R. Rohling and J. Ohayon, Viscoelastic characterization of soft tissue
  from dynamic finite element models, Physics in Medicine & Biology, 53(22), pp. 6569-6590, Nov.
  2008.
  
• R. Zahiri and S.E. Salcudean. Time Delay Estimation in Ultrasound Echo Signals Using Individual
  Sample Tracking, IEEE Trans. Ultrasonics, Ferro. Freq. Contr., 55(12), pp. 2640-2650, 2008.
  
• E. Dehghan, X. Wen, R. Zahiri-Azar, M. Marchal and S.E. Salcudean, Needle-Tissue Interaction
  Modeling using Ultrasound-based Motion Estimation: Phantom Study, J. Computer Assisted
  Surgery, 13(5):265-280, 2008.
  
• E. Dehghan, S.E. Salcudean, Needle Insertion Parameter Optimization for Brachytherapy, IEEE
  Trans. Robotics and Automation, 25(2), pp. 205-315, 2008.
  
• H. Eskandari, S.E. Salcudean, and R. Rohling, Viscoelastic parameter estimation based on spectral
  analysis, IEEE Trans. Ultrasonics, Ferro. & Freq. Contr. (UFFC), 55(7) 1611-1625, 2008.
  
• J. Guerrero, S.E. Salcudean, James A. McEwen, Bassam A. Masri, Savvas Nicolaou, ”Real-time
  Vessel Segmentation and Tracking for Ultrasound Imaging Applications”, IEEE Trans. Medical
  Imaging, vol. 26, no. 8, pp. 1079 - 1090, 2007.
  
• H. Eskandari, S. E. Salcudean1, R. Rohling, ”Tissue Strain Imaging Using a Wavelet Transform
  Based Peak Search Algorithm, IEEE Trans. on Ultrasonics, Ferroelectrics, and Frequency
  Control, 54(6):1118–1130, June 2007.
  
• O.Goksel, S.E.Salcudean, and S.P.DiMaio: ”3D Simulation of Needle-Tissue Interaction with Application to Prostate Brachytherapy”.  Computer Aided Surgery, in press.
• A.Harmat, R.N. Rohling and S.E. Salcudean, “Needle Tip Localization using Stylet Vibration”,  Ultrasound in medicine and Biology, 33(9):1339-1348, 2006.
• R. Zahiri and S.E. Salcudean, “Motion estimation in ultrasound images using time-domain cross-correlation with prior estimates”, IEEE Trans. Biomed. Eng., 53(10):1990-2000, 2006.
• S.Okazawa, R. Ebrahimi, J. Chuang, R. Rohling and S.E. Salcudean, “Methods for Segmenting Curved Needles and the Needle Tip in Real-time”, Med. Image Analysis, 10 (2006), 330-342.
• J. Guerrero, S.E. Salcudean, J.A. McEwen, B.A. Masri and S.Nicolaou, “System for Deep Venous Thrombosis Detection using Objective Compression Measures”, IEEE Trans. Biomed. Eng.,  53(5):845-854, 2006.
• E. Turgay, S.E. Salcudean and R.N. Rohling, “Identifying Mechanical properties of Tissue by Ultrasound”, Ultrasound in Medicine and Biology, 32(2), pp.221-235, 2006.
• D. French, J. Morris, M. Keyes, O. Goksel ,S.E. Salcudean. « Computing Intraoperative Dosimetry for Prostate Brachytherapy Using TRUS and Fluoroscopy. ». Academic Radiology, 12(10), pp. 1262-1272, 2005.
  
• D. Constantinescu, S.E. Salcudean and E.A. Croft. “Local models of interaction for realistic manipulation of rigid virtual worlds”,  Intl. J. Robotics Research, 24(10), Oct. 2005.
  
• S. P. DiMaio and S. E. Salcudean. “Interactive Simulation of Needle Insertion Models,” IEEE Trans. Biomedical Engineering, 52(7),  pp.1167-1179, July 2005.
• A.Gosline, S.E. Salcudean and J. Yan. "Haptic Simulation of Linear Elastic Media with Fluid Inclusions’’ ,  Haptics-e: The Electronic Journal of Haptics Research . Vol. 3 No. 5, 2005.
• D. Constantinescu, S.E. Salcudean and E.A. Croft. “Haptic Rendering Of  Rigid Contacts Using Impulsive And Penalty Forces”, IEEE Trans. On Robotics”, 29(3), pp.309-323, June 2005.
• S.Okazawa, R. Ebrahimi, J. Chuang, R. Rohling and S.E. Salcudean, “Hand-held Steerable Needle Device”, IEEE/ASME Trans. Mechatronics, 10(3), pp.285-296, June 2005.
  
