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Kimia Forghani

dblp:400/2067 · DBLP profile ↗
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1ranked-venue papers
1as first author
1since 2021 · last 2025
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 first-author · 1 since 2021Systems, architecture and hardware · 1 · 1 first-author · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Robot manipulation · 50% Motion planning and robot control · 50%

Topics — the 4 heaviest of 4, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Robot manipulation › medical robotics › surgical robotics
autonomous suturing
0.912025
Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery · ICRA 2025
Robotics › Motion planning and robot control › robot control › safe control
control barrier functions
0.912025
Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery · ICRA 2025
Robotics › Motion planning and robot control › robot control
safe control
0.912025
Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery · ICRA 2025
Robotics › Robot manipulation › medical robotics
surgical robotics
0.912025
Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery · ICRA 2025

Methods — techniques the papers use, named apart from their topics

magnetic actuation · 0.9control lyapunov function · 0.9
YearPublicationVenuePosition
2025 Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery
abstract
Automating surgical systems enhances precision and safety while reducing human involvement in high-risk environments. A major challenge in automating surgical procedures like suturing is accurately modeling the suture thread, a highly flexible and compliant component. Existing models either lack the accuracy needed for safety-critical procedures or are too computationally intensive for real-time execution. In this work, we introduce a novel approach for modeling suture thread dynamics using control barrier functions (CBFs), achieving both realism and computational efficiency. Thread-like behavior, collision avoidance, stiffness, and damping are all modeled within a unified CBF and control Lyapunov function (CLFs) framework. Our approach eliminates the need to calculate complex forces or solve differential equations, significantly reducing computational overhead while maintaining a realistic model suitable for both automation and virtual reality surgical training systems. The framework also allows visual cues to be provided based on the thread's interaction with the environment, enhancing user experience when performing suture or ligation tasks. The proposed model is tested on the MagnetoSuture system, a minimally invasive robotic surgical platform that uses magnetic fields to manipulate suture needles, offering a less invasive solution for surgical procedures.
Kimia Forghani, Suraj Raval, Lamar O. Mair, Axel Krieger, Yancy Diaz-Mercado
ICRA1