RoboMed Lab

Publications

2023

Archival

  • T. A. Brumfiel, R. Qi, C. Chapman, A. Rashid, S. N. Melkote, J. J. Chern, and J. P. Desai,  “Design and Modeling of a Sub-2 mm Steerable Neuroendoscopic Grasping Tool,” in IEEE Transactions on Medical Robotics and Bionics, doi: 10.1109/TMRB.2023.3315476.
  • R. Qi, N. U. Nayar and J. P. Desai, “Telerobotic Transcatheter Delivery System for Mitral Valve Implant,” in IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3629-3636, June 2023, doi: 10.1109/LRA.2023.3265592.
  • N. J. Deaton, T. A. Brumfiel, A. Sarma and J. P. Desai, “Simultaneous Shape and Tip Force Sensing for the COAST Guidewire Robot,” in IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3725-3731, June 2023, doi: 10.1109/LRA.2023.3267008.
  • S. R. Ravigopal, A. Sarma, T. A. Brumfiel and J. P. Desai, “Real-Time Pose Tracking for a Continuum Guidewire Robot Under Fluoroscopic Imaging,” in IEEE Transactions on Medical Robotics and Bionics, vol. 5, no. 2, pp. 230-241, May 2023, doi: 10.1109/TMRB.2023.3260273.
  • N. J. Deaton et al., “Towards Steering a High-Dose Rate Brachytherapy Needle With a Robotic Steerable Stylet,” in IEEE Transactions on Medical Robotics and Bionics, vol. 5, no. 1, pp. 54-65, Feb. 2023, doi: 10.1109/TMRB.2023.3237861.
  • Y. Chitalia, A. Sarma, T. A. Brumfiel, N. J. Deaton, M. Sheft and J. P. Desai, “Model-Based Design of the COAST Guidewire Robot for Large Deflection,” in IEEE Robotics and Automation Letters, vol. 8, no. 9, pp. 5345-5352, Sept. 2023, doi: 10.1109/LRA.2023.3286125.
  • N. J. Deaton, M. Sheft and J. P. Desai, “Towards FBG-Based Shape Sensing and Sensor Drift for a Steerable Needle,” in IEEE/ASME Transactions on Mechatronics, doi: 10.1109/TMECH.2023.3239750.
  • P. Tran, D. Elliott, K. Herrin, S. Bhatia, J. P. Desai. Evaluation of the FLEXotendon glove-III through a human subject case study. Biomed. Eng. Lett. 13, 153-163 (2023). https://doi.org/10.1007/s13534-023-00262-2
  • P. Tran, D. Elliott, K. Herrin, J. P. Desai. Towards comprehensive evaluation of the FLEXotendon glove-III: a case series evaluation in pediatric clinical cases and able-bodied adults. Biomed. Eng. Lett. (2023). https://doi.org/10.1007/s13534-023-00280-0

Refereed Conference Proceedings

  • N. U. Nayar, R. Qi and J. P. Desai, “Modeling of a Robotic Transcatheter Delivery System,” 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 4675-4681, doi: 10.1109/ICRA48891.2023.10161486.
  • S. R. Ravigopal, K. M. Williams and J. P. Desai, “Towards Closed-loop Control of the Modified COAST Guidewire under Fluoroscopic Imaging for Endotracheal and Endovascular Interventions,” 2023 International Symposium on Medical Robotics (ISMR), Atlanta, GA, USA, 2023, pp. 1-7, doi: 10.1109/ISMR57123.2023.10130202.
  • N. Malhotra, K. Hoang and J. P. Desai, “Towards the development of a MEMS-based force sensor for in vivo tumor tissue demarcation,” 2023 International Symposium on Medical Robotics (ISMR), Atlanta, GA, USA, 2023, pp. 1-6, doi: 10.1109/ISMR57123.2023.10130220.

2022

Archival

  • S. R. Ravigopal, T. A. Brumfiel, A. Sarma and J. P. Desai, “Fluoroscopic Image-Based 3-D Environment Reconstruction and Automated Path Planning for a Robotically Steerable Guidewire,” in IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 11918-11925, Oct. 2022, doi: 10.1109/LRA.2022.3207568.
  • A. Sarma, T. A. Brumfiel, Y. Chitalia and J. P. Desai, “Kinematic Modeling and Jacobian-based Control of the COAST Guidewire Robot,” in IEEE Transactions on Medical Robotics and Bionics, 2022, doi: 10.1109/TMRB.2022.3216026.
  • U. Nayar, R. Qi and J. P. Desai, “Toward the Design and Development of a Robotic Transcatheter Delivery System for Mitral Valve Implant,” in IEEE Transactions on Medical Robotics and Bionics, vol. 4, no. 4, pp. 922-934, Nov. 2022, doi: 10.1109/TMRB.2022.3215522.