• S. P. DiMaio and S. E. Salcudean. “Needle Steering and Motion Planning in Soft Tissues,” IEEE Trans. Biomedical Engineering, 52(6),  pp.965-974, June 2005.
  
• S.P. DiMaio, S.E. Salcudean, “Needle Insertion and Simulation”, IEEE Trans. Rob. Aut,  Vol. 19, No. 5, pp.864-875, October, 2003.
• M.R. Sirouspour and S.E.Salcudean, “Suppressing Operator-Induced Oscillations in Manual Control Systems with Movable Bases”, IEEE Trans. Contr. Sys. Tech., Vol 11, pp.448-459, 2003.
• S. Tafazoli, S.E. Salcudean, K. Hashtrudi-Zaad and P.D. Lawrence, "Impedance Control of a Teleoperated Excavator", IEEE Trans. Contr. Sys. Tech., 10(3), pp.355-367, May 2002.
• K. Hashtrudi-Zaad and S.E. Salcudean, "Bilateral Parallel Force/Position Teleoperation Control", J. Robotic Sys., 19(4), pp.155-168, April 2002.
• P. Abolmaesumi, S.E. Salcudean, W.H. Zhu, M.R. Sirouspour and S.P. DiMaio, "Image Guided Robot for Diagnostic Ultrasound", IEEE Trans. Rob. Aut., 18(1), pp.11-23, February, 2002.
• K. Hashtrudi-Zaad and S.E. Salcudean, "Transparency in Time-Delayed Systems and the Effect of Local Force Feedback for Transparent Teleoperation", IEEE Trans. Rob. Aut., 10(3) pp.108-114, February, 2002.
• S.P. DiMaio, S.E. Salcudean, C. Reboulet, S. Tafazoli and K. Hashtrudi-Zaad, “A Virtual Environment for the Simulation and Programming of Excavation Trajectories”, Presence: Teleoperators and Virtual Environments, 10(5), pp. 465-475, October 2001.
• L. Stocco, S.E. Salcudean and F. Sassani, ``Optimal Design of a Haptic Pen”,  IEEE/ASME Transactions on Mechatronics, 6(3), pp.210-220, Sept. 2001.
• K. Hashtrudi-Zaad and S.E. Salcudean, ``Stability and Performance Robustness Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators”, Intl. J. Robotics Research, 20(6), pp.419-445, June 2001.
• M.R. Sirouspour and S.E. Salcudean, ``Nonlinear control of hydraulic robots ”, IEEE Trans. Robotics and Automation, 17(2), pp.173-182, April 2001.
• S.E. Salcudean, M. Zhu, W.H. Zhu,  and K. Hashtrudi-Zaad, "Transparent Bilateral Teleoperation under Position and Rate Control'',  Intl. J. Robotics Research, Vol. 19, No. 12, December 2000, pp. 1185-1202. (PDF Copy)
• W.H. Zhu and S.E. Salcudean,  "Stability-guaranteed Teleoperation: An adaptive Motion/Force Control Approach", IEEE Transactions on Automatic Control, Vol. 45, No. 11, pp. 1951--1969, November 2000. (PDF Copy)
• S.E. Salcudean, K. Hashtrudi-Zaad, S. Tafazoli, S.P. DiMaio, and C. Reboulet, "Bilateral Matched-Impedance Teleoperation with Applications to Excavator Control", Control Systems Magazine, Vol.19, No.6, pp.29-37, December 1999. (PDF Copy)
• L.J. Stocco, S.E. Salcudean and F. Sassani, "On the Use of Scaling Matrices for Task-Specific Robot Design", IEEE Trans. Robotics and Automation Vol.15, No.5, pp.958-956, October 1999.
• S. Tafazoli, P.D. Lawrence and S.E. Salcudean, "Identification of Inertial and Friction Parameters for Excavator Arms", IEEE Trans Robotics & Automation, Vol.15, No.5, pp.966-971, October 1999.
• A.J. Hodgson, J.G. Person, S.E. Salcudean and A.G. Nagy, "The Effects of Physical Constraints in Laparoscopic Surgery", Medical Image Analysis, pp.275-285, 3(3), 1999. (PDF Copy)
• L. Stocco, S.E. Salcudean and F. Sassani, "Fast Constrained Global Minimax Optimization of Robot Parameters", Robotica, Vol.16, pp.595-605, 1999. (Zipped Postcript Copy) (PDF Copy)
• Z. Hu, S.E. Salcudean and P.D.Loewen, “A Numerical Solution of the Multiple Objective Control System Design Problem for SISO Systems”, Opt. Contr. Appl. & Methods, 19(6), pp.411-422, 1998.
• A.F. Lynch and S.E. Salcudean, "Internal Model-based Controller Design using Measured Costs and Gradients'',  International Journal of Control, 69(2), pp.257-270, 1998 (Zipped Postcript Copy) (PDF Copy)
• S.E. Salcudean and T. Vlaar, "On the Emulation of Stiff Walls and Static Friction with a Magnetically Levitated Input-Output Device", ASME Journal of Dynamics, Measurement and Control, 119:127--132, March 1997. (Zipped Postscript Copy) (PDF Copy)

