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Carlos Rossa

Carlos Rossa
BEng, MSc, PhD (UPMC - Paris VI)

Assistant Professor

Department of Automotive, Mechanical and Manufacturing Engineering

Faculty of Engineering and Applied Science

Contact information

2000 Simcoe Street North
Oshawa, Ontario L1H 7K4
Office: ERC 3063

905.721.8668 ext. 5477
905.721.3370 (fax)

carlos.rossa@uoit.ca
http://biomechatronics.ca


Research topics

  • Mechatronics
  • Robotics
  • Medical and Surgical Robotics
  • Haptics
  • Human-Machine Interaction
  • Actuators
  • Sensors
  • Control systems
  • Magnetic fluids

Education

  • PhD (Mechatronics and Robotis) – University of Paris VI (UPMC), 2013
  • MSc (Mechanical Engineering) – Ecole Nationale d'Ingénieurs de Metz, 2010
  • BSc (Mechanical/Mechatronics Engineering) - Ecole Nationale d'Ingénieurs de Metz, 2010
  • BSc (Mechatronics, first cycle)- PUCRS, 2008

Publications and presentations

  • Selected publications and presentations

    Please visit my website for an up-to-date publication list http://www.biomechatronics.ca

    Journal Papers

    • B. Fallahi, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Sliding-based image-guided 3D needle steering in soft tissue. In Control Engineering Practice, vol. 63, pp. 34-43, 2017. 10.1016/j.conengprac.2017.04.001
    • C. Rossa, and M. Tavakoli - Issues in closed-loop needle steering. In Control Engineering Practice, vol. 62, pp. 55-69, 2017. 10.1016/j.conengprac.2017.03.004
    • C. Rossa, T. Lehmann, R. Sloboda, N. Usmani, and M. Tavakoli - A data-driven soft sensor for needle deflection in heterogeneous tissue using just-in-time modelling. In Medical & Biological Engineering & Computing, 2016. In Press. 10.1007/s11517-016-1599-1
    • M. Khadem, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Semi-automated needle steering in biological tissue using an ultrasound-based deflection predictor. In Annals of Biomedical Engineering, vol. 54, no. 4, pp. 924-938, 2016. 10.1007/s10439-016-1736-x
    • T. Lehmann, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - A real-time estimator for needle deflection during insertion into soft tissue based on adaptive modelling of needle tissue interactions. In IEEE Transactions on Mechatronics, vol 21, no. 6, pp. 2601-2612, 2016. 10.1109/TMECH.2016.2598701
    • C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - A hand-held assistant for semi-automated percutaneous needle steering. In IEEE Transactions on Biomedical Engineering, vol 64, no. 3, pp. 637-648, 2016. 10.1109/TBME.2016.2565690
    • M. Khadem , C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - A two-body rigid/flexible model of needle steering dynamics in soft tissue. In IEEE/ASME Transactions on Mechatronics, vol 11, no. 5, pp. 2352-2364, 2016. 10.1109/TMECH.2016.2549505
    • B. Fallahi, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Sliding-based switching control for image-guided needle steering in soft tissue.    In IEEE Robotics and Automation Letters (RA-L), vol 1, no. 2, pp860-867, 2016. 10.1109/LRA.2016.2528293
    • M. Khadem C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Mechanics of tissue cutting during needle insertion in biological Tissue. In IEEE Robotics and Automation Letters (RA-L), vol 1, no. 2, pp 800-807, 2016. 10.1109/LRA.2016.2528301
    • C. Rossa, M. Khadem, , R. Sloboda, N. Usmani, and M. Tavakoli - Adaptive quasi-static modelling of needle deflection during steering in soft tissue. In IEEE Robotics and Automation Letters (RA-L), vol 1, no. 2, pp 916-923, 2016. 10.1109/LRA.2016.2527065
    • C. Rossa, J. Fong, N. Usmani, R. Sloboda, and M. Tavakoli - Multi-actuator haptic feedback on the wrist for needle steering guidance in brachytherapy.    In IEEE Robotics and Automation Letters (RA-L), vol 1, no. 2, pp 852-859, 2016. Also, selected for presentation at the IEEE International Conference on Robotics and Automation, Stockholm, Sweden, 2016. 10.1109/LRA.2016.2528295
    • M. Khadem, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Ultrasound-guided model predictive control of needle steering in biological tissue. In the Journal of Medical Robotics Research (JMRR), vol 1, no. 1, 2016. 10.1142/S2424905X16400079
    • M. Waine, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Needle tracking and deflection prediction for robot-assisted needle insertion using 2D ultrasound images. In the Journal of Medical Robotics Research (JMRR), vol 1, no. 1, 2016. 10.1142/S2424905X16400018
    • C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Estimating needle tip deflection in biological tissue from a single transverse ultrasound image: Application to brachytherapy. In The International Journal of Computer Assisted Radiology and Surgery (IJCARS), vol 11, no. 7, pp 1347-1359, 2015. 10.1007/s11548-015-1329-4
    • M. Waine, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Three-Dimensional needle shape estimation in TRUS-guided prostate brachytherapy using 2D ultrasound images. In IEEE Journal of Biomedical and Health Informatics (J-BHI), vol 20, no 6, pp 1621-1631, 2016. 10.1109/JBHI.2015.2477829
    • C. Rossa, J. Lozada, and A. Micaelli - Design and control of a dual unidirectional brake hybrid actuation system for haptic interfaces.    In IEEE Transactions on Haptics. Vol 7, no 4, pp 442-453, 2014. 10.1109/TOH.2014.2346501
    • C. Rossa, A. Jaegy, A. Micaelli, and J. Lozada - Design considerations for magnetorheological brakes. In IEEE/ASME Transactions on Mechatronics. Vol 19, no. 5, 2014. 10.1109/TMECH.2013.2291966
    • C. Rossa, A. Jaegy, J. Lozada, and A. Micaelli - Development of a multilayered wide-raged torque magnetorheological brake. In Smart Material and Structures. Vol 23, no. 2. 025028, 2014. 10.1088/0964-1726/23/2/025028
    • C. Rossa, L. Eck, J. Lozada, and A. Micaelli - On a novel torque detection technique for magnetorheological actuators. In IEEE Sensors Journal. Vol 14, no. 4, pp 1223-1231, 2014. 10.1109/JSEN.2013.2287730