Refereed Conference Proceedings

  • P. Lis, A. Sarma, G. Trimpe, T. A. Brumfiel, R. Qi and J. P. Desai, “Design and Modeling of a Compact Advancement Mechanism for the COAST Guidewire Robot,” 2022 IEEE International Conference on Robotics and Automation (ICRA), doi:10.1109/ICRA46639.2022.9811907.
  • T. A. Brumfiel, A. Sarma and J. P. Desai, “Towards End-Effector Force Estimation for Steerable Continuum Robot,” 2022 IEEE International Symposium on Medical Robotics (ISMR), doi: 10.1109/ISMR48347.2022.9807503.
  • T. A. Brumfiel, K. K. Yamamoto, A. Rashid, A. Shigematsu, C. H. Chapman, S. Melkote, J. J. Chern, and J. P. Desai, “Design of a meso-scale grasper for robotic pediatric neuroendoscope tool,” Proceedings of The 14th Hamlyn Symposium on Medical Robotics 2022, 2022.

2021

Archival

  • P. Tran, S. Jeong, K. R. Herrin and J. P. Desai, “Review: Hand Exoskeleton Systems, Clinical Rehabilitation Practices, and Future Prospects,” in IEEE Transactions on Medical Robotics and Bionics, vol. 3, no. 3, pp. 606-622, Aug. 2021, doi: 10.1109/TMRB.2021.3100625.
  • S. R. Ravigopal, N. U. Nayar and J. P. Desai, “Toward Real-Time Pose Estimation of the Mitral Valve Robot Under C-Arm X-Ray Fluoroscopy,” in IEEE Transactions on Medical Robotics and Bionics, vol. 3, no. 4, pp. 928-935, Nov. 2021, doi: 10.1109/TMRB.2021.3122351.
  • G. C. Collins, T. Brumfiel, Z. L. Bercu, J. P. Desai and B. D. Lindsey, ”Dual-resonance (16/32 MHz) PiezoelectricTransducer with a Single Electrical Connection for Forward-viewing Robotic Guidewire,” in IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, doi: 10.1109/TUFFC.2022.3150746.

Refereed Conference Proceedings

  • P. Tran, S. Jeong, K. Herrin, S. Bhatia, S. Kozin and J. P. Desai, “FLEXotendon Glove-III: Soft Robotic Hand Rehabilitation Exoskeleton for Spinal Cord Injury,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 10332-10339, doi: 10.1109/ICRA48506.2021.9560993.
  • N. Nayar, S. Jeong and J. P. Desai, “Design and Control of 5-DoF Robotically Steerable Catheter for the Delivery of the Mitral Valve Implant,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 12268-12274, doi: 10.1109/ICRA48506.2021.9561146.
  • S. R. Ravigopal, T. A. Brumfiel and J. P. Desai, “Automated Motion Control of the COAST Robotic Guidewire under Fluoroscopic Guidance,” 2021 International Symposium on Medical Robotics (ISMR), 2021, pp. 1-7, doi: 10.1109/ISMR48346.2021.9661508.
  • G. Collins, T. Brumfiel, Z. L. Bercu, J. P. Desai and B. D. Lindsey, “Laser-micromachined, dual-resonant (17/33 MHz) ultrasound transducer with single electrical connection for forward-viewing guidance of a submm, robotically-steerable guidewire,” 2021 IEEE International Ultrasonics Symposium (IUS), 2021, pp. 1-4, doi: 10.1109/IUS52206.2021.9593584.

2020

Archival

  • Collins G, Sarma A, Bercu ZL, Desai JP, Lindsey B. A Robotically Steerable Guidewire with Forward-Viewing Ultrasound: Development of Technology for Minimally-Invasive Imaging. IEEE Trans Biomed Eng. 2020 Dec 2;PP. doi: 10.1109/TBME.2020.3042115. Epub ahead of print. PMID: 33264091.
  • Y. Chitalia, S. Jeong (co-first author), K. K. Yamamoto, J. J. Chern and J. P. Desai, “Modeling and Control of a 2-DoF Meso-Scale Continuum Robotic Tool for Pediatric Neurosurgery,” in IEEE Transactions on Robotics, doi: 10.1109/TRO.2020.3031270.
  • S. Jeong, Y. Chitalia (co-first author), and J.P. Desai, “Design, Modeling, and Control of a Coaxially Aligned Steerable (COAST) Guidewire Robot,” in IEEE Robotics and Automation Letters. 10.1109/LRA.2020.3004782
  • S. Jeong, Y. Chitalia and J.P. Desai, “Miniature Force Sensor based on Dual-photointerrupter with High Linearity and Disturbance Compensation,” in IEEE Sensors Journal. DOI: 10.1109/JSEN.2020.2975024
  • Y. Chitalia, S. Jeong, N. Deaton, J. J. Chern and J. P. Desai, “Design and Kinematics Analysis of a Robotic Pediatric Neuroendoscope Tool Body,” in IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2020.2967748
  • Y. Chitalia, N. J. Deaton, S. Jeong, N. Rahman and J. P. Desai, “Towards FBG-Based Shape Sensing for Micro-scale and Meso-Scale Continuum Robots with Large Deflection,” in IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2020.2969934
  • S. Jeong, P. Tran and J. P. Desai, “Integration of Self-Sealing Suction Cups on the FLEXotendon Glove-II Robotic Exoskeleton System,” in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 867-874, April 2020. DOI: 10.1109/LRA.2020.2965895
  • P. Tran, S. Jeong, S. L. Wolf and J. P. Desai, “Patient-Specific, Voice-Controlled, Robotic FLEXotendon Glove-II System for Spinal Cord Injury,” in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 898-905, April 2020. DOI: 10.1109/LRA.2020.2965900

