Publications

This page contains links to documents authored by project members.

Medical Robotics Laboratory, Technion in Press

Masters Theses:

 

      Technion:

 

    • T. Liday (Ostrovsky), M.Sc., “Robot Motion under Neural Network Control”, 1992.
    • E. Shaki, M.Sc., “Control of Robot – Environment Interaction”, 1992.
    • Z. Zaidman, M.Sc., “Manipulability of an Object Grasped by a Multi-Fingered Hand”, 1992.
    • M. Rybski, M.Sc., “Robot Structures based on Inflatable elements”, 1993.
    • V. Brodsky, M.Sc., “Stable Grasp with a Multi-Fingered Hand”, 1994.
    • N. Salomonski, M.Sc., “Inflated Structure Robot”, 1994.
    • R. Ben-Horin, M.Sc., “A Six Degrees-of-Freedom Parallel Robot with Three Planarly Actuated Links”, 1994.
    • N. Simaan, M.Sc., “Analysis and Synthesis of Parallel Robot for Medical Applications”, 1999.
    • P. Dombiak, M.Sc., “Analysis of Flexible Parallel Robots”, 1999.
    • D. Glozman, M.Sc., “Registration of 3-D Objects for Computer Integrated Surgery”, 2000.
    • H. Bamberger, M.Sc., “Dynamics of Severely Vibrated Stabilizing Systems”, 2000.
    • O. Ben-Porat, M.Sc., “Human Interface in Robotic – Assisted Endoscopy”, 2000.
    • M. Burman, M.Sc., “Investigation of Robotic Platforms for Handling of Microsystems”, 2002.
    • I. Arkhangalsky, M.Sc., “Application of Grasp Theory to Registration”, 2003.
    • Y. Shauly, M.Sc., “Force feedback in Remote Manipulation”, 2005.
    • R. Kaidar, M.Sc., “EEG Based Brain-Computer Interface for Movement Control”, 2006.
    • Y. Wischnitzer, “Wire-Driven Parallel Robot: Expending the Workspace by Permitting Collisions between Wires”, 2007.
    • Y. Shor, M.Sc., “Hybrid FES/Active System for Locomotion”, 2008.
    • N. Hassidov, Align “Laparoscopic Visualization Using Multi Cameras Array”, 2008.
    • Z. Neubach, “Ultrasound-Guided Robot for Flexible Needle Steering”, 2010.
    • O. Samoocha, “Self Cleaning Shunt”, 2012.

 

      Columbia University:

 

    • F.H. Jen, M.Sc., “Symbolic Derivation of a Robot Workspace”, 1987.
    • J. J. Bouarso, M.Sc., “Kinematic Control of the Utah/MIT Hand”, 1988.
    • A. Anselmo, M.Sc., “Optical Sensor for Navigation of an AGV”, 1988.
    • R. Srivatsan, M.Sc., “Force Control of Robots for Surface Finishing Applications”, 1989.
    • L. Goldsmith, M.Sc., “Real Time Signal Analysis of an Optical Sensor”, 1989.
    • H. Elci, M.Sc., “Walking Finger Manipulation with a Multi-Fingered Hand”, 1990.

 

Doctoral Theses:

 

      Technion:

 

    • N. Brook., D.Sc., “Object Grasping and Manipulation with a Multi-Fingered Hand”, 1995.
    • V. Brodsky, D.Sc., “Application of Dual Numbers to Dynamics”, 1998.
    • R. Ben-Horin, D.Sc., “Design Parameters of Parallel Manipulators”, 1998.
    • A. Wolf, Ph.D,. “Application of Line Geometry to analysis and Synthesis of Robots”, 2002.
    • N. Simaan, Ph.D., “Task-Based Design and Synthesis of Variable Geometry Parallel Robots”, 2002.
    • G. Kosa, Ph.D., “Micro-Robots in Medical Applications”, 2006.
    • D. Glozman, Ph.D., “Flexible Needle Navigation and Control in Medical Applications”, 2007.
    • N. Shvalb, Ph.D., “Configuration Space of Articulated Robots”, 2007.
    • P. Ben-Horin, Ph.D., “Parallel Robot Singularity Analysis by Grassman-Cayly Algebra”, 2008.
    • H. Bamberger, Ph.D., “Robochip – Micro Robot on a Chip”, 2008.
    • M. Beris, Ph.D., “Medical Robots for Fetal Surgery”, 2010.
    • D. Zarrouk, Ph.D. “The interaction between Micro-Robots and Biological Tissues”, 2011.

 

      Columbia University:

 

  • F.H. Jen, Ph.D., “Kinematics Representations, and Grasp Stability in Robot Arms and Multi-Fingered Hands”, 1992.