TOP

• S.E. Salcudean, R. Rohling, R. Ebrahimi and S. Okazawa, ”Steerable Needle and Guidance
  System”, provisional patent application 60/435,263 filed on December 23, 2002, followed by US
  patent application filed December 17, 2003, allowed  December 2009.
• S.E. Salcudean, G.S. Bell, P.D. Lawrence, A. Marko, M. Jameson, "Robotically assisted medical ultrasound", US Patent 6,425,865 B1, July 30, 2002.
• S.E. Salcudean, S.V. Lichtenstein, A.L. Trejos, F. Sassani and T. Gilhuly, "Motion Tracking Platform for Relative Motion Cancellation", U.S. Patent 6,368,332, April 9, 2002.
• Salcudean and N.R. Parker, "Active Joystick with Optical Position Sensor", U.S. Patent 6,373,466, (divisional to prior description by same authors) April 16, 2002.
• S.E. Salcudean, L.J. Stocco and I. Chau, "Three-degree-of-freedom parallel planar manipulator", U.S. Patent  6,339,969, January 22, 2002.
• T.Gilhuly, S.E. Salcudean, S.V. Lichtenstein, K.A. Ashe, and S. Bachmann, "Cardiac Tissue Stabilizer". US Patent 6,210,323 B1, April 3, 2001.
• S.E. Salcudean and N.R. Parker, "Active Joystick with Optical Position Sensor", US Patent 6,195,083 B1, February 27, 2001.
• A. Marko, J. McEwen, B. Day, M. Jameson, S.E. Salcudean and P.D. Lawrence, "Apparatus and Method for Evaluation of Shoulder Stability'', U.S. Patent, 5,919,148, issued July 6, 1999.
• L. Stocco and S.E. Salcudean, "Parallel Platform Manipulator", US Patent 6,047,610, April 11, 2000.
• S.E. Salcudean and A. Kelley. "Controller'', U.S. Patent 5,790,108, issued August 4, 1998.
  Application based on the reports "MagicMouse: Tactile and Kinesthetic Feedback in the Human-Computer Interface using an Electromagnetically Actuated Input Device with Two or Three Degrees-of-Freedom'' and "Electromagnetic Force-Feedback Mouse for the SUN SPARCstation: Prototype Design Document'' was filed in
  October 1992.
• N. Parker, P.D. Lawrence and S.E. Salcudean,  "Velocity controller with force feedback stiffness control", U.S. Patent #5,513,100 issued April 30, 1996.
• S. Salcudean and J. Yan.  "Motion-Scaling Tele-operation System with Force Feedback Suitable for Microsurgery'', U.S. Patent 5,382,885 issued January 17, 1995.
• S.E. Salcudean and D. Ben-Dov. "Platform Mountings'', U.S. Patent 5,377,950 issued January 3, 1995.
• R.L. Hollis and S.E. Salcudean. "Input/output System for Computer-user Interfaces Using Magnetic Levitation", U.S. patent 5,146,566. September 1992. Patent application also filed in Europe.
• S.E. Salcudean. Optical Position and Orientation Sensor, U.S. Patent 5,059,789. October 1991. Patent application also filed in Europe.