Refereed Conference Proceedings

  • N. Nayar, S. Jeong and J. P. Desai, “Towards the Development of a Robotic Transcatheter Delivery System for Mitral Valve Implant,” 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 3172-3177, doi: 10.1109/IROS45743.2020.9341551.
  • Sarma, Achraj, Graham C. Collins, Namrata Nayar, Yash Chitalia, Seokhwan Jeong, Brooks D. Lindsey, and Jaydev P. Desai.  “Towards the Development of an Ultrasound-Guided Robotically Steerable Guidewire,” 2020 International Symposium on Medical Robotics (ISMR), Atlanta, GA, USA, 2020, pp. 173-180, doi: 10.1109/ISMR48331.2020.9312925.
  • N. J. Deaton, Y. Chitalia, P. Patel, and J. P. Desai, “Towards a Robotically Steerable System for High Dose Rate Brachytherapy,” In International Symposium on Experimental Robotics, pp. 233-244. Springer, Cham, 2020.
  • Kihan Park, Pratibha Harrison, and Jaydev P. Desai, “Micro-scale Viscoelastic Characterization of Human Skin Tissues as a Biomarker for Melanoma”, IEEE International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS 2020), [Accepted for Publication].
  • Kihan Park and Jaydev P. Desai, “Capacitive Two-dimensional Force Sensing Microcantilever with a Conductive Tip for Characterization of Biological Samples”, 2020 International Symposium on Medical Robotics (ISMR), [Accepted for Publication].

2019

Archival

  • Kihan Park, Gabrielle E. Lonsberry, Marla Gearing, Allan I. Levey, and Jaydev P. Desai, “Viscoelastic Properties of Human Autopsy Brain Tissues as Biomarkers for Alzheimer’s Diseases”, IEEE Transactions on Biomedical Engineering, vol. 66, no.6, pp. 1705 – 1713, Jun. 2019; DOI: 10.1109/TBME.2018.2878555.
  • Jaydev P. Desai, Jun Sheng, Shing Shin Cheng, Xuefeng Wang, Nancy J. Deaton, and Nahian Rahman, “Towards patient-specific 3D-printed robotic systems for surgical interventions”, IEEE Transactions on Medical Robotics and Bionics, vol. 1, no.2, pp. 77-87, May 2019; DOI: 10.1109/TMRB.2019.2912444
  • Nahian Rahman, Nancy J. Deaton, Jun Sheng, Shing Shin Cheng, and Jaydev P. Desai, “Modular FBG Bending Sensor for Continuum Neurosurgical Robot,” IEEE Robotics and Automation Letters, (Volume: 4 , Issue: 2 , April 2019); DOI: 10.1109/LRA.2019.2896451.
  • Jun Zhang, Jun Sheng, Ciarán Tomás O’Neill, Conor James Walsh, Robert Wood, Jee-Hwan Ryu, Jaydev P. Desai, and Michael C. Yip, “Robotic artificial muscles: Current progress and future perspectives,” IEEE Transactions on Robotics, 2019; DOI: 10.1109/TRO.2019.2894371.

Refereed Conference Proceedings

  • Wang, P. Tran, S. M. Callahan, S. L. Wolf and J. P. Desai, “Towards the development of a voice-controlled exoskeleton system for restoring hand function,” 2019 International Symposium on Medical Robotics (ISMR), 2019, pp. 1-7, doi: 10.1109/ISMR.2019.8710195.
  • Park, P. Tran, N. Deaton and J. P. Desai, “Multi-walled Carbon Nanotube (MWCNT)/PDMS-based Flexible Sensor for Medical Applications,” 2019 International Symposium on Medical Robotics (ISMR), 2019, pp. 1-8, doi: 10.1109/ISMR.2019.8710193.
  • Tran, S. Jeong and J. P. Desai, “Voice-Controlled Flexible Exotendon (FLEXotendon) Glove For Hand Rehabilitation,” 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, pp. 4834-4839, doi: 10.1109/IROS40897.2019.8967669.
  • Yash Chitalia, Seokhwan Jeong, Ji Bok, Vinh Nguyen, Shreyes Melkote, Joshua J. Chern, and Jaydev P. Desai, “Towards the Design and Development of a Pediatric Neuroendoscope Tool”,  2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)
  • Xuefeng Wang, Phillip Tran, Sarah M. Callahan, Steven L. Wolf, and Jaydev P. Desai. “Towards the development of a voice-controlled exoskeleton system for restoring hand function,” IEEE International Symposium on Medical Robotics (ISMR 2019); DOI: 10.1109/ISMR.2019.8710195 [Best Symposium Paper Award]
  • Jun Sheng, Nancy J. Deaton, and Jaydev P. Desai, “A large-deflection FBG bending sensor for the SMA bending module,” 2019 IEEE International Conference on Robotics and Automation (ICRA 2019), [Accepted for Publication].
  • Kihan Park, Phillip Tran, Nancy Deaton, and Jaydev P. Desai, “Multi-walled Carbon Nanotube (MWCNT)/PDMS-based Flexible Sensor for Medical Applications”, IEEE International Symposium on Medical Robotics (ISMR 2019), pp. 69-76, Apr. 2019; DOI: 10.1109/ISMR.2019.8710193.

