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Ontario Tech acknowledges the lands and people of the Mississaugas of Scugog Island First Nation.

We are thankful to be welcome on these lands in friendship. The lands we are situated on are covered by the Williams Treaties and are the traditional territory of the Mississaugas, a branch of the greater Anishinaabeg Nation, including Algonquin, Ojibway, Odawa and Pottawatomi. These lands remain home to many Indigenous nations and peoples.

We acknowledge this land out of respect for the Indigenous nations who have cared for Turtle Island, also called North America, from before the arrival of settler peoples until this day. Most importantly, we acknowledge that the history of these lands has been tainted by poor treatment and a lack of friendship with the First Nations who call them home.

This history is something we are all affected by because we are all treaty people in Canada. We all have a shared history to reflect on, and each of us is affected by this history in different ways. Our past defines our present, but if we move forward as friends and allies, then it does not have to define our future.

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Carlos Rossa
BEng, MSc, PhD (UPMC - Paris VI)

Assistant Professor

Department of Automotive and Mechatronics Engineering

Faculty of Engineering and Applied Science

Contact information

2000 Simcoe Street North
Oshawa, Ontario L1G 0C5
Office: SIRC 3383

905.721.8668 ext. 7340
905.721.3370 (fax)

carlos.rossa@ontariotechu.ca
http://biomechatronics.ca


Research topics

  • Mechatronics
  • Robotics
  • Medical and Surgical Robotics
  • Haptics
  • Human-Machine Interaction
  • Actuators
  • Sensors
  • Control systems
  • Magnetic fluids

Education

  • PhD (Mechatronics and Robotics) – University of Paris VI (UPMC), 2013
  • MSc (Mechanical Engineering) – Ecole Nationale d'Ingénieurs de Metz, 2010
  • BSc (Mechanical/Mechatronics Engineering) - Ecole Nationale d'Ingénieurs de Metz, 2010
  • BSc (Mechatronics, first cycle)- PUCRS, 2008

Publications and presentations

  • Selected publications and presentations

    Please visit my website for an up-to-date publication list http://www.biomechatronics.ca