TOP

• O. Goksel, S.E. Salcudean, High-quality model generation for finite element simulation of tissue
  deformation, International Conference on Medical Image Computing and Computer Assisted
  Intervention (MICCAI), Part II, LNCS 5762, pp. 248–256, Sept. 2009.
  
• S.S. Mahdavi, M. Moradi, X. Wen, W.J. Morris, S.E. Salcudean, Vibro-Elastography for
  Visualization of the Prostate Region: Method Evaluation, International Conference on Medical
  Image Computing and Computer Assisted Intervention (MICCAI), Part II, LNCS 5762, pp.
  339-347, 2009.
  
• S.S. Mahdavi, W.J. Morris, I. Spadinger, N. Chng, O. Goksel, S.E. Salcudean, 3D Prostate
  Segmentation in Ultrasound Images Based on Tapered and Deformed Ellipsoids, International
  Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), Part
  II, LNCS 5762, pp. 960967, 2009.
  
• Mehdi Moradi, Xu Wen, Ehsan Dehghan, Julio Lobo, W. J. Morris, S. E. Salcudean; ”Needle path
  detection for brachytherapy dosimetry based on lateral power imaging and template matching”,
  IEEE Ultrasonics Symposium, Rome, Italy, 2009 (four pages).
  
• Mehdi Moradi, Julian Guerrero, Robert Rohling, S. E. Salcudean, ”Preliminary results of an
  ultrasound segmentation method based on statistical unit-root test of B-scan radial intensity
  profiles” IEEE Ultrasonics Symposium, Rome, Italy, 2009 (four pages).
• Reza Zahiri Azar, Orcun Goksel, Tim Salcudean, ”Multi-Dimensional Sub-Sample Motion
  Estimation: Initial Results”, IEEE Ultrasonics Symposium, Rome, Italy, 2009 (four pages).
  
• Ehsan Dehghan and Septimiu E. Salcudean, ”Needle Insertion Study Using Ultrasound-Based 2D
  Motion Tracking ”, International Conference on Medical Image Computing and Computer
  Assisted Intervention (MICCAI), Springer Vol. LNCS 5242, pp. 660-667, 2008.
  
• Mahdavi, Sara; Salcudean, Septimiu E., “3D prostate segmentation based on ellipsoid fitting,
  image tapering and warping.”, Engineering in Medicine and Biology Society, 2008. EMBS 2008.
  30th Annual International Conference of the IEEE, pp:2988 - 2991, 20-25 Aug. 2008.
  
• Zahiri-Azar, Reza; Salcudean, Septimiu E. “Time delay estimation of discrete samples in ultrasound
  echo signals”, Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual
  International Conference of the IEEE, pp.:2976 - 2979, 20-25 Aug. 2008
  
• Zahiri-Azar, Reza; Goksel, Orcun; Ta Shan Yao,; Dehghan, Ehsan; Yan, Joseph; Salcudean,
  Septimiu E. “Methods for the estimation of sub-sample motion of digitized ultrasound echo signals
  in two dimensions”. Engineering in Medicine and Biology Society, EMBS 2008. 30th Annual
  International Conference of the IEEE, pp. :5581 - 5584, 20-25 Aug. 2008.
  
• Eskandari, Hani; Salcudean, Septimiu E. “Characterization of the viscosity and elasticity in soft
  tissue using dynamic finite elements”, Engineering in Medicine and Biology Society, 2008.
  EMBS 2008. 30th Annual International Conference of the IEEE, pp.:5573 - 5576, 20-25 Aug.
  2008.
  
• Wen, Xu; Salcudean, S.E. “Detection of brachytherapy seeds using 3D ultrasound”, Engineering
  in Medicine and Biology Society, EMBS 2008. 30th Annual International Conference of the
  IEEE, pp.:855–858, Aug. 2008.
  
• O. Goksel and S.E. Salcudean: ”Real-time Synthesis of Image Slices in Deformed Tissue from
  Nominal Volume Images”, Proceedings of the 10th Medical Image Computation and Computer
  Assisted Intervention pp.401-408, Brisbane, Australia, Oct 2007.
  