2018

Archival

  • Jun Sheng, Xuefeng Wang, Timm-Michael L. Dickfeld, and  Jaydev P. Desai, “Towards the Development of A Steerable and MRI-Compatible Cardiac Catheter for Atrial Fibrillation Treatment.” IEEE Robotics and Automation Letters, vol. 3, no.4, pp. 4038-4045, Oct. 2018; DOI: 10.1109/LRA.2018.2861011.
  • Yeongjin Kim, Shing Shin Cheng, and  Jaydev P. Desai, “Active Stiffness Tuning of a Spring-Based Continuum Robot for MRI-Guided Neurosurgery”, IEEE Transactions on Robotics, vol. 34, no. 1, pp. 18-28, Feb. 2018; DOI: 10.1109/TRO.2017.2750692.
  • Xuefeng Wang, Shing Shin Cheng, and Jaydev P. Desai. “Design, Analysis, and Evaluation of a Remotely Actuated MRI-Compatible Neurosurgical Robot.” IEEE Robotics and Automation Letters, vol. 3, no.3, pp. 2144-2151.; DOI: 10.1109/LRA.2018.2809447
  • Jun Sheng and  Jaydev P. Desai, “Development of a Meso-Scale Fiberoptic Rotation Sensor for a Torsion Actuator“, IEEE Robotics and Automation Letters, vol. 3, no.1, pp. 537-543, Jan. 2018; DOI: 10.1109/LRA.2017.2773671.
  • Kihan Park, Wenjin Chen, Marina A. Chekmareva, David J. Foran, and Jaydev P. Desai, “Electromechanical Coupling Factor of Breast Tissue as a Biomarker for Breast Cancer”, IEEE Transactions on Biomedical Engineering, vol. 65, no. 1, pp. 96-103, Jan. 2018; DOI: 10.1109/TBME.2017.2695103.

Book Chapters

  • Yeongjin Kim, Shing Shin Cheng, Jun Sheng, and Jaydev P. Desai, “Flexible Meso-scale Robots for Surgery”, Chapter 9 in Encyclopedia of Medical Robotics – Volume 1: Minimally Invasive Surgical Robotics, pp. 245-280, World Scientific, 2018; DOI: 10.1142/9789813232266_0009; ISBN: 978-9813232228.
  • Hardik J. Pandya, Rajarshi Roy, Kihan Park, and Jaydev P. Desai, “Microscale Sensors for Breast Cancer Diagnosis”, Chapter 13 in Encyclopedia of Medical Robotics – Volume 2: Micro and  Nano Robotics in Medicine, pp. 275-310, World Scientific, 2018; DOI: 10.1142/9789813232280_0013; ISBN: 978-9813232228.
  • Jun Sheng, Shing Shin Cheng, Yeongjin Kim, and Jaydev P. Desai, “Meso-scale Robotic Systems for Neurosurgery”, Chapter 11 in Encyclopedia of Medical Robotics – Volume 3: Image-guided Surgical Procedures and Interventions, pp. 287-328, World Scientific, 2018; DOI: 10.1142/9789813232303_0011; ISBN: 978-9813232228.

Refereed Conference Proceedings

  • Yash Chitalia, Xuefeng Wang, and Jaydev P. Desai, “Design, Modeling and Control of a 2-DoF Robotic Guidewire”, 2018 IEEE International Conference on Robotics and Automation (ICRA 2018); DOI: 10.1109/ICRA.2018.8462694
  • Yash Chitalia, Xuefeng Wang, Vinh Nguyen, Shreyes Melkote, Joshua Chern, and Jaydev P. Desai, “Design and Analysis of a Bidirectional Notch Joint for a Robotic Pediatric Neuroendoscope”, 2018 International Symposium on Experimental Robotics (ISER 2018).
  • Jun Sheng and Jaydev P. Desai, “A Highly Compact Fiberoptic Rotation Sensor for a Neurosurgical Robot”, 2018 IEEE International Symposium on Medical Robotics (ISMR 2018); DOI: 10.1109/ISMR.2018.8333304

2017

Archival

  • Yeongjin Kim, Shing Shin Cheng, Mahamadou Diakite, Rao P. Gullapalli, J. Marc Simard, and  Jaydev P. Desai, “Toward the Development of a Flexible Mesoscale MRI-Compatible Neurosurgical Continuum Robot”, IEEE Transactions on Robotics, vol. 33, no.6, pp. 1386-1397, Dec. 2017; DOI: 10.1109/TRO.2017.2719035.
  • Shing Shin Cheng, Yeongjin Kim, and Jaydev P. Desai, “New Actuation Mechanism for Actively Cooled SMA Springs in a Neurosurgical Robot”, IEEE Transactions on Robotics, vol. 33, no. 4, pp. 986-993, Aug. 2017; DOI: 10.1109/TRO.2017.2679199.
  • Hardik J. Pandya, Jun Sheng, and Jaydev P. Desai, “MEMS-Based Flexible Force Sensor for Tri-Axial Catheter Contact Force Measurement”, IEEE/ASME Journal of Microelectromechanical Systems, vol. 26, no.1, pp. 264-272, Feb. 2017; DOI: 10.1109/JMEMS.2016.2636018. .
  • Jun Sheng, Dheeraj Gandhi, Rao Gullapalli, Marc Simard, and Jaydev P. Desai, “Development of a Meso-Scale SMA-Based Torsion Actuator for Image-Guided Procedures,” IEEE Transactions on Robotics, vol. 33, no.1, pp. 240-248, Feb. 2017; DOI: 10.1109/TRO.2016.2623348.
  • Shing Shin Cheng, Yeongjin Kim, and Jaydev P. Desai, “Modeling and Characterization of SMA Springs with Water Cooling Strategy in a Neurosurgical Robot”, Journal of Intelligent Material Systems and Structures, Article first published online, Jan. 2017; DOI: 10.1177/1045389X16685443. 