Published Papers:

  • Shoham, M., and Weill, R.: “Robot Trajectory Computation Problems,” 3rd Conference on Computer-Aided Design and Manufacturing, Herzelia, December 1981.
  • Shoham, M., and Weill, R.: “Integration of Sensor Signals in the Motion Commands of Robot Systems,” 16th Israel Conference on Mechanical Engineering, Haifa, July 1982.
  • Shoham, M., and Weill, R.: “Analysis of Some Operative Characteristics of Industrial Robots“, 4th Conference on Computer-Aided Design and Manufacturing, Tel-Aviv, December 1982.
  • Shoham, M., Fainman, Y., and Lenz, E.: “An Optical Sensor for Real-Time Positioning, Tracking, and Teaching of Industrial Robots“, IEEE Transactions of Industrial Electronics, Vol. 31, No. 2, pp. 159 – 163, 1984.
  • Shoham, M., and Koren, Y.: “A Convenient and Efficient Method for the Derivation of the Dynamic Equations of Robot Manipulators,” 7th Conference on Computer-Aided Design and Manufacturing, Tel-Aviv, 1985.
  • Koren, Y., and Shoham, M.: “End Effector Guidance of Robot Arms“, Annals of the CIRP, Vol. 36/1, pp. 289-292, 1987.
  • Shoham, M. and Koren, Y.: “Motion Control Algorithms for Sensor-Equipped Robots,” ASME Transactions, Journal of Dynamic Systems, Measurements, and Control, Vol. 109, pp. 335-344, 1987.
  • Shoham, M., and Koren, Y.: “Elimination of the Joint Feedback in Sensor-Guided Robots,” ASME WAM, DSC-Vol. 11, Chicago, 1988, pp. 409-418.
  • Shoham, M. and Krasna, R.: “Identification of a Robot Hand/AGV Location,” 16th Israel Mechanical Engineering Conference, Haifa, 1990.
  • Elci, H., Longman, R. W. and Shoham, M.: “Planar Three-Finger Manipulation of Objects with a Dextrous Robot Hand“, AIAA Guidance, Navigation, and Control Conference, Portland, Oregon, 1990.
  • Shoham, M., and Jen, F.: “Dextrous Manipulation and Stable Grasps with Multi-Fingered Hand,” 2nd France-Israel Conference on Robotics, Paris, 1991.
  • Zussman, E., Shoham, M., and Lenz, E.: “Kinematic Approach to Automatic Assembly Planning,” ASME WAM, PED 50, pp. 125-140, Atlanta, 1991. Full Paper
  • Shoham, M., and Srivatsan, R.: “Automation of Surface Finishing Processes,” Robotics and Computer Integrated Manufacturing, Vol. 9, No. 3, pp. 219-226, 1992.
  • Shoham, M., Li, C., Hacham, Y., and Kreindler, E.: “Neural Network Control of Robot Arms,” Annals of the CIRP, Vol. 41/1, pp. 407-410, 1992. Abstract
  • Zussman, E., Shoham, M., and Lenz, E.: “Automatic Assembly Planning – A Kinematic Approach by Means of Screw Theory,” ASME – Manufacturing Review, Vol. 5, No. 4, pp. 293-304, 1992.
  • Zaidman, Z., and Shoham, M.: “Manipulability of an Object Grasped by a Multi-Fingered Hand“, 17th Israel Mechanical Engineering Conference, Haifa, 1992.
  • Attal, M., Gutman, S., and Shoham, M.: “Cartesian Min-Max Control of Robot Arms,” 17th Israel Mechanical Engineering Conference, Haifa, 1992.
  • Zussman, E., Shoham, M., and Lenz, E.: “Evaluation of Robots for Automatic Assembly Planning,” ASME Design Automation Conference, Phoenix, Arizona, 1992.
  • Brook, N., Shoham, M., and Dayan, Y.: “Grasping and Walking Finger Manipulation of Objects using a Four-Fingered Hand,” Annals of the CIRP, 42/1, pp. 5-8, 1993. Full Paper
  • Shoham, M., and Brodsky, V.: “Analysis of Mechanisms by the Dual Inertia Operator,” Computational Kinematics, Kluwer Academy Publishers, 1993.
  • Attal, M., Gutman, S., and Shoham, M.: “Adaptive Min-Max Controller for Robot Arms subject to Time-Varying Model Uncertainties,” International Conference on Control Theory and its Applications, Jerusalem, 1993.
  • Shoham, M., and Jen, F.H.: “On Rotations and Translations with Application to Robot Manipulators,” Advanced Robotics, Vol. 8, No. 2, pp. 203-229, 1994.
  • Zaidman, Z., and Shoham, M.: “Manipulability of an Object Grasped by a Multi-Fingered Hand,” Advanced Robotics, Vol. 8, No. 2, pp. 231-241, 1994.
  • Brodsky, V., and Shoham, M.: “Dual Inertia Operator and its Application to Robot Dynamics,” ASME Transactions, Journal of Mechanical Design, Vol. 116, No. 4, pp. 1089-1095, 1994.
  • Livshitz L., and Shoham, M.: “Shape Memory Alloy Actuators for Robotic Hand,” 25th Israel Conference on Mechanical Engineering, Haifa, 1994.
  • Brodsky, V., and Shoham, M.: “Stability of Multi-Fingered Hand Grasps,” 25th Israel Conference on Mechanical Engineering, Haifa, 1994.
  • Salomonski, N., Shoham, M., Grossman, G., and Koren, Y.: “Robot with a Flexible and Light Arm based on Inflatable Structure,” 25th Israel Conference on Mechanical Engineering, Haifa, 1994.