• O. Goksel and S.E. Salcudean: ”Fast B-Mode Ultrasound Image Simulation of Deformed Tissue”,
  Proceedings of the 29th IEEE EMBS International Conference, pp. 2159-2162, Lyon, France,
  Aug 2007.
  
• X. Wen and S.E. Salcudean, ”Enhancement of bone surface visualization using ultrasound radio
  frequency signals”, Proc. IEEE Ultrasonics Symposium, 2007, pp. 2535-2538.
  
• O. Goksel, R.-Z. Azar, and S.E. Salcudean: ”Simulation of Ultrasound Radio-Frequency Signals in
  Deformed Tissue for Validation of 2D Motion Estimation with Sub-Sample Accuracy”, Proc. 29th
  IEEE EMBS International Conference, pp. 87-90, Lyon, France, Aug 2007.
  
• E. Dehghan, X. Wen, R. Zahiri-Azar, M. Marchal and S. E. Salcudean, ”Modeling of needle-tissue
  interaction using ultrasound-based motion estimation”, International Conference on Medical
  Image Computing and Computer Assisted Intervention (MICCAI), Brisbane, Australia, pp.
  709-716, 2007.
  
• E. Dehghan, X. Wen, R. Zahiri-Azar, M. Marchal and S. E. Salcudean, ”Parameter identification
  for a needle-tissue interaction model”, International Conference of the IEEE/EMBS, pp.
  190-192, Lyon, France, 2007.
  
• E. Dehghan and S. E. Salcudean, ”Needle Insertion Point and Orientation Optimization in
  Non-linear Tissue with Application to Brachytherapy”, IEEE Int. Conf. Robotics and Automation,
  pp. 2267-2272, Roma, Italy, 2007.
• X. Wen and S.E. Salcudean, ”Power strain imaging based on vibro-elastography techniques”, Proc.
  SPIE, v 6513, Medical Imaging 2007: Ultrasonic Imaging and Signal Processing, 2007, p 65130I.
  
• X. Wen, S.E. Salcudean, P.D. Lawrence and J. Morris, ”Ultrasound-only dosimetry for prostate
  brachytherapy: preliminary phantom results”, Proc. SPIE, v 6513, Medical Imaging 2007:
  Ultrasonic Imaging and Signal Processing, 2007, p 65130M.
  
• R. Zahiri-Azar and S. Salcudean,  “Real-time Estimation of Lateral motion using Time Domain Cross Correlation with Prior Estimates”, Proc. IEEE Ultrasonics Symp., Vancouver, Canada, Oct. 2006.
• E. Dehghan, O.Goksel, and S.E.Salcudean: A Comparison of Needle Bending Models.  Proc of 9^th Medical Image Computing & Computer-Assisted Intervention (MICCAI) Conf. pp, 305-312, 2006.
• S. Badiei, S.E. Salcudean, J. Varah, J. Morris, “Prostate Segmentation in 2D Ultrasound Images Using Image Warping and Ellipse Fitting”, MICCAI 2006.
• S.E. Salcudean, D. French, S. Bachmann, R. Zahiri-Azar, X. Wen, W.J. Morris, “Viscoelasticity Modeling of the Prostate Region Using Vibro-elastography”, MICCAI 2006.
• Goksel, O., Salcudean, S.E., and Rohling, R. (2006) Image Synthesis of Deformed Tissue with Application to Ultrasound for Prostate Brachytherapy. 29th Canadian Medical and Biological Engineering Conference, Vancouver, BC, Canada. [1st Place in the Student Paper Competition]
• H. Eskandari and S. E. Salcudean, "Robust Estimation of Tissue Elasticity Using Dynamic Finite Elements and Spectral Averaging", 29th Canadian Medical and Biological Engineering Conference (CMBEC29), p. 30, June 2006, Vancouver, Canada.
• X. Wen and S.E. Salcudean, "Real-time Kalman-filtered strain imaging of the human prostate", CMBEC29, Vancouver, BC, Canada, June 2006.
• J. Guerrero, S. E. Salcudean, J. A. McEwen, B. A. Masri, and S. Nicolaou. Fast Screening System for Deep Vein Thrombosis. In 29th Conference of the Canadian Medical and Biological Engineering Society, Vancouver, BC, June 2006. CMBES.
•   X. Wen, S.E. Salcudean and R. Zahiri-Azar, "Fast computation for ultrasound vibro-elastography", CMBEC29, Vancouver, BC, Canada, June 2006.
• X. Wen, S.E. Salcudean, and P.D. Lawrence, "Detection of brachytherapy seeds using ultrasound radio frequency signals", Proc. SPIE Vol. 6147, Medical Imaging 2006: Ultrasonic Imaging and Signal Processing, Stanislav Emelianov, William F. Walker, Editors , March 2006.
• O. Goksel, S.E. Salcudean, S.P. DiMaio, R. Rohling and J. Morris, "3D Needle-Tissue Interaction Simulation for Prostate Brachytherapy", MICCAI 2005, pp.827-834.
• D. Constantinescu, S.E. Salcudean, and E.A.Croft, “Haptic rendering of topological constraints to unsers manipulating serial virtual linkages”, Proc. IEEE Int. Conf. Robot. Aut., pp.3831-36, 2005.
  