Refereed Conference Proceedings

  • Jun Sheng and  Jaydev P. Desai, “A skull-mounted robotic headframe for a neurosurgical robot“, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), pp. 2511–2516, Sep. 2017; DOI: 10.1109/IROS.2017.8206070.
  • Shing Shin Cheng,  Xuefeng Wang, and  Jaydev P. Desai, “Design and analysis of a remotely-actuated cable-driven neurosurgical robot”, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), pp. 1685–1690, Sep. 2017; DOI: 10.1109/IROS.2017.8205980.
  • Kihan Park and Jaydev P. Desai, “Machine Learning Approach for Breast Cancer Localization”, International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS 2017), pp. 154-159, Jul. 2017; DOI: 10.1109/MARSS.2017.8001925. [Best Student Paper Award] 

2016

Archival

  • Kihan Park and Jaydev P. Desai, “Micropositioning and Control of an Underactuated Platform for Microscopic Applications”, IEEE/ASME Transactions on Mechatronics, vol. 21, no. 6, pp. 2635-2646, Dec. 2016; DOI: 10.1109/TMECH.2016.2579620.
  • Hardik J. Pandya, Kihan Park, Wenjin Chen, Lauri A. Goodell, David J. Foran, and Jaydev P. Desai, “Towards a Portable Cancer Diagnostic Tool Using a Disposable MEMS-based Biochip”, IEEE Transactions on Biomedical Engineering, vol. 63, no. 7, pp. 1347-1353, Jul. 2016;  DOI: 10.1109/TBME.2016.2535364. [Cover Image and Monthly Highlighted Paper] 
  • Chad C. Kessens and Jaydev P. Desai, “Versatile Passive Grasping for Manipulation”, IEEE/ASME Transactions on Mechatronics, vol. 21, no, 3, pp. 1293 – 1302, Jun. 2016; DOI: 10.1109/TMECH.2016.2520306.

Refereed Conference Proceedings

  • Hardik J. Pandya, Jun Sheng, and Jaydev P. Desai, “Towards a Tri-Axial Flexible Force Sensor for Catheter Contact Force Measurement”, IEEE Sensors 2016; DOI: 10.1109/ICSENS.2016.7808954
  • Chad C. Kessens, Justin Thomas, Jaydev P. Desai, and Vijay Kumar, “Versatile Aerial Grasping Using Self-sealing Suction”, IEEE International Conference on Robotics and Automation (ICRA 2016), May 2016, Stockholm, Sweden; DOI: 10.1109/ICRA.2016.7487495.

2015

Archival

  • Jun Sheng and Jaydev P. Desai, “Design, Modeling and Characterization of A Novel Meso-Scale SMA-Actuated Torsion Actuator”, Smart Materials and Structures, vol. 24, no. 10, p. 105005 (13pp), Aug. 2015; DOI: 10.1088/0964-1726/24/10/105005.
  • Hardik J. Pandya, Kihan Park, Wenjin Chen, Marina A. Chekmareva, David J. Foran, and Jaydev P. Desai, “Simultaneous MEMS-Based Electro-Mechanical Phenotyping of Breast Cancer”, Lab on a Chip, vol. 15, no. 18, pp. 3695-3706, Sep. 2015; DOI: 10.1039/C5LC00491H.
  • Hardik J. Pandya, Kihan Park, and Jaydev P. Desai, “Design and Fabrication of a Flexible MEMS-Based Electro-Mechanical Sensor Array for Breast Cancer Diagnosis”, Journal of Micromechanics and Microengineering,  vol. 25, no. 7, pp. 075025 (13pp), Jun. 2015; DOI: 10.1088/0960-1317/25/7/075025.
  • Mingyen Ho, Yeongjin Kim, Shing Shin Cheng, Rao Gullapalli, and Jaydev P. Desai. “Design, development, and evaluation of an MRI-guided SMA spring-actuated neurosurgical robot.” The International journal of robotics research, vol. 34, no. 8 (2015): 1147-1163.
  • Hardik J. Pandya, Rajarshi Roy, Wenjin Chen, Marina A. Chekmareva, David J. Foran and Jaydev P. Desai, “Accurate Characterization of Benign and Cancerous Breast Tissues: Aspecific Patient Studies Using Piezoresistive Microcantilevers”, Biosensors and Bioelectronics, vol. 63, pp. 414–424, 2015; DOI: 10.1016/j.bios.2014.08.002.

