Arshia Akbari — accepted AI-conference papers

2025

Soft Bidirectional Shape Memory Alloy Actuators for Robotic Catheters

Vinesh Manian, Keiju Oda, Parmida AfshariNejad, Kyungjoon Lee, Arshia Akbari, Jun Sheng

RA-L 2025

In this paper, we present a robotic catheter consisting of a steerable tip driven by a novel soft shape memory alloy (SMA) actuator. The SMA actuator is a continuum body made of silicone hosting a U-shaped SMA bending wire and a pre-stretched elastic band. Through Joule heating, the temperature and

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2025

Towards a Steerable Neurosurgical Robot for Debulking of Brain Mass Lesions

Sarvesh Saini, Saeed Rezaeian, Arshia Akbari, Behnam Badie, Jun Sheng

RA-L 2025

Minimally invasive surgery is regarded as a safer approach than open craniotomy to removing deep intracerebral mass lesions such as hematomas. It is usually performed by introducing a straight suction tool, sometimes combined with accessories for tissue debridement and irrigation, into the brain. Si

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