AIConfPaper
← Search

S. M. Hadi Sadati

13 accepted papers

2026

Toward AI Autonomous Navigation for Mechanical Thrombectomy Using Hierarchical Modular Multi-Agent Reinforcement Learning (HM-MARL)

Harry Robertshaw, Nikola Fischer, Lennart Karstensen, Benjamin Jackson, X. Chen, S. M. Hadi Sadati +3
RA-L 2026

Mechanical thrombectomy (MT) is typically the optimal treatment for acute ischemic stroke involving large vessel occlusions, but access is limited due to geographic and logistical barriers. Reinforcement learning (RL) shows promise in autonomous endovascular navigation, but generalization across ‘lo

Cited by 1Source ↗Scholar ↗
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

Sim2Real Transfer of Reinforcement Learning for Concentric Tube Robots

Keshav Iyengar, S. M. Hadi Sadati, Christos Bergeles, Sarah K. Spurgeon, Danail Stoyanov
RA-L 2023

Concentric Tube Robots (CTRs) are promising for minimally invasive interventions due to their miniature diameter, high dexterity, and compliance with soft tissue. CTRs comprise individual pre-curved tubes usually composed of NiTi and are arranged concentrically. As each tube is relatively rotated an

Cited by 11Source ↗Scholar ↗
2023

Towards a Physics-Based Model for Steerable Eversion Growing Robots

Zicong Wu, Mikel De Iturrate Reyzabal, S. M. Hadi Sadati, Hongbin Liu, Sébastien Ourselin, Daniel Richard Leff +3
RA-L 2023

Soft robots that grow through eversion/apical extension can effectively navigate fragile environments such as ducts and vessels inside the human body. This paper presents the physics-based model of a miniature steerable eversion growing robot. We demonstrate the robot's growing, steering, stiffening

Cited by 19Source ↗Scholar ↗
2023

Vision-Based Autonomous Steering of a Miniature Eversion Growing Robot

Zicong Wu, S. M. Hadi Sadati, Kawal S. Rhode, Christos Bergeles
RA-L 2023

This letter presents vision-based autonomous navigation of a steerable soft growing robot. Our experimental platform is the previously presented MAMMOBOT, which is a small-diameter eversion growing robot with an embedded steerable catheter. The current manuscript first models the robot using kinemat

Cited by 8Source ↗Scholar ↗
2022

A Semi-Supervised Reservoir Computing System Based on Tapered Whisker for Mobile Robot Terrain Identification and Roughness Estimation

Zhenhua Yu, S. M. Hadi Sadati, Helmut Hauser, Peter R. N. Childs, Thrishantha Nanayakkara
RA-L 2022

Identifying terrain type is important for safely operating robots exploration in unstructured environments. In this letter, we firstly proposed a novel tapered whisker-based semi-supervised reservoir computing (TWSSRC) system for improving terrain classification and terrain property estimation for t

Cited by 14Source ↗Scholar ↗
2022

Real-Time Dynamics of Concentric Tube Robots With Reduced-Order Kinematics Based on Shape Interpolation

S. M. Hadi Sadati, Zisos Mitros, Ross Henry, Lingyun Zeng, Lyndon Da Cruz, Christos Bergeles
RA-L 2022

Concentric tube robots (CTRs) are catheter-like robots that can navigate anatomical lumen to reach surgical targets that are deep inside the body. While CTRs have been extensively studied in quasi-static conditions, unique robot behaviours such as hysteresis and snapping, i.e. the sudden release of

Cited by 13Source ↗Scholar ↗
2021

MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection

Pierre Berthet-Rayne, S. M. Hadi Sadati, Georgios Petrou, Neel Patel, Stamatia Giannarou, Daniel Richard Leff +1
RA-L 2021

This letter presents MAMMOBOT, one of the first millimetre-scale steerable soft growing robots for medical applications. MAMMOBOT aims to access the breast through the nipple and navigate the mammary ducts to detect precursors of invasive breast cancers. Addressing limitations of the state-of-the-ar

Cited by 50Source ↗Scholar ↗
2020

Exploiting the Morphology of a Shape Memory Spring as the Active Backbone of a Highly Dexterous Tendril Robot (ATBR)

Kayode Sonaike, S. M. Hadi Sadati, Christos Bergeles, Ian D. Walker
IROS 2020poster

Tendrils are common stable structures in nature and are used for sensing, actuation, and geometrical stiffness modulation. In this paper, for the first time we exploit the helical geometry of a shape memory alloy (SMA) tendril as a simple to fabricate highly dexterous robotic continuum tentacle that…

Cited by 2Source ↗Scholar ↗
2020

Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings

S. M. Hadi Sadati, Ali Shiva, Nicolas Herzig, D. Caleb Rucker, Helmut Hauser, Ian D. Walker +3
RA-L 2020

In this letter, we propose benefiting from load readings at the base of a continuum appendage for real-time forward integration of Cosserat rod model with application in configuration and tip load estimation. The application of this method is successfully tested for stiffness imaging of a soft tissu

Cited by 31Source ↗Scholar ↗
2018

Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz-Galerkin Methods

S. M. Hadi Sadati, S. Elnaz Naghibi, Ian D. Walker, Kaspar Althoefer, D. P. Thrishantha Nanayakkara
RA-L 2018

To address the challenges with real-time accurate modeling of multisegment continuum manipulators in the presence of significant external and body loads, we introduce a novel series solution for variable-curvature Cosserat rod static and Lagrangian dynamic methods. By combining a modified Lagrange p

Cited by 107Source ↗Scholar ↗
2018

Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators

S. M. Hadi Sadati, Luis Sullivan, Ian D. Walker, Kaspar Althoefer, D. P. Thrishantha Nanayakkara
RA-L 2018

We present a three-dimensional (3-D)-printable thermoactive scale jamming interface as a new way to control a continuum manipulator dexterity by taking inspiration from the helical arrangement of fish scales. A highly articulated helical interface is 3-D-printed with thermoactive functionally graded

Cited by 14Source ↗Scholar ↗
2016

A geometry deformation model for compound continuum manipulators with external loading

S. M. Hadi Sadati, Ali Shiva, Ahmad Ataka, S. Elnaz Naghibi, Ian D. Walker, Kaspar Althoefer +1
ICRA 2016

The complexity of soft continuum manipulators with hybrid and tuneable structures poses a challenging task to achieve an inverse kinematics model which is both precise and computationally efficient for control and optimization purposes. In this paper, a new method based on the principle of virtual w

Cited by 25Source ↗Scholar ↗