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Mohamed E. M. K. Abdelaziz

9 accepted papers

2025

Vine4Spine: A Steerable Tip-Growing Robot with Contact Force Estimation for Navigation in the Spinal Subarachnoid Space

Zicong Wu, S. M. Hadi Sadati, Panagiotis Vartholomeos, Mohamed E. M. K. Abdelaziz, Burak Temelkuran, George Petrou +4
IROS 2025

Therapies targeting neurodegenerative diseases via brain ventricles and spinal parenchyma face delivery challenges. Systemic administration is ineffective due to the blood-brain barrier, while direct surgical access, especially for multi-site delivery, is highly invasive. The spinal subarachnoid spa

Cited by 5Source ↗Scholar ↗
2023

Semi-autonomous robotic control of a self-shaping cochlear implant

Daniel Bautista-Salinas, Conor Kirby, Mohamed E. M. K. Abdelaziz, Burak Temelkuran, Charlie T. Huins, Ferdinando Rodriguez y Baena
ICRA 2023poster

Cochlear implants (CIs) can improve hearing in patients suffering from sensorineural hearing loss via an electrode array (EA) carefully inserted in the scala tympani. Current EAs can cause trauma during insertion, threatening hearing preservation; hence we proposed a pre-curved thermally drawn EA th…

Cited by 1Source ↗Scholar ↗
2020

Collaborative Robot-Assisted Endovascular Catheterization with Generative Adversarial Imitation Learning

Wenqiang Chi, Giulio Dagnino, Trevor M. Y. Kwok, Anh Nguyen, Dennis Kundrat, Mohamed E. M. K. Abdelaziz +3
ICRA 2020poster

Master-slave systems for endovascular catheterization have brought major clinical benefits including reduced radiation doses to the operators, improved precision and stability of the instruments, as well as reduced procedural duration. Emerging deep reinforcement learning (RL) technologies could pot…

Cited by 116Source ↗Scholar ↗
2020

End-to-End Real-time Catheter Segmentation with Optical Flow-Guided Warping during Endovascular Intervention

Anh Nguyen, Dennis Kundrat, Giulio Dagnino, Wenqiang Chi, Mohamed E. M. K. Abdelaziz, Yao Guo +4
ICRA 2020poster

Accurate real-time catheter segmentation is an important pre-requisite for robot-assisted endovascular intervention. Most of the existing learning-based methods for catheter segmentation and tracking are only trained on smallscale datasets or synthetic data due to the difficulties of ground-truth an…

Cited by 38Source ↗Scholar ↗
2019

Toward a Versatile Robotic Platform for Fluoroscopy and MRI-Guided Endovascular Interventions: A Pre-Clinical Study

Mohamed E. M. K. Abdelaziz, Dennis Kundrat, Marco Pupillo, Giulio Dagnino, Trevor M. Y. Kwok, Wenqiang Chi +5
IROS 2019poster

Cardiovascular diseases remain as the most common cause of death worldwide. Remotely manipulated robotic systems are utilized to perform minimally invasive endovascular interventions. The main benefits of this methodology include reduced recovery time, improvement of clinical skills and procedural f…

Cited by 71Source ↗Scholar ↗
2018

Design and Kinematics Characterization of a Laser-Profiled Continuum Manipulator for the Guidance of Bronchoscopic Instruments * This work was supported by Engineering and Physical Sciences Research Council (EPSRC), United Kingdom (EP/N019318/1). Ning Liu and Mali Shen are also supported by Chinese Scholarship Council (CSC)

Ning Liu, Mohamed E. M. K. Abdelaziz, Mali Shen, Guang-Zhong Yang
ICRA 2018

Bronchoscopic intervention, as a minimally invasive method for the diagnosis and treatment of lung diseases, has attracted more and more attention in recent years. However, existing endobronchial instruments lack the steerability accessing the peripheral airways with difficult bifurcations. This pap

Cited by 415Source ↗Scholar ↗
2018

Design and kinematics characterization of a laser-profiled continuum manipulator for the guidance of bronchoscopic instruments

Ning Liu, Mohamed E. M. K. Abdelaziz, Mali Shen, Guang-Zhong Yang
ICRA 2018poster

Bronchoscopic intervention, as a minimally invasive method for the diagnosis and treatment of lung diseases, has attracted more and more attention in recent years. However, existing endobronchial instruments lack the steerability accessing the peripheral airways with difficult bifurcations. This pap…

Cited by 25Source ↗Scholar ↗
2018

Trajectory Optimization of Robot-Assisted Endovascular Catheterization with Reinforcement Learning

Wenqiang Chi, Jindong Liu, Mohamed E. M. K. Abdelaziz, Giulio Dagnino, Celia Riga, Colin Bicknell +1
IROS 2018poster

Emerging robot-assisted endovascular intervention has the potential to reduce X-ray radiations to the operator while enhancing the stability and dexterity of catheter manipulation. Supervised and shared autonomy of endovascular procedures could add further improvements in reduced fatigue and cogniti…

Cited by 60Source ↗Scholar ↗
2017

Controlling the Stormram 2: An MRI-compatible robotic system for breast biopsy

Mohamed E. M. K. Abdelaziz, Vincent Groenhuis, Jeroen Veltman, Francoise Siepel, Stefano Stramigioli
ICRA 2017poster

Breast cancer is the most frequently life-threatening diagnosed type of cancer among women. Early and accurate diagnosis by acquiring a tissue sample using biopsy techniques is essential. However, small lesions only visible by MRI are often missed in standard methods, indicating the need for a robot…

Cited by 22Source ↗Scholar ↗