Refereed Conference Proceedings

  • Shing Shin Cheng, Yeongjin Kim, Jaydev P. Desai, “Towards Real-Time Control of a Neurosurgical Robot: MINIR-II,” 2015 International Symposium on Robotics Research (ISRR 2015)
  • Carolyn M. Davis, Kihan Park, Jaydev P. Desai, “Design and Analysis of a Under-actuated XY-theta Stage for Automated Tissue Indentation”, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), pp. 4331-4336, Sep. 2015; DOI: 10.1109/IROS.2015.7353991.
  • Kim, Yeongjin, and Jaydev P. Desai. “Design and kinematic analysis of a neurosurgical spring-based continuum robot using SMA spring actuators.” In Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, pp. 1428-1433. IEEE, 2015.; DOI: 10.1109/IROS.2015.7353555
  • Jun Sheng and Jaydev P. Desai,“A Novel Meso-Scale SMA-Actuated Torsion Actuator”, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), pp. 4718-4723, Sep. 2015; DOI: 10.1109/IROS.2015.7354049.
  • Jun Sheng and Jaydev P. Desai,“Towards a SMA-Actuated Neurosurgical Intracerebral Hemorrhage Evacuation (NICHE) robot”, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), pp. 3805-3810, Sep. 2015; DOI: 10.1109/IROS.2015.7353911.
  • Shing Shin Cheng and Jaydev P. Desai, “Towards High Frequency Actuation of SMA Spring for the Neurosurgical Robot – MINIR-II,” 2015 IEEE International Conference on Robotics and Automation (ICRA 2015), May 2015, pp. 2580-2585, DOI: 10.1109/ICRA.2015.7139546.

2014

Archival

  • Roy, Rajarshi, and Jaydev P. Desai. “Determination of Mechanical Properties of Spatially Heterogeneous Breast Tissue Specimens Using Contact Mode Atomic Force Microscopy (AFM).” Annals of biomedical Engineering,  vol. 42, no. 9, pp. 1806-1822, Sep. 2014; DOI: 10.1007/s10439-014-1057-x.
  • Hardik J. Pandya, Wenjin Chen, Lauri A. Goodell, David J. Foran and Jaydev P. Desai, “Mechanical Phenotyping of Breast Cancer Using MEMS: a method to demarcate benign and cancerous breast tissues,” Lab on a Chip, vol. 14, pp. 4523-4532, Sep. 2014; DOI: 10.1039/C4LC00594E.
  • Hardik J. Pandya, Hyun Tae Kim, Rajarshi Roy, Wenjin Chen, Lei Cong, Hua Zhong, David J. Foran and Jaydev P. Desai, “Towards An Automated MEMS-Based Characterization of Benign and Cancerous Breast Tissue Using Bioimpedance Measurements,” Sensors and Actuators B, Chemical, vol. 199, pp. 259–268, 2014.
  • H. J. Pandya, Hyun Tae Kim, Rajarshi Roy and Jaydev P. Desai, “MEMS Based Low Cost Piezoresistive Microcantilever Force Sensor and Sensor Module,” Materials Science in Semiconductor Processing, vol. 19, pp. 163–173, 2014. 

Refereed Conference Proceedings

  • Kim, Yeongjin, Shing Shin Cheng, Aleksandrs Ecins, Cornelia Fermüller, Kelly P. Westlake, and Jaydev P. Desai. “Towards a Robotic Hand Rehabilitation Exoskeleton for Stroke Therapy.” In ASME 2014 Dynamic Systems and Control Conference, pp. V001T04A006-V001T04A006. American Society of Mechanical Engineers, 2014. 
  • Zhao, Wenxue, and Jaydev P. Desai. “Towards the Development of a New Tendon-Driven Minimally Invasive Neurosurgical Intracranial Robot.” In ASME 2014 Dynamic Systems and Control Conference, pp. V001T17A006-V001T17A006. American Society of Mechanical Engineers, 2014.
  • Elif Ayvali and Jaydev P. Desai,“Accurate In-Plane and Out-of-Plane Ultrasound-Based Tracking of the Discretely Actuated Steerable Cannula”, IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, May 31-June 7, 2014.; DOI: 10.1109/ICRA.2014.6907727

2013

Archival

  • Rajarshi Roy, Wenjin Chen, Lei Cong, Lauri A. Goodell, David J. Foran, and Jaydev P. Desai, “Probabilistic Estimation of Mechanical Properties of Biomaterials Using Atomic Force Microscopy”, IEEE Transactions on Biomedical Engineering, 61(2), pp. 547-556, 2014; DOI: 10.1109/TBME.2013.2283597.
  • Bo Yang, Steven Roys, U-Xuan Tan, Mathew Philip, Howard Richard, Rao P. Gullapalli, and Jaydev P. Desai, “Design, development, and evaluation of a master–slave surgical system for breast biopsy under continuous MRI”, The International Journal of Robotics Research, In Press, 2013; DOI: 10.1177/0278364913500365.
  • Elif Ayvali and Jaydev P. Desai, “Pulse width modulation–based temperature tracking for feedback control of a shape memory alloy actuator”, Journal of Intelligent Material Systems and Structures, Published online before print September 9, 2013, Printed version: vol. 25, no. 6, pp. 720-730, Apr. 2014; DOI: 10.1177/1045389X13502576.
  • Rajarshi Roy, Wenjin Chen, Lei Cong, Lauri A. Goodell, David J. Foran, and Jaydev P. Desai, “A Semi-Automated Positioning System for contact-mode Atomic Force Microscopy (AFM)”, IEEE Transactions on Automation Science and Engineering, vol. 10, no. 2, pp.462-465, Apr. 2013; DOI: 10.1109/TASE.2012.2226154.

