Mobina Tavangarifard — accepted AI-conference papers

2026

A Single-Fiber Optical Frequency Domain Reflectometry (OFDR)-Based Shape Sensing of Concentric Tube Steerable Drilling Robots

Yash Kulkarni, Mobina Tavangarifard, Daniyal Maroufi, Mohsen Khadem, Justin E. Bird, Jeff Siewerdsen +1

ICRA 2026poster

This paper introduces a novel shape-sensing approach for Concentric Tube Steerable Drilling Robots (CT-SDRs) based on Optical Frequency Domain Reflectometry (OFDR). Unlike traditional FBG-based methods, OFDR enables continuous strain measurement along the entire fiber length with enhanced spatial re…

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2025

Design and Integration of an Optical Frequency Domain Reflectometry (OFDR) Sensor with a Flexible Pedicle Screw for Biomechanical Evaluation

Yash Kulkarni, Mobina Tavangarifard, Jordan P. Amadio, Farshid Alambeigi

IROS 2025

Spinal fixation procedures rely on pedicle screws to stabilize the vertebral column, but conventional rigid pedicle screws (RPS) face challenges such as misplacement, pullout, and loosening, particularly in patients with low bone mineral density (BMD). To overcome these limitations, we recently prop

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2025

Single-Fiber Optical Frequency Domain Reflectometry (Ofdr) Shape Sensing of Continuum Manipulators With Planar Bending

Mobina Tavangarifard, Wendy Rodriguez Ovalle, Farshid Alambeigi

ICRA 2025

To address the challenges associated with shape sensing of continuum manipulators (CMs) using Fiber Bragg Grating (FBG) optical fibers, we present a unique shape sensing assembly utilizing solely a single Optical Frequency Domain Reflectometry (OFDR) fiber attached to a flat nitinol wire (NiTi). Int

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