    Conference Papers

    • C. Rossa, M. Najafi, M. Tavakoli, and K. Adams - Nonlinear workspace mapping for telerobotic assistance of upper limb in patients with severe movement disorders. IEEE International Conference on Systems, Man, and Cybernetics, Banff, Canada, Oct 2017.
    • M. Khadem, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Feedback-linearization-based 3D needle steering in a Frenet-Serret frame using a reduced order bicycle model. American Control Conference, Seattle, USA, pp. 1438-1443, May 2017. (Best student paper award finalist). 978-1-5090-5994-2
    • C. Rossa, M. Khadem, N. Usmani, R. Sloboda, and M. Tavakoli - Constrained optimal control of needle deflection for semi-manual steering. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576933
    • M. Waine, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - An integrator-backstepping control approach for out-of-plane needle deflection minimization. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576998
    • M. Khadem, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Introducing notched flexible needles with increased deflection curvature in soft tissue. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576931
    • J. Carriere, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Real-time needle shape prediction in soft-tissue based on image segmentation and particle filtering. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576934
    • B. Fallahi, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Partial estimation of needle tip orientation in generalized coordinates in ultrasound image-guided needle insertion. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 110.1109/AIM.2016.7576999
    • T. Lehmann, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Needle path control during insertion in soft tissue using a force-sensor-based deflection estimator. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576929
    • C. Rossa, J. Fong, N. Usmani, R. Sloboda, and M. Tavakoli - Multi-actuator haptic feedback on the wrist for needle steering guidance in brachytherapy. IEEE International Conference on Robotics and Automation, Stockholm, Sweden, 2016. Published in IEEE Robotics and Automation Letters. 10.1109/LRA.2016.2528295
    • B. Fallahi, M. Khadem, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Extended bicycle model for needle steering in soft tissue. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, Oct 2015. 10.1109/IROS.2015.7353998
    • T. Lehmann, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - A virtual sensor for needle deflection estimation during soft-tissue needle insertion. IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. 10.1109/ICRA.2015.7139346
    • M. Khadem, B. Fallahi, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - A mechanics-based model for simulation and control of flexibleneedle steering in soft tissue. IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. 0.1109/ICRA.2015.7139499
    • M. Waine, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - 3D shape visualization of curved needles in tissue from 2D ultrasound images using RANSAC. IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. 10.1109/ICRA.2015.7139855
    • J. Carriere, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Needle shape estimation in soft tissue based on partial ultrasound image observation. IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. 10.1109/ICRA.2015.7139501
    • C. Rossa, A. Anastassova, A. Micaelli, and J. Lozada - Perceptual evaluation of the passive/active torque and stiffness asymmetry of a hybrid haptic device. International Conference Eurohaptics 2014, LNCS 8618, pp. 55-60. Versailles, France, Jun 2014. 10.1007/978-3-662-44193-0_8
    • C. Rossa, J. Lozada, and A. Micaelli - Actionneur hybride pour interface à retour d'effort. SEEDS/ JCGE. Saint Nazaire, France, Jun 2013. 10.13140/2.1.3502.0160
    • C. Rossa, J. Lozada, and A. Micaelli - Stable haptic interaction using passive and active actuators. IEEE International Conference on Robotics and Automation (ICRA), pp. 2386, 2392. Karlsruhe, Germany, May 2013. 10.1109/ICRA.2013.6630901
    • C. Rossa, J. Lozada, and A. Micaelli - A new hybrid actuator approach for force-feedback devices. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4054-4049. Vila Moura, Portugal, Oct 2012. 10.1109/IROS.2012.6385784
    • C. Rossa, J. Lozada, and A. Micaelli - Magnetic flux analysis on magnetorheological actuators can detect external force variation. IEEE Sensors Conference. Taipei, Taiwan, Oct 2012. 10.1109/ICSENS.2012.6411116
    • C. Rossa, J. Lozada, and A. Micaelli - Interaction power flow based control of a 1-DOF hybrid haptic device. International Conference Eurohaptics 2012, pp. 151-156. Tampere, Finland, Jun 2012. 10.1007/978-3-642-31404-9_26

    Patents

    • C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Hand-held device and computer-implemented system and method for assisted steering of a percutaneously inserted needle. May 2016. Canadian/US patent application 62/337.785.
    • C. Rossa, J. Lozada, and A. Micaelli - Actuator with hybrid actuation for a force feedback interface. WO2013189946, US20150301553A1, Jun 2013.
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