  • Meltser, M., Shoham, M., and Manevitz, L.: “Constructive Uniform Approximation of Differentiable Vector-Functions by Neural Network Methods,” World Council on Neural Network, Vol. 2, pp. 372-378, San Diego, 1994.
  • Shaki, E., Dayan, J., and Shoham, M.: “Comparison of Methods for Robot Force Control“, 10th ISPE/IFAC International Conference on CAD/CAM, Robotics and Factories of the Future, Ottawa, Canada, 1994.
  • Brook, N., Mizrahi, J., Shoham, M., and Dayan, Y.: “ A Bio-Mechanical Model of Index Finger Dynamics,” Medical Engineering Physics, Vol. 17, No. 1, pp. 54-63, 1995. Full Paper
  • Salomonski, N., Shoham, M., and Grossman, G.: “Light Robot Arm based on Inflatable Structure“, Annals of the CIRP, Vol. 44/1, pp. 87-90, 1995.Abstract
  • Brodsky, V., and Shoham, M.: “On Modeling of Grasps with a Multi-Fingered Hand,” Computational Kinematics, Kluwer Academy Publishers (Eds. J.-P. Merlet and B. Ravani), 1995. Full Paper
  • Salomonski, N., Shoham, M., Grossman, G., and Koren, Y.: “Construction Robot Based on Inflatable Structure,” The 12th International Symposium on Automation and Robotics in Construction, Warsaw, Poland, 1995.
  • Brodsky, V., and Shoham, M.: “Grasping Force Boundaries with a Position-Controlled Multi Fingered Hand,” 9th World Congress on the Theory of Machines and Mechanisms, IFTOMM, Italy, 1995.
  • Levin, O., Mizrahi, J., Shoham, M., Isakov, V., and Susak, Z.: “CG Kinematics and Joint Torques from Bilateral Force-Plate Measurements in Human Standing,” Medax 95, Israel Society of Clinical Neurophysiology, Tel-Aviv, 1995.
  • Levin, O., Mizrahi, J., Shoham, M., Isakov, V., and Susak, Z.: “Standing Sway Kinematics and Dynamics as Determined from Force-Plate Measurements,” Medicon 95, IIV Mediterranean Conference on Medical and Biological Engineering, Jerusalem, 1995.
  •  Jen, F.H., Shoham, M., and Longman, R.W.: “Liapunov Stability of Force-Controlled Grasps with a Multi-Fingered Hand,” The International Journal of Robotics Research, Vol. 15, No. 2, pp. 137-154, 1996.
  • Rybski, M., Shoham, M., and Grossman G.: “Robotic Manipulators based on Inflatable Structures,” Robotics and Computer Integrated Manufacturing, Vol. 12, No. 1, pp. 111-120, 1996.
  • Meltser, M., Shoham, M., and Manevitz, L.: “Approximating Functions by Neural Networks: A Constructive Solution in the Uniform Norm,” Neural Networks, Vol. 9, No. 6, pp. 965-978, 1996.
  • Benchetrit, U., Lenz, E., and Shoham, M.: “ Robot Motion Planning,” Israel-Germany Bi-National Conference on Computer Integrated Extended Manufacturing Enterprise, Israel, 1996.
  • Levin, O., Mizrahi, J., Shoham, M., Isakov, V., and Susak, Z.: “Lower Extremity Kinematics and Dynamics during Standing Sway as Evaluated from Direct Force-Plate Measurements,” First Mediterranean Congress of Physical Medicine and Rehabilitation, Israel 1996.
  • Roffman, M., Charit, Y., Elber, G., and Shoham, M.: “Robot-Assisted Total Knee Replacement based on Computerized Three-Dimensional Preoperative Planning,” SIROT, Amsterdam, 1996.
  • Ben-Horin, R., and Shoham, M.: “Construction of a New Type of a Six-Degrees-of-Freedom Parallel Manipulator with Three Planarly Actuated Links,” ASME Design Conference, Irvine, California, 1996.
  • Brodsky, V., and Shoham, M.: “Application of the Dual Inertia Operator to the Newton Euler Formulation of Robots’ Inverse Dynamics,” ECPD International Conference on Advanced Robotics, Intelligent Automation and Active Systems, 1996.
  • Zussman, E., Shoham, M., Pritschow, G., and Hamann, G.: “Ways to Novel Fast Scanning Machines,” Israel-Germany Bi-National Conference on The Computer-Integrated Extended Manufacturing Enterprise, Israel, 1996.
  • Shoham, M., and Roth, B.: “Connectivity in Open and Closed Loop Robotic Mechanisms,” Journal of Mechanisms and Machine Theory, Vol. 32, No. 3, pp. 279-294, 1997.Full Paper
  • Goldberger, S., Shoham, M., and Ben-Porat, O.: “Robots in Surgery – Reality or Vision,” Ob/Gyn Update, Vol. 22, pp. 4-8, 1997.
  • Brodsky, V., and Shoham, M.: “Dual Numbers Representation of Rigid Body Dynamics with Application to Multi-Body System,” NATO-Advanced Studies Institute, Varna, 1997. Full Paper
  • Ben-Horin, R., Shoham, M., and Dayan, J.: “On the Isotropic Configurations of a Six-Degrees-of-Freedom Parallel Manipulator,” IFAC, Intelligent Manufacturing Systems, Seoul, Korea, 1997.
  • Brodsky, V., and Shoham, M.: “Explicit Algorithm for Robot Manipulator Dual Dynamics,” ASME Design Engineering Technical Conference, Davis, Sacramento, California, 1997.