    Journal Papers

    • B. Fallahi, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Sliding-based image-guided 3D needle steering in soft tissue. In Control Engineering Practice, vol. 63, pp. 34-43, 2017. 10.1016/j.conengprac.2017.04.001
    • C. Rossa, and M. Tavakoli - Issues in closed-loop needle steering. In Control Engineering Practice, vol. 62, pp. 55-69, 2017. 10.1016/j.conengprac.2017.03.004
    • C. Rossa, T. Lehmann, R. Sloboda, N. Usmani, and M. Tavakoli - A data-driven soft sensor for needle deflection in heterogeneous tissue using just-in-time modelling. In Medical & Biological Engineering & Computing, 2016. In Press. 10.1007/s11517-016-1599-1
    • M. Khadem, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Semi-automated needle steering in biological tissue using an ultrasound-based deflection predictor. In Annals of Biomedical Engineering, vol. 54, no. 4, pp. 924-938, 2016. 10.1007/s10439-016-1736-x
    • T. Lehmann, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - A real-time estimator for needle deflection during insertion into soft tissue based on adaptive modelling of needle tissue interactions. In IEEE Transactions on Mechatronics, vol 21, no. 6, pp. 2601-2612, 2016. 10.1109/TMECH.2016.2598701
    • C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - A hand-held assistant for semi-automated percutaneous needle steering. In IEEE Transactions on Biomedical Engineering, vol 64, no. 3, pp. 637-648, 2016. 10.1109/TBME.2016.2565690
    • M. Khadem , C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - A two-body rigid/flexible model of needle steering dynamics in soft tissue. In IEEE/ASME Transactions on Mechatronics, vol 11, no. 5, pp. 2352-2364, 2016. 10.1109/TMECH.2016.2549505
    • B. Fallahi, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Sliding-based switching control for image-guided needle steering in soft tissue.    In IEEE Robotics and Automation Letters (RA-L), vol 1, no. 2, pp860-867, 2016. 10.1109/LRA.2016.2528293
    • M. Khadem C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Mechanics of tissue cutting during needle insertion in biological Tissue. In IEEE Robotics and Automation Letters (RA-L), vol 1, no. 2, pp 800-807, 2016. 10.1109/LRA.2016.2528301
    • C. Rossa, M. Khadem, , R. Sloboda, N. Usmani, and M. Tavakoli - Adaptive quasi-static modelling of needle deflection during steering in soft tissue. In IEEE Robotics and Automation Letters (RA-L), vol 1, no. 2, pp 916-923, 2016. 10.1109/LRA.2016.2527065
    • C. Rossa, J. Fong, N. Usmani, R. Sloboda, and M. Tavakoli - Multi-actuator haptic feedback on the wrist for needle steering guidance in brachytherapy.    In IEEE Robotics and Automation Letters (RA-L), vol 1, no. 2, pp 852-859, 2016. Also, selected for presentation at the IEEE International Conference on Robotics and Automation, Stockholm, Sweden, 2016. 10.1109/LRA.2016.2528295
    • M. Khadem, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Ultrasound-guided model predictive control of needle steering in biological tissue. In the Journal of Medical Robotics Research (JMRR), vol 1, no. 1, 2016. 10.1142/S2424905X16400079
    • M. Waine, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Needle tracking and deflection prediction for robot-assisted needle insertion using 2D ultrasound images. In the Journal of Medical Robotics Research (JMRR), vol 1, no. 1, 2016. 10.1142/S2424905X16400018
    • C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Estimating needle tip deflection in biological tissue from a single transverse ultrasound image: Application to brachytherapy. In The International Journal of Computer Assisted Radiology and Surgery (IJCARS), vol 11, no. 7, pp 1347-1359, 2015. 10.1007/s11548-015-1329-4
    • M. Waine, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Three-Dimensional needle shape estimation in TRUS-guided prostate brachytherapy using 2D ultrasound images. In IEEE Journal of Biomedical and Health Informatics (J-BHI), vol 20, no 6, pp 1621-1631, 2016. 10.1109/JBHI.2015.2477829
    • C. Rossa, J. Lozada, and A. Micaelli - Design and control of a dual unidirectional brake hybrid actuation system for haptic interfaces.    In IEEE Transactions on Haptics. Vol 7, no 4, pp 442-453, 2014. 10.1109/TOH.2014.2346501
    • C. Rossa, A. Jaegy, A. Micaelli, and J. Lozada - Design considerations for magnetorheological brakes. In IEEE/ASME Transactions on Mechatronics. Vol 19, no. 5, 2014. 10.1109/TMECH.2013.2291966
    • C. Rossa, A. Jaegy, J. Lozada, and A. Micaelli - Development of a multilayered wide-raged torque magnetorheological brake. In Smart Material and Structures. Vol 23, no. 2. 025028, 2014. 10.1088/0964-1726/23/2/025028
    • C. Rossa, L. Eck, J. Lozada, and A. Micaelli - On a novel torque detection technique for magnetorheological actuators. In IEEE Sensors Journal. Vol 14, no. 4, pp 1223-1231, 2014. 10.1109/JSEN.2013.2287730