Refereed Conference Proceedings

  • Hardik J. Pandya, Hyun Tae Kim, and Jaydev P. Desai, “A Microscale Piezoresistive Force Sensor for Nanoindentation of Biological Cells and Tissues”, Proceedings of the ASME 2013 Dynamic Systems and Control Conference (DSCC 2013), Paper No. DSCC2013-3994, pp. V002T29A003 (5 pages), Oct. 2013, Palo Alto, California, USA; DOI:10.1115/DSCC2013-3994.
  • Mingyen Ho and Jaydev P. Desai, “Modeling, Characterization and Control of Antagonistic SMA Springs for use in a Neurosurgical Robot”, IEEE International Conference on Robotics and Automation(ICRA 2013), pp. 2503-2508, May 2013; DOI: 10.1109/ICRA.2013.6630918.

2012

Archival

  • Chia-Pin Liang, Chao-Wei Chen, Jeremiah Wierwille, Jaydev Desai, Rao Gullapalli, Reuben Mezrich, Cha-Min Tang, and Yu Chen, “Endoscopic Microscopy using Optical Coherence Tomography”, Current Medical Imaging Reviews, 8(3), pp. 174-193, 2012; DOI: http://dx.doi.org/10.2174/157340512803759910
  • Elif Ayvali, Chia-Pin Liang, Mingyen Ho, Yu Chen, and Jaydev P. Desai, “Towards A Discretely Actuated Steerable Cannula for Diagnostic and Therapeutic Procedures”, The International Journal of Robotics Research, 31(5), pp. 588-603, 2012; DOI: 10.1177/0278364912442429
  • Mingyen Ho, Alan B. McMillan, J. Marc Simard, Rao Gullapalli, and Jaydev. P. Desai, “Towards a Meso-scale SMA-Actuated MRI-Compatible Neurosurgical Robot”, IEEE Transaction on Robotics, 28(1), pp. 213-222, 2012; DOI: 10.1109/TRO.2011.2165371
  • Hamid Ladjal, Jean-Luc Hanus, Anand Pillarisetti, Carol Keefer, Antoine Ferreira, and Jaydev P. Desai, “Reality-Based Real-Time Cell Indentation Simulator”, IEEE/ASME Transactions on Mechatronics, 17(2), pp. 239-250, 2012; DOI: 10.1109/TMECH.2010.2091010
  • Ankur R. Baheti, Robert Hafey, Sneha Pai, Jose Gomez, Yuri Millo, and Jaydev P. Desai, “Real-Time Fiber-Optic Intubation Simulator with Force Feedback”, IEEE/ASME Transactions on Mechatronics, 17(1), pp. 98-106, 2012; DOI: 10.1109/TMECH.2010.2090666

Refereed Conference Proceedings

  • Mingyen Ho and Jaydev P. Desai, “Characterization of Antagonistic SMA Spring Actuators for use in a MRI-Compatible Intracranial Robot,” 5th Annual Dynamic Systems and Control Conference and 11th Motion and Vibration Conference, October, 2012.
  • Elif Ayvali and Jaydev P. Desai, “Motion Planning for the Discretely Actuated Steerable Cannula,” IEEE International Conference on Biomedical Robotics and Biomechatronics, June 2012.; DOI: 10.1109/BioRob.2012.6290891
  • Rajarshi Roy, Lei Li, Carol Keefer, and Jaydev P. Desai, “An Error-In-Variables (EIV) based Bayesian Probabilistic Approach to Estimating Cell Mechanical Properties Using Atomic Force Microscopy,” IEEE International Conference on Biomedical Robotics and Biomechatronics, June 2012.; DOI: 10.1109/BioRob.2012.6290888
  • Bo Yang, U-Xuan Tan, Alan McMillan, Rao Gullapalli, and Jaydev P. Desai, “Towards the development of a master-slave surgical system for breast biopsy under continuous MRI”, 13th International Symposium on Experimental Robotics, June 2012.
  • Mingyen Ho and Jaydev P. Desai, “Towards the Development of a SMA-Actuated MRI-Compatible Tendon-Driven Neurosurgical Robot,” IEEE International Conference on Robotics and Automation, pp. 683-688, 2012.; DOI: 10.1109/ICRA.2012.6225323
  • Elif Ayvali and Jaydev P. Desai, “Towards a Discretely Actuated Steerable Cannula,” IEEE International Conference on Robotics and Automation, pp. 1614-1619, 2012.; DOI: 10.1109/ICRA.2012.6225312
  • Arvind Ananthanarayanan, Mingyen Ho, Leicester Ehrlich, Jaydev P. Desai, and Satyandra K. Gupta, “Embedding Shape Memory Allow Actuators in Miniature Articulating Polymer Structures Using In-Mold Assembly,” 40th North American Manufacturing Research Conference, Proceedings of NAMRI/SME,Vol. 40, 2012.