  • Ben-Horin, R., and Shoham, M.: “ Six-degree-of-freedom parallel manipulator with three planarly actuated links,” IEEE International Conference on Intelligent Robots and Systems. Vol. 3, Grenoble, France, 1997.
  • Ben-Horin, R., Shoham, M., and Djerassi, S.: “Kinematics, Dynamics and Construction of a Planarly Actuated Parallel Robot,” Robotics and Computer Integrated Manufacturing, Vol. 14, No. 2, pp.163-172, 1998. Full Paper
  • Brook, N., Shoham, M., and Dayan, J.: “Controllability of Grasps and Manipulations in Multi-Fingered Hands,” IEEE Transactions on Robotics and Automation, Vol. 14, No. 1, pp. 185-192, 1998.
  • Benchetrit, U., Lenz, E., and Shoham, M.: “ Collision Detection in Static and Dynamic Complex Scenes not Having Geometry Coherence,” The International Journal of Advanced Manufacturing Technology, Vol. 14, No. 1, pp. 70-76, 1998.
  • Levin, O., Mizrahi, J., and Shoham, M.: “Standing Sway: Iterative Estimation of the Kinematics and Dynamics of the Lower Extremities from Force-Plate Measurements,” Biological Cybernetics, Vol. 78, No. 4, pp. 319-327, 1998. Full Paper
  • Brodsky, V., and Shoham, M.: “Derivation of Dual Forces in Robot Manipulators,” Journal of Mechanisms and Machine Theory, Vol. 33, No. 8, pp. 1241-1248, 1998. Full Paper
  • Shaki, E., Shoham, M., and Dayan, Y.: “Comparison of Robot Force-Control Methods,” International Journal of Modeling and Simulation, Vol. 18, No. 3, pp.173-179, 1998.
  • Shoham, M., Roffman, M., and Goldberger, S. and Simaan, N.: “ Robot Structures for Surgery,” 1st Israeli Symposium on Computer Assisted Surgery, Medical Robotics and Medical Imaging, Haifa, 1998.
  • Shoham, M., Ben-Horin, R., Harari, O., and Falik-Zaccai, T.: “ Robot Structures for Micro-Positioning,” 4th France-Israel Conference on Robotics, Besancon, France, 1998.
  • Kaldor, S., and Shoham, M.: “Micro Engineering Handling – A Challenge and a Problem,” 4th France-Israel Conference on Robotics, Besancon, France, 1998.
  • Simaan, N., Glozman, D., and Shoham, M.: “Design Considerations of new types of Six-Degrees-of-Freedom Parallel Manipulators,” IEEE International Conference on Robotics and Automation, Belgium, Vol. 2, pp. 1327-1333, 1998. Full Paper
  • Brodsky, V., Shoham, M., and Glozman, D.: “Double Circular-Triangular Six Degrees- of-Freedom Parallel Robot,” 6th International Symposium on Advances in Robot Kinematics, Salzburg, Austria, 1998. Full Paper
  • Ben-Porat, O., Shoham, M., and Meyer, J.: “The Effect of Hand-Controller Configuration on Task Performance in Endoscopic Tele-Operation“, 4th International Congress of AECV, Munich, Germany, 1998.
  • Shoham, M.: “A Note on Clifford’s Derivation of Bi-Quaternions“, 10th World Congress on the Theory of Machines and Mechanisms, IFToMM, Finland, 1998. Full Paper
  • Brodsky, V., and Shoham, M.: “Dual-Numbers representation of Rigid Body Dynamics,” Journal of Mechanisms and Machine Theory, Vol. 34, No. 5, pp. 693-718, 1999.
  •  Roffman, M., Borenstein, E., Elber, G., Charit, Y., and Shoham, M.: “Robot-Assisted Total Knee Arthoplasty,” 72nd Annual Meeting, Japanese Orthopaedic Association, Yokohama, Japan, 1999.
  • Shoham, M., Roffman, M., and Goldberger, S. and Simaan, N.: “ Robot Construction for Medical Applications,” 2nd Israeli Symposium on Computer Assisted Surgery, Medical Robotics and Medical Imaging, Jerusalem, 1999. Full Paper
  • Glozman, D., Shoham, M., and Fischer, A.: “Efficient Registration of 3-D objects in Robotic-Assisted Surgery“, CAOS/USA, Pittsburgh, Pennsylvania, 1999.
  • Ben-Porat, O., Shoham, M., and Meyer, J.: “Control Design and Task Performance in Endoscopic Tele-Operation“, Presence, MIT Press, Vol. 9, Issue 3, pp. 256-267, 2000. Full Paper
  • Glozman, D., Shoham, M., and Fischer, A.: “Robot-Assisted Registration for Total Knee Replacement“, CAOS 2000, Davos, Switzerland, 2000.
  • Shoham, M. “On Grassmann’s Products and Clifford’s Dual Unit”, HMM2000, Cassino, Italy, 2000.
  • Glozman, D., Shoham, M., and Fischer, A. : “Robot-Assisted Registration“, 3rd Israeli Symposium on Computer Assisted Surgery, Medical Robotics and Medical Imaging, Technion, Haifa, 2000.
  • Shoham, M. :“;Medical Robotics“, Key Note Lecture, Mechanical Engineering Conference, Ben-Gurion University, Beer Sheba, 2000.
  • Shoham, M. :“;In-Parallel Mechanisms as Robots“, Key Note Lecture, Mechanical Engineering Conference, Ben-Gurion University, Beer Sheba, 2000.