• Zahiri-Azar R., Salcudean S.E., "Time Domain Cross Correlation with Prior Estimates", Third Int. Conf. On the Ultrasonic Meas. Imag. Tissue Elasticity,, Oct. 17-20, 2004,  Cumbria, UK.
• Eskandari H., Salcudean S.E., "Tissue strain imaging using a wavelet-based peak searching
  algorithm", same ICUMITE conference as above.
• S.P. DiMaio, K. Hashtrudi-Zaad, and S.E. Salcudean, “Optimal Selection of Manipulator Impedance for Contact Tasks,” To appear in IEEE Intl. Conf. Rob. Aut. 2004.
• D. Constantiescu, S.E. Salcudean and E.A. Croft, "Haptic rendering of rigid body collisions", 12th Symp. On Haptic Interfaces for Virtual Env. & Teleop. Sys., pp. 2-8, March 2004.  [Best Paper Award]
  
• Constantinescu, D. and Salcudean, S.E. and Croft, E.A., "Haptic Feedback using Local Models of Interaction", 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Los Angeles, CA, pp. 416--421, March, 2003.
• S.P. DiMaio and S.E. Salcudean, ``Needle Steering and Model-Based Trajectory Planning", Medical Image Computing & Computer-Assisted Intervention, 2003. [Best Student Paper Award].
• R. Ebrahimi, S. Okazawa, R. Rohling and S.E. Salcudean, "Hand-Held Steerable Needle Device", Medical Image Computing and Computer-Assisted Intervention, 2003.
• J. Guerrero, S.E. Salcudean, James A. McEwen, Bassam A. Masri and Savvas Nicolaou,"Deep Venous Thrombosis Screening System Using Numerical Measures", Engg  Med. and Bio., 2003.
• J. Guerrero, S.E. Salcudean, James A. McEwen, Bassam A. Masri and Savvas Nicolaou, "Measurement-Based Deep Venous Thrombosis Screening System", Medical Image Computing and Computer-Assisted Intervention, 2003.
• S.P. DiMaio and S.E. Salcudean , “Needle Insertion Modelling and Simulation,” Proc. IEEE Intl. Conf. Rob. Aut.,  pp.2098-2105, May 2002. [Best Student Paper Award].
• S.P. DiMaio and S.E. Salcudean, “Simulated interactive needle insertion, ” in IEEE Virtual Reality 2002, Medical Image Computing and Computer-Assisted Intervention, September 2002.
  