2011

Archival

  • Bo Yang, U-Xuan Tan, Alan McMillan, Rao Gullapalli, and Jaydev P. Desai, “Design and control of a 1-DOF MRI compatible pneumatically actuated robot with long transmission lines”, IEEE/ASME Transactions on Mechatronics, 16(6), pp. 1040-1048, 2011; DOI: 10.1109/TMECH.2010.2071393
  • Anand Pillarisetti, Jaydev P. Desai, Hamid Ladjal, Andrew Schiffmacher, Antoine Ferreira, and Carol L. Keefer, “Mechanical Phenotyping of Mouse Embryonic Stem Cells: Increase in Stiffness with Differentiation”, Cellular Reprogramming, 13(4), pp. 371-380, 2011; DOI: 10.1089/cell.2011.0028
  • U-Xuan Tan, Bo Yang, Rao Gullapalli, and Jaydev P. Desai, “Tri-Axial MRI Compatible Fiber-optic Force Sensor”, IEEE Transactions on Robotics, 27(1), pp. 65-74, 2011; DOI: 10.1109/TRO.2010.2090061
  • Arvind Ananthanarayanan, Leicester Ehrlich, Jaydev P. Desai, and Satyandra K. Gupta, “Design of Revolute Joints for In-Mold Assembly using Insert Molding”, Journal of Mechanical Design – Transactions of the ASME, 133(12), pp. 121010-1 To 121010-10, 2011; DOI: 10.1115/1.4005327
  • Chad C. Kessens and Jaydev P. Desai, “A Self-Sealing Suction Cup Array for Grasping,” ASME Journal of Mechanisms and Robotics, vol. 3, no. 4, pp. 045001 (8 pages), Sep. 2011; DOI: 10.1115/1.4004893.
  • Kevin Lister, Zhan Gao, and Jaydev P. Desai, “Development of in-vivo Constitutive Models for Liver: Application to Surgical Simulation”, Annals Biomedical Engineering, 39(3), Pages 1060-1073, 2011; DOI: 10. 1007/s10439-010-0227-8
  • Carol L. Keefer and Jaydev P. Desai, “Mechanical phenotyping of stem cells”, Theriogenology, 75(8), pp. 1426-1430, 2011; DOI: 10.1016/j.theriogenology.2010.11.032

Refereed Conference Proceedings

  • U-X. Tan, and J. P. Desai, “Design & Development of a 2-DOF Miniature Force Sensor for Surgical Procedures,” ASME Dynamic Systems and Control Conference, pp. 459-462, 2011.
  • Mingyen Ho and Jaydev P. Desai, “Towards the Development of a Tendon-Driven Neurosurgical Robot”, In ASME Dynamic Systems and Control Conference – DSCC 2011, Arlington, VA, October 31~November 2, 2011.
  • Mingyen Ho, Michael Koltz, J. Marc Simard, Rao Gullapalli, Jaydev P. Desai, “Towards a MR image-guided SMA-actuated neurosurgical robot”, In IEEE International Conference on Robotics and Automation – ICRA 2011, Shanghai, China, May 9~13, 2011.; DOI: 10.1109/ICRA.2011.5980320
  • Bo Yang, U-Xuan Tan, Alan McMillan, Rao Gullapalli, and Jaydev P. Desai, “Design and implementation of a pneumatically-actuated robot for breast biopsy under continuous MRI,” In IEEE International Conference on Robotics and Automation, pp. 674-679, Shanghai, China, May 2011.; DOI: 10.1109/ICRA.2011.5980448
  • K. Lister, A. Lau, J.P. Desai, “Towards a Soft-Tissue Cutting Simulator using the Cohesive Zone Approach,” In Engineering in Medicine and Biology Society, EMBC, Boston, MA, USA, 2011.; DOI: 10.1109/IEMBS.2011.6091650
  • Rajarshi Roy, Wenjin Chen, Lei Cong, Lauri Goodell, David Foran, Jaydev P. Desai, “Towards Automated Mechanical Characterization of Biological Samples Using Atomic Force Microscopy (AFM)”, In 4th Annual Dynamic Systems and Control Conference, Arlington, VA, USA, Oct 31 – Nov 2, 2011.

2010

Archival

  • Zhan Gao, and Jaydev P. Desai, “Estimating zero-strain states of very soft tissue under gravity loading using digital image correlation”, Medical Image Analysis, 14(2), pp. 126-137, 2010; DOI: 10.1016/j.media.2009.11.002
  • Zhan Gao, Kevin Lister, and Jaydev P. Desai, “Constitutive modeling of liver tissue: experiment and theory”, Annals Biomedical Engineering,38(2), pp. 505-516, 2010; DOI: 10.1007/s10439-009-9812-0

Journal and Conference Abstracts

  • Ankur R. Baheti, Jaydev P. Desai, Sneha Pai, Jose Gomez, Robert Hafet, Rafael Paiz, Yuri Millo, Pamela Leonard, Alexis Battista, “Haptics-enabled Fiber-Optic