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Moshe Shoham

Professor



Email: shoham@technion.ac.il
Phone: +972-77-887 3264
Room: 338, LD

Full CV: Open pdf

Tamara and Harry Handelsman Academic Chair

Education

  • 1978 - B.Sc., Faculty of Aeronautical Engineering, Technion - I.I.T.
  • 1982 - M.Sc., Faculty of Mechanical Engineering, Technion - I.I.T.
  • 1986 - D.Sc., Faculty of Mechanical Engineering, Technion - I.I.T.

Research Interests

  • Robotic systems:
    • Kinematics and dynamics of robots.
    • Sensor-based robots.
    • Multi-fingered hands.
  • Medical Robotics.

Industrial Experience

  • Founder, Mazor Surgical Technologies
  • Israel Aircraft Industry (1978-80)

Guest Appointments

  • Visiting professor in Stanford University, California (1994-5)

Academic Appointments

  • Assistant professor in Columbia University, New York (1986-9)

Public Professional Activities

Membership in Professional Societies

  • ASME- Fellow
  • IEEE- Senior Member

Honors and Awards

  • Hershel Rich Innovation Award, 2011
  • Technology Award - the Society for Medical Innovation and Technology (SMIT), 2008
  • Fellow - The American Society of Mechanical Engineers (ASME), 2008
  • Outstanding Israeli project - ROBOCAST: ROBOt and sensors integration for Computer Assisted Surgery and Therapy , European Union 7th Framework Programme for Research and Technological Development. Awarded by the European Commission to the State of Israel, 2007
  • Best Project Award, Israel Technological Incubators, Israel Ministry of Trade and Commerce, 2003
  • Kaplan Prize for Creative Management of High Technology, 2002
  • Juludan Award for Outstanding Scientific Research Achievements, 1999
  • Hershel Rich Innovation Award, 1998
  • Mitchell Entrepreneurial Award, 1996
  • Haifa City (J. Dory) Award for Science and Technology, 1993
  • Ullmann Academic Lecturer, years 1991-1993.

Selected Publications

Books:

  • Fundamentals of Robotics and Robot Structure, Volume 1 and 2.
    First published by Eshed Robotec, Tel-Aviv, Israel, 1984.
    Second published by Kogan Page Ltd., London, Great Britain, 1986.
  • Bamberger, H., Wolf, A., Shoham, M.: Kinematics of Micro Parallel Robots: Research on MEMS Kinematics, VDM Verlag, 2009.

Book Chapters:

  • Co-Author of chapters 4 and 5 in the book: Koren, Y.: Robotics for Engineers, Mc-Graw Hill, 1985.
  • Wolf, A., Shoham, M., " Medical Automation and Robotics ", Springer Handbook of Automation, Nof, Shimon Y. (Ed.), Springer, pp 1397-1407, 2009.
  • Shoham, M., "Robotic Surgery - Enabling Technology?", Robotic Surgery, Rosen, J., Hanaford, B. Satava R.M. (Eds.), Springer, 2010.

Papers:

  • Brodsky, V., Shoham, M.: "Dual-Numbers representation of Rigid Body Dynamics," Journal of Mechanisms and Machine Theory, Vol. 34, No. 5, pp. 693-718, 1999.
  • Ben-Porat, O., Shoham, M., Meyer, J.: "Control Design and Task Performance in Endoscopic Tele-Operation," Presence, MIT Press, Vol. 9, Issue 3, pp. 256-267, 2000.
  • Simaan, N., 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.
  • Glozman, D., Shoham, M., Fischer A. : "A Surface-Matching Technique for Robot-Assisted Registration," Journal of Computer Aided Surgery, Vol. 6, No. 5, pp. 259-269, 2001.
  • Wolf, A., Shoham, M., Schnider, M., Roffman, M.: "Morphometric Study of the Human Lumbar Spine for Operation-Workspace Specifications," Spine Journal, Volume 26, No. 22, pp. 2472-2477, November 2001.
  • Simaan, N., 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.
  • Wolf, A., Shoham, M.: "Investigation of Parallel Manipulators using Linear Complex Approximation," ASME, Journal of Mechanical Design, Vol. 125, No, 3, pp. 564-572, 2003.
  • Simaan, N., 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.
  • Shoham, M., Burman, M., Zehavi, E., Joskowicz, L., Batkilin, E., 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.
  • Wolf, A., Otaviano, E., Shoham, M., Ceccarelli, M.,: "Application of Line Geometry and Linear Complex Approximation to Singularity Analysis of the 3-DOF CaPaMan Parallel Manipulator," Mechanisms and Machine Theory, Vol. 39, No. 1, pp. 75-95, 2003.
  • Wolf, A., Shoham, M., Schnider, M., Roffman, M.: "Feasibility Study of a Mini Robotic System for Spinal Operations: Analysis, and Experiments," Spine Journal, Vol. 29, No. 2, pp. 220-228, 2004.
  • Shoham, M.: "Twisting Wire Actuator," ASME Journal of Mechanical Design, Vol. 127, pp. 441-445, 2005.
  • Shvalb, N., Shoham, M., Blanc, D. :"The Configuration Space of Arachnoid Mechanisms," Journal of Forum Mathematicum, Vol. 17, pp. 1033-1042, 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., Kósa, 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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," IEEE Transactions on Bio-Medical Engineering, 2012.