• S.P. DiMaio and S.E. Salcudean, “Needle Insertion Modelling for the Interactive Simulation of Percutaneous Procedures”, IEEE Virtual Reality 2002, pp.344-351, March 2002. 
• P. Abolmaesumi, M.R. Sirouspour, S.E. Salcudean and W.H. Zhu, Adaptive Image Servo Controller for Robot-assisted Diagnostic Ultrasound, IEEE/ASME International Conference on Advanced Intelligent  Mechatronics (AIM), Como, Italy, July 2001. (PDF Copy)
• P. Abolmaesumi, S.E. Salcudean, W.H. Zhu, S.P. DiMaio and M.R. Sirouspour, A User Interface for Robot-assisted Diagnostic Ultrasound, IEEE  Int. Conf. on Rob. and Auto. (ICRA), Korea, May 2001. (PDF Copy)
• S.E. Salcudean, W.H. Zhu, P. Abolmaesumi, S. Bachmann, G. Bell, P.D. Lawrence, M.R. Sirouspour and S.P. DiMaio, Robot-assisted Diagnostic Ultrasound, 2001 International Conference on Robotics and Automation, Korea, Video Presentation, May 2001.
• S.E. Salcudean, W.H. Zhu, P. Abolmaesumi, S. Bachmann and P.D. Lawrence, "A Robot System for Medical Ultrasound", Robotics Research,  the 9th International Symposium of Robotics Research (ISRR’99), J.M. Hollerbach and D.E. Koditschek (Eds.), pp. 195-202, Springer 2000. (PDF Copy)
• S.P. DiMaio, S.E. Salcudean and M.R. Sirosupour, "Haptic Interaction with a Planar Environment}, 9th  Symp. Haptic Interfaces for Virtual Env. & Teleop. Sys, Intl. Mech. Eng. Congr. Exp., (ASME Winter Annual Meeting), DSC-Vol.69-2, pp.1223-1230, Orlando, FL, Nov. 5-10, 2000. (PDF Copy)
• P. Abolmaesumi, S.E. Salcudean and W.H. Zhu, Visual Servoing for Robot-assisted Diagnostic Ultrasound, IEEE World Congress of   Biomedical Engineering, Chicago, July 2000. (PDF Copy)
• P. Abolmaesumi, M.R. Sirouspour, S.E. Salcudean, "Real-time extraction of carotid artery contours from ultrasound images", 13th IEEE Symp.Comp.-Based Med. Sys, Houston, TX, June 23-24, 2000.  (PDF Copy)
• M.R. Sirouspour and S.E. Salcudean, "On the Nonlinear Control of Hydraulic Servosystems",  IEEE International Conference on Robotics and Automation, 7 pages, San Francisco, CA, April 2000. (PDF Copy)
• S.E. Salcudean and L. Stocco, "Isotropy and Actuator Optimization in Haptic Interface Design", 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000. (PDF Copy)
• K. Hashtrudi-Zaad and S.E. Salcudean, "Analysis and Evaluation of Stability and Performance Robustness for Teleoperation Control Architectures", 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000.
• W.-H. Zhu, S.E. Salcudean, S. Bachmann and P. Abolmaesumi, "Motion/Force/Image Control of a Diagnostic Ultrasound Robot", 2000 IEEE Intl. Conf. Rob. Aut., San Francisco, CA, April 2000. (PDF Copy)
• D. Constantinescu, I. Chau, S.P. DiMaio, L. Filipozzi, S.E. Salcudean and F. Ghassemi, "Haptic Rendering of Planar Rigid-Body Motion using a Redundant Parallel Mechanism", 2000  IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000. (PDF Copy)
• M.R. Sirouspour, S.P. DiMaio, S.E. Salcudean, P. Abolmaesumi and C. Jones, "Haptic Interface Control - Design Issues and Experiments with a Planar Device", 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000. (PDF Copy)
• K. Hashtrudi-Zaad, and S.E. Salcudean, "Bilateral Parallel Force/Position Teleoepration Control", 1999 Symp. Haptic Interfaces for Virtual Environments and Teleoperation Systems, Intl. Mech. Eng. Congr. Exp., (ASME Winter Annual Meeting), DSC Vol., pp. 351--358, Nashville, TN, November 1999. (PDF Copy)
• S.E. Salcudean, R. Six, R. Barman, S. Kingdon, I. Chau, D. Murray and M. Steenburgh, "Control Electronics and Hybrid Dynamic Systems-based API for a 6-DOF Desktop Haptic Interface", 1999 Symp. Haptic Interfaces for Virtual Environments and Teleoperation Systems, Intl. Mech. Eng. Congr. Exp., (ASME Winter Annual Meeting), DSC Vol., pp. 407-414, Nashville, TN, November 1999. (PDF Copy)
• A.L. Trejos, S.E. Salcudean, F. Sassani and S. Lichtenstein, "On the Feasibility of a Moving Support for Surgery on the Beating Heart", MICCAI’99, pp.1088-1097, Cambr., U.K., Sept. 1999. (PDF Copy)
• S.E. Salcudean, G. Bell, S. Bachmann, W.H. Zhu, P. Abolmaesumi and P.D. Lawrence, Robot-assisted Diagnostic Ultrasound: Design and Feasibility Experiments,  Medical Image Computing and Computer Assisted  Intervention (MICCAI), Cambridge, UK, September 1999. (PDF Copy)
• W.-H. Zhu and S.E. Salcudean, "Teleoperation with Adaptive Motion/Force Control", IEEE International Conference on Robotics and Automation,  pp.231-237, Detroit, MI, May 1999. (PDF Copy)
• K. Hashtrudi-Zaad, and S.E. Salcudean, "On the Use of Local Force Feedback for Transparent Teleoperation", IEEE International Conference on Robotics and Automation, pp.1863-1869,  Detroit, MI, May 1999.
• W.-H. Zhu, S.E. Salcudean and M. Zhu, "Experiments with Transparent Bilateral Teleoperation under Position and Rate Control", IEEE International Conference on Robotics and Automation, pp.1870--1875, Detroit, MI, May 1999. (PDF Copy)
• T. Gilhuly, S.E. Salcudean, K. Ashe, S. Lichtenstein, P.D. Lawrence: "Heart Stabilizer and Surgical Arm Design for Cardiac Surgery", pp.699-704, IEEE Conf. Rob. Aut., Leuven, Belgium, May 1998.
• L. Stocco, S.E. Salcudean and F. Sassani, "Matrix Normalization for Optimal Robot Design", 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 1998. (Zipped Postcript Copy) (PDF Copy)
• S.P. DiMaio, S.E. Salcudean, C. Reboulet, S. Tafazoli and K. Hashtrudi-Zaad, "A Virtual Excavator for Controller Development and Evaluation",  1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 1998. (Zipped Postcript Copy) (PDF Copy)
• S.E. Salcudean, K. Hastrudi-Zaad, S. Tafazoli, S.P. DiMaio and C. Reboulet, "Bilateral Matched Impedance Teleoperation with Application to Excavator Control", 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 1998.
• Z.J. Hu, P.D. Loewen and S.E. Salcudean, "Minimax Linear-Quadratic Controller Design'', Proceedings of the 18th IFIP Conference on Systems modelling and Optimization, Addison Wesley Longman.
  