    Conference Papers

    • C. Rossa, M. Najafi, M. Tavakoli, and K. Adams - Nonlinear workspace mapping for telerobotic assistance of upper limb in patients with severe movement disorders. IEEE International Conference on Systems, Man, and Cybernetics, Banff, Canada, Oct 2017.
    • M. Khadem, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Feedback-linearization-based 3D needle steering in a Frenet-Serret frame using a reduced order bicycle model. American Control Conference, Seattle, USA, pp. 1438-1443, May 2017. (Best student paper award finalist). 978-1-5090-5994-2
    • C. Rossa, M. Khadem, N. Usmani, R. Sloboda, and M. Tavakoli - Constrained optimal control of needle deflection for semi-manual steering. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576933
    • M. Waine, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - An integrator-backstepping control approach for out-of-plane needle deflection minimization. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576998
    • M. Khadem, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Introducing notched flexible needles with increased deflection curvature in soft tissue. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576931
    • J. Carriere, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Real-time needle shape prediction in soft-tissue based on image segmentation and particle filtering. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576934
    • B. Fallahi, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Partial estimation of needle tip orientation in generalized coordinates in ultrasound image-guided needle insertion. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 110.1109/AIM.2016.7576999
    • T. Lehmann, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Needle path control during insertion in soft tissue using a force-sensor-based deflection estimator. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, Jul 2016. 10.1109/AIM.2016.7576929
    • C. Rossa, J. Fong, N. Usmani, R. Sloboda, and M. Tavakoli - Multi-actuator haptic feedback on the wrist for needle steering guidance in brachytherapy. IEEE International Conference on Robotics and Automation, Stockholm, Sweden, 2016. Published in IEEE Robotics and Automation Letters. 10.1109/LRA.2016.2528295
    • B. Fallahi, M. Khadem, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Extended bicycle model for needle steering in soft tissue. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, Oct 2015. 10.1109/IROS.2015.7353998
    • T. Lehmann, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - A virtual sensor for needle deflection estimation during soft-tissue needle insertion. IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. 10.1109/ICRA.2015.7139346
    • M. Khadem, B. Fallahi, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - A mechanics-based model for simulation and control of flexibleneedle steering in soft tissue. IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. 0.1109/ICRA.2015.7139499
    • M. Waine, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - 3D shape visualization of curved needles in tissue from 2D ultrasound images using RANSAC. IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. 10.1109/ICRA.2015.7139855
    • J. Carriere, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli - Needle shape estimation in soft tissue based on partial ultrasound image observation. IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. 10.1109/ICRA.2015.7139501
    • C. Rossa, A. Anastassova, A. Micaelli, and J. Lozada - Perceptual evaluation of the passive/active torque and stiffness asymmetry of a hybrid haptic device. International Conference Eurohaptics 2014, LNCS 8618, pp. 55-60. Versailles, France, Jun 2014. 10.1007/978-3-662-44193-0_8
    • C. Rossa, J. Lozada, and A. Micaelli - Actionneur hybride pour interface à retour d'effort. SEEDS/ JCGE. Saint Nazaire, France, Jun 2013. 10.13140/2.1.3502.0160
    • C. Rossa, J. Lozada, and A. Micaelli - Stable haptic interaction using passive and active actuators. IEEE International Conference on Robotics and Automation (ICRA), pp. 2386, 2392. Karlsruhe, Germany, May 2013. 10.1109/ICRA.2013.6630901
    • C. Rossa, J. Lozada, and A. Micaelli - A new hybrid actuator approach for force-feedback devices. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4054-4049. Vila Moura, Portugal, Oct 2012. 10.1109/IROS.2012.6385784
    • C. Rossa, J. Lozada, and A. Micaelli - Magnetic flux analysis on magnetorheological actuators can detect external force variation. IEEE Sensors Conference. Taipei, Taiwan, Oct 2012. 10.1109/ICSENS.2012.6411116
    • C. Rossa, J. Lozada, and A. Micaelli - Interaction power flow based control of a 1-DOF hybrid haptic device. International Conference Eurohaptics 2012, pp. 151-156. Tampere, Finland, Jun 2012. 10.1007/978-3-642-31404-9_26

    Patents

    • C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli - Hand-held device and computer-implemented system and method for assisted steering of a percutaneously inserted needle. May 2016. Canadian/US patent application 62/337.785.
    • C. Rossa, J. Lozada, and A. Micaelli - Actuator with hybrid actuation for a force feedback interface. WO2013189946, US20150301553A1, Jun 2013.