  • Simaan, N., and Shoham, M. : “Remarks on Hidden Lines in Parallel Robots“, Advances in Robot Kinematics, 7th ARK, , Kluwer Academic Publisher, 2000. Full Paper
  • Dombiak, P., Shoham, M., and Grossman, G. :“A Parallel Six Degrees-of-Freedom Inflatable Robot”, ASME 2000 Mechanism and Robotics Conference, Baltimore, 2000.
  • Simaan, N., and Shoham, M. :“Robot Construction for Surgical Applications“, 1st IFAC Conference on Mechatronics, Germany, 2000, Invited Paper.
  • Simaan, N., and Shoham, M.: “Singularity Analysis of a Class of Composite Serial In-Parallel Robots“, IEEE Transactions on Robotics and Automation, Vol. 17, No. 3, June 2001, pp. 301-311. Full Paper
  • Glozman, D., Shoham, M., and Fischer A. : “A Surface-Matching Technique for Robot-Assisted Registration,” Journal of Computer Assisted Surgery, Vol. 6, No. 5, pp. 259-269, 2001. Full Paper
  • Wolf, A., Shoham, M., Schnider, M., and Roffman, M.: “Morphometric Study of the Human Lumbar Spine for Operation-Workspace Specifications“, Spine Journal, Volume 26, Issue 22, pp. 2472-2477, November 2001.
  • Shoval, S., and Shoham, M., : “Sensory Redundant Parallel Mobile Mechanism“, IEEE International Conference on Robotics and Automation, Seoul, Korea, 2001. Full Paper
  • Wolf, A., Shoham, M., Schnider, M., and Roffman, M.: “Morphometric study of the human lumbar spine for operation-workspace specifications“, 6th International ARGOS Symposium, France, 2002.
  • Shoham, M. Burman, M., Zehavi, E., Joskowicz, L., Batkilin, E. and Kunicher, Y.: “Bone-Mounted Miniature Robot for Surgical Spinal Procedures“, 2nd International Conference on Computer Assisted Orthopaedic Surgery, CAOS 2002, Santa Fe, USA, June 2002.
  • Joskowicz, L., Milgrom, C., Shoham, M., Yaniv, Z., and Simkin, A.: “Robot-Guided Long Bone Intramedullary Distal Locking: Concept and Preliminary Results“, 2nd International Conference on Computer Assisted Orthopaedic Surgery, CAOS 2002, Santa Fe, USA, June 2002.
  • Simaan, N., and Shoham, M. : “Stiffness Synthesis of a Variable Geometry Planar Robots“, Advances in Robot Kinematics, 8th ARK, Kluwer Academic Publisher, Spain, 2002. Full Paper
  • Wolf, A., Shoham, M., Park, F. C. : “An investigation of the Self-Motion and Singularities of the 3-UPU Parallel Robot“,Advances in Robot Kinematics, 8th ARK, Kluwer Academic Publisher, Spain, 2002. Full Paper
  • Joskowicz, L., Milgrom, C., Shoham, M., Yaniv, Z., and Simkin, A.: “Robot-Guided Long Bone Intramedullary Distal Locking: Concept and Preliminary Results“, International Symposium on Robotics Automation, ISRA’2002, Toluca, Mexico, 2002.
  • Simaan, N., and Shoham, M.: “Geometric Interpretation of the Derivatives of Parallel Robots’ Jacobian Matrix with Application to Stiffness Control“, ASME, Journal of Mechanical Design, Vol. 125, Issue 1, pp. 33-42, 2003. Full Paper
  • Wolf, A., and Shoham, M.: “Investigation of Parallel Manipulators using Linear Complex Approximation“, ASME, Journal of Mechanical Design, Vol. 125, No, 3, pp. 564-572, 2003. Full Paper
  • Simaan, N., and Shoham, M.: “Stiffness Synthesis of a Variable Geometry Six Degrees-of-Freedom Parallel Robot“,The International Journal of Robotics Research, Vol. 22, No. 9, pp. 757-775, 2003. Full Paper
  • Shoham, M., Burman, M., Zehavi, E., Joskowicz, L., Batkilin, E., and Kunicher Y.: “Bone-Mounted Miniature Robot for Surgical Procedures: Concept and Clinical Applications“,   IEEE Transactions on Robotics and Automation, Vol. 19, No. 5, pp. 893-901, 2003.Full Paper
  • Wolf, A., Otaviano, E., Shoham, M., and Ceccarelli, M.,: “Application of Line Geometry and Linear Complex Approximation to Singularity Analysis of the 3-DOF CaPaMan Parallel Manipulator,” Journal of Mechanisms and Machine Theory, Vol. 39, No. 1, pp. 75-95, 2003.
  • Wolf, A., Shoham, M., Schnider, M., and Roffman, M.: “Feasibility Study of a Mini Robotic System for Spinal Operations: Analysis, and Experiments“, in press, European Spine Journal, 2003.
  • Shoval, S., and Shoham, M.: “Kinematics and Force Analysis of a Parallel Mobile Robot for Accurate and Reliable Motion on Uneven Slippery Surface“, 29th Israeli Conference on Mechanical Engineering, Haifa, 2003.
  • Shoham, M., Burman, M., Zehavi, E., Joskowicz, L., Batkilin, E., and Kunicher Y.: “Bone Mounted Miniature Robot for Surgical Procedures: Concept and Applications,” 3rd International Conference on Computer Assisted Orthopaedic Surgery, CAOS 2003, Spain, 2003.
  • Joskowicz, L., Milgrom, C., Shoham, M., Yaniv, Z., and Simkin, A.: “; A Robot-Assisted System for Long Bone Intramedullary Distal Locking“, 17th International Congress on Computer Assisted Radiology and Surgery, CARS, London, 2003. Full Paper
  • Wolf, A., and Shoham, M.: “Task Based synthesis of Parallel Robots using Line Geometry Tools“, accepted for publication in IEEE Transactions on Robotics and Automation.  
  • Shoham, M. :”On Grassmann’s Products and Clifford’s Dual Unit” Robotics Laboratory Department of Mechanical Engineering Technion – Israel Institute of Technology,2004. Full Paper
  • Glozman. D., and Shoham, M.:”Flexible Needle Steering and Optimal Trajectory Planning for Percutaneous Therapies,” , Proceedings MICCAI 2004: 7th International Conference, Saint-Malo, France, September, 2004. Part II, pp. 137 – 144. Full Paper
  • Bamberger, H., Wolf, A., Shoham, M.:“Assembly Mode Changing in Parallel Mechanisms: Rising on a Ramp” Robotics Laboratory, Faculty of Mechanical Engineering, Technion – Israel Institute of Technology, July 2007. Full Paper
  • Bamberger, H., Wolf, A., Shoham, M.:“Kinematics of Micro Parallel Mechanism Comprising Large Joint Clearances”, Robotics Laboratory, Faculty of Mechanical Engineering, Technion – Israel Institute of Technology, Movie 1 Movie 2
  • Shvalb, N., Shoham, M., Blanc, D. :“The Configuration Space of Arachnoid Mechanisms”, Journal of Forum Mathematicum, Vol. 17, pp. 1033-1042, 2005.
  • Shoham, M.: “Twisting Wire Actuator”, ASME Journal of Mechanical Design, Vol. 127, pp. 441-445, 2005.
  • Kosa, G., and Shoham, M.: “Propulsion of a Swimming Micro Medical Robot”, IEEE International Conference on Robotics and Automation, ICRA, 2005.
  • Shamir, R., Freiman, M., Joskowicz, L., Shoham, M., Zehavi, E., and Shohan, Y.: “Robot-Assisted Image-Guided Targeting for Minimally Invasive Neurosurgery: Planning, Registration and In-Vitro Experiment”, Medical Image Computing and Computer-Assisted Intervention, MICCAI, 2005.
  • Joskowicz, L., Shoham, M., Shamir, R., Freiman, M., Zehavi, E., and Shoshan, Y.: “Miniature robot-based precise targeting system for keyhole neurosurgery: concept and preliminary results”, 19th Int. Congress on Computer-Assisted Radiology and Surgery, CARS’2005, H.U. Lemke et. al. editors, Elsevier, 2005.
  • Ben-Horin, P., and Shoham, M. “Singularity Analysis of a Class of Parallel Robots based on Grassman-Cayley Algebra”, Computational Kinematics 2005,Cassino, Italy.
  • Kaidar, R., Inbar, G. F., Pratt, H., and Shoham, M. :“EEG Gamma-Band Power and Time-Domain Features as Separate Single-Trial Brain Computer Interface Inputs”, Brain Computer Interface (BCI) Conference, Wadsworth, Albany, 2005.
  • Berris, M., Shoham, M. : “Febotics – a Marriage of Fetal Surgery and Robotics”, Journal of Computer Aided Surgery, Vol. 11, No. 4, pp. 175-180, 2006.
  • Joskowicz, L., Shamir, M., Freiman, M., Shoham, M., Zehavi, E., Umansky, F., Shosha, Y.: “Image-Guided System with Miniature Robot for Precise Positioning and Targeting in Keyhole Neurosurgery”, Journal of Computer Aided Surgery, Vol. 11, No. 4, pp. 181-193, 2006.
  • Glozman, D., Shoham, M.: “Flexible Needle Steering for Percutaneous Therapies”, Journal of Computer Aided Surgery, Vol. 11, No. 4, pp. 194-201, 2006.
  • Wolf, A., Shoham, M.: “Screw Theory Tools for the Synthesis of the Geometry of a Parallel Robot for a Given Instantaneous Task”, Mechanisms and Machine Theory, Vol. 41, No. 6, pp. 656-670, 2006.
  • Shoval, S., Shoham, M. :“Motion Analysis of a Parallel Mobile Robot”, Field and Service Robotics, STAR 24, Springer-Verlag, pp. 323-331, 2006.
  • Ben-Horin, P., Shoham, M. :“Singularity analysis of a class of parallel robots based on Grassmann-Cayley algebra”, Mechanisms and Machine Theory, Vol. 41, No. 8, pp. 958-970, 2006.
  • Ben-Horin, P., Shoham, M. :“Singularity Condition of Six Degree-of-Freedom Three-Legged Parallel Robots Based on Grassmann-Cayley algebra”, IEEE Transactions on Robotics, Vol. 22, No. 4, pp. 577-590, 2006.
  • Zaaroor, M., K?sa, G., Peri-Eran, A., Maharil, I., Shoham, M., Goldsher, D.: “Morphological Study of the Spinal Canal Content for Subarachnooid Endoscopy”, Journal of Minimally Invasive Neurosurgery, Vol. 49, No. 4, pp. 220-226, 2006.
  • Ben-Horin, P., Djerassi, S., Shoham, M., Ben-Horin, R.: “Dynamics of a Six Degrees-Of-Freedom Parallel Robot Actuated by Three Two-Wheel Carts”, Journal of Multi body Systems Dynamics, Vol. 16, No. 2, pp. 105-121, 2006.
  • Kosa, G., Shoham, M., and Zaaroor, M.: “Analysis of a Swimming Micro Robot”, BioRob 2006, Pisa, Italy.
  • Shoham, M., Brink-Danan, S., Friedlander, A., and Knoller, N.: “Bone-Mounted Miniature Robotic System for Spine Surgery”, BioRob 2006, Pisa, Italy.
  • Ben-Horin, P., and Shoham, M. :“A Class of 6-DOF Parallel Robots Free of Parallel Singularities”, EUCOMES, Austria, 2006.
  • Ben-Horin, P., and Shoham, M.: “Singularity of a Class of Stewart-Gough Platforms with Three Concurrent Joint”, Advances in Robot Kinematics (ARK), Kluwer Academic Publisher, 2006.
  • Bamberger, H., Shoham, M., and Wolf, A. :“Kinematics of Micro Planar Parallel Robot Comprising Large Joint Clearances”, Advances in Robot Kinematics (ARK), Kluwer Academic Publisher, 2006.
  • Ben-Horin, P., and Shoham, M.: “Singularity of Gough-Stewart platforms with collinear joints”, IFTOMM 2007, France.
  • Togawa, D., Kayanja, M., Reinhardt, M.K., Shoham, M., Balter, A., Friedlander, A., Knoller, N., Benzel, E.C., Lieberman, I.H. :“Bone-Mounted Miniature Robotic Guidance for Pedicle Screw and Translaminar Facet Screw Placement: Part 2 – Evaluation of System Accuracy”, Neurosurgery, Vol. 60, Operative Neurosurgery 1, pp. 129- 139, 2007.
  • Kosa, G., Shoham, M., Zaaroor, M. :“Propulsion Method for Swimming Micro-Robots”,IEEE Transactions on Robotics, Vol. 2, No. 1, pp. 137-150, 2007.
  • Bamberger, H., Shoham, M.: “A Novel Six Degrees-of-Freedom Parallel Robot for MEMS Fabrication”, IEEE Transactions on Robotics, Vol., 23, No. 2, pp. 189-195, 2007.
  • Shoham, M., Lieberman, I. H., Benzel, E. C., Togawa, D., Zehavi, E., Zilberstein, B., Fridlander, A., Joskowicz, L., Brink-Danan, S., Knoller, N. :“Robotic Assisted Spinal Surgery – From Concept to Clinical Practice”, Journal of Computer Aided Surgery, Vol. 12, No. 2, pp. 105-115, 2007.
  • Glozman, D., Shoham, M.: “Image-guided Robotic Flexible Needle Steering”, IEEE Transactions on Robotics, Vol. 23, No. 3, pp. 459-467, 2007.
  • Shvalb, N., Shoham, M., Liu, G., Trinkle, J.C.: “Motion Planning for a Class of Planar Closed-Chain Manipulators”, The International Journal of Robotics Research, Vol. 26, No. 5, pp. 457-473, 2007.
  • Bamberger, H., Shoham, M., and Wolf, A. :“Architectures of Translational Parallel Mechanism for MEMS Fabrication”, IFTOMM 2007, France.
  • Barac, D.Y., Reisner, Y., Silberman, M., Zeevi Levin, N., Danon, A., Salomon, O., Shoham, M., Shilkrut, M., Kostin, S., Schaper, J., Binah, O.: “Mechanical load induced by glass microspheres releases angiogenic factors from neonatal rat ventricular myocytes cultures and causes arrhythmias”, Journal of Cellular and Molecular Medicine, December, 2008.
  • Ben-Horin, P., Shoham, M. :“A class of parallel robots practically free of parallel singularities”, ASME Journal of Mechanical Design, Vol. 130, No. 5, 2008.
  • Bamberger, H., Wolf, A., and Shoham, M. :“Architectures of Translational Parallel Mechanism for MEMS Fabrication”, ASME Journal of Mechanical Design, Vol, 130, No. 8, 2008.
  • Bamberger, H., Wolf, A., and Shoham, M. :“Assembly Mode Changing in Parallel Mechanisms”, IEEE Transactions on Robotics, Vol. 24, No. 4, pp. 765-772, 2008.
  • Wischnitzer, Y., Shvalb, N., Shoham, M. :“Wire-Driven Parallel Robot: Permitting Collisions between Wires”, The International Journal of Robotics Research, Vol. 27, No. 9, pp. 1007-1026, 2008.
  • Zaulan, Y., Alexandrovsky, V., Zilberstein, B., Shoham, M., Roffman, M., Bruskin, A.: “Robotic assisted vertebroplasty: Our Experience With A Novel Approach To The Treatment of Vertebral Compression Fractures”, 1st ISMISS Congress on Minimal Invasive Spine Surgery and Interventional Treatments, Ankara, 2008 – best paper award. Also in ArgoSpine, Paris, 2008.
  • Ben-Horin, P., Shoham, M., Caro, S., Chablat, D., Wenger, P.: “Singulab – A Graphical User Interface for the Singularity Analysis of Parallel Robots Based On Grassmann-Cayley Algebra”,Advances in Robot Kinematics (ARK), Kluwer Academic Publisher, 2008.
  • K?sa, G., Jakab, P., Hata, N., J?lesz, F., Neubach, Z., Shoham, M., Zaaroor, M., Sz?kely, G.: “Flagellar Swimming for Medical Micro Robots: Theory, Experiments and Application”, Invited Conference Paper, 2nd IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechantronics, BioRob 2008, Arizona, 2008.
  • Ben-Horin, P., Shoham, M. :“Application of Grassmann-Cayley algebra to geometrical interpretation of parallel robot singularities”, The International Journal of Robotics Research, Vol, 28, No. 1, pp. 127-141, 2009.
  • Zaulan Y., Alexandrovsky V., Zilberstein B., Shoham M., Roffman M., Bruskin A.: “Robotic assisted vertebroplasty: Our Experience With A Novel Approach To The Treatment Of Vertebral Compression Fractures”, The Internet Journal of Minimally Invasive Spinal Technology, Vol. 2, No. 3, 2008.
  • Shvalb, N., Shoham, M., Bamberger, H., Blanc, D. :“Topological and kinematic singularities for a class of parallel mechanisms”, Mathematical Problems in Engineering, Hindawi Publishing, 2009.
  • Glozman, D., Shoham, M. :“Novel 6-DOF Parallel Manipulator with Large Workspace”, Robotica, Vol. 27, issue 6, pp. 891-895, 2009.
  • Shvalb, N., Shoham, M., Blanc, D.: “The Configuration Space of Parallel Polygonal Mechanisms”, JP Journal of Geometry and Topology, Vol. 9, No. 2, pp. 137-167, 2009.
  • Glozman, D., Shoham, M., Arad, M., Pinski, Y., Daskal, G. :“Flexible Needle Steering by Image Guided Robotic Arm: Phantom Study”, 20th International Conference of the Society of Medical Innovation Technology (SMIT), Vienna, 2008.
  • St. Clair S., Shoham M. :“Transforming standard fluoroscopy to three-dimensional renditions and axial slices for orthopedic surgery”, Computer Assisted Orthopedic Surgery (CAOS), Boston, 2009.
  • Moris, M., Shoham, M. :“Applications and Theoretical Issues of Cable-Driven Robots”, Florida Conference on Recent Advances in Robotics, FCRAR 2009 – Boca Raton, Florida, 2009.
  • Neubach, Z., Shoham, M. :“Ultrasound-Guided Robot for Flexible Needle Steering”, IEEE Transactions on Bio-Medical Engineering, Vol. 57, No. 4, pp. 799-805, 2010.
  • Glozman, D., Hassidov, N., Senesh, M., Shoham, M. :“A Self-Propelled Inflatable Earthworm-Like Endoscope Actuated by Single Supply Line”, IEEE Transactions on Bio-Medical Engineering, Vol. 57, No. 6, pp. 1264-1272, 2010.
  • Devito, D.P. et al., Shoham, M. :“Clinical acceptance and accuracy assessment of spinal implants guided with SpineAssist surgical robot – retrospective study”, SPINE, Vol. 25, No. 24, 2010.
  • Kosa, G., Shoham, M., Haber, S. :“The action of waving cylindrical tails with noncircular cross-section in propelling microrobots”, Physics of Fluids, Vol. 22, No. 8, 2010.
  • Zarrouk, D., Sharf, I., Shoham, M. :“Analysis of Earthworm like Robotic locomotion on Compliant Surface”, IEEE International Conference on Robotics and Automation ( ICRA), Alaska, 2010.
  • Zarrouk, D., Sharf, I., Shoham, M. :“Worm-like Robotic Locomotion in Flexible Environment”,Advances in Robot Kinematics (ARK), Slovenia, 2010.
  • De Lorenzo, D., Manganelli, R., Dyagilev, I., Formaglio, A., De Momi, E., Prattichizzo, D., Shoham, M., Ferrigno, G. :“Miniaturized rigid probe driver with haptic loop control for neurosurgical interventions”, IEEE International Conference on Biomedical Robotics and Biomechatronics (BIOROB), Tokyo, Japan, 2010.
  • Zarrouk, D., Sharf, I., Shoham, M.: “Analysis of Earthworm-like Robotic Locomotion on Compliant Surfaces”, IEEE Transactions on Bio-Medical Engineering, Vol. 58, No. 2, pp. 301-309, 2011.
  • Zarrouk, D., Shoham, M.: “A note on Screw Triangle”, ASME Journal of Mechanical Design, Vol. 3, 014502, 2011.
  • Lorenzo, D., De Momi, E., Dyagilev, I., Manganelli, R., Formaglio, A., Prattichizzo, D., Shoham, M., Ferrigno, G.: “Force feedback in a piezoelectric linear actuator for neurosurgery”, International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 7, Issue 3, 268-275, 2011.
  • Joskowicz, L., Shamir, R., Israel, Z., Shoshan, Y., Shoham, M. :”Renaissance Robotic System for Keyhole Cranial Neurosurgery: In-vitro Accuracy Study”, CARS, 2011.
  • Zarrouk, D., Shoham, M. :“One Degree of Freedom Worm Robot”, ASME Mechanisms and Robotics Conference, Washnigton, 2011.
  • 71. Zarrouk, D., Shoham, M.: “Analysis and Design of One Degree of Freedom Worm Robots for Locomotion on Rigid and Compliant Terrain”, ASME Journal of Mechanical Design, Vol. 134, 021010-1-9, 2012.
  • Zarrouk, D., Sharf, I., Shoham, M. :“Conditions for Worm-Robot Locomotion in a Flexible Environment: Theory and Experiments”, accepted for publication in IEEE Transactions on Bio-Medical Engineering, 2012.
  • Comparetti, MD, Vaccarella, A., Dyagilev, I., Shoham, M., Ferrigno, G., De Momi, E. : “Accurate multi-robot targeting for keyhole neurosurgery based on external sensors monitoring”, Journal of Engineering in Medicine, 2012.
  • Zarrouk, D., Sharf, I., Shoham, M. :“Determining the Condition for Crawling on Flexible Surfaces,”, IEEE International Conference on Robotics and Automation (ICRA), Minnesota, 2012.

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