• S.E. Salcudean and N.R. Parker, "6-DOF Desk-Top Voice-Coil Joystick'', 6th Annual Symposium on Haptic Interfaces for Virtual Environments and Teleoperation Systems, Intl. Mech. Eng. Congr. Exp., (ASME Winter Annual Meeting), DSC-Vol. 61, pp. 131--138, Dallas, Texas, November 16-21, 1997. (Zipped Postcript Copy) (PDF Copy)
• L. Stocco, S.E. Salcudean  and F. Sassani, "Mechanism Design for Global Isotropy with Applications to Haptic Interfaces'',  6th Annual Symposium on Haptic Interfaces for Virtual Environments  and Teleoperation Systems, Intl. Mech. Eng. Congr. Exp., (ASME Winter Annual Meeting), pp.115-122, Dallas, Texas, November 16-21, 1997.
• S.E. Salcudean, S. Tafazoli, K. Hashtrudi-Zaad, P.D. Lawrence and I. Chau,  "Impedance Control of a Teleoperated Mini-Excavator'',  8th Intl. Conf. on Adv. Rob. (ICAR'97),  pp.19-25, Monterey, CA, July 1997. (Zipped Postcript Copy) (PDF Copy)
• S.E. Salcudean, S. Tafazoli, K. Hashtrudi-Zaad, P.D. Lawrence and C. Reboulet, "Evaluation of Impedance and Teleoperation Control of a Hydraulic Mini-Excavator'',  EXPERIMENTAL ROBOTICS V: The Fifth Intl. Symposium, Barcelona, Catalonia, June 15-18, 1997, pp.187-198, to appear in the Springer-Verlag LNCIS series. (Zipped Postcript Copy) (PDF Copy)
• D. Li and S.E. Salcudean,  "Modeling, Simulation and Control of a Hydraulic Stewart Platform'', Proc. IEEE Intl. Conf. Rob. Aut.,  pp. 3360-3366, Alb., New Mexico, April 1997. (Zipped Postcript Copy) (PDF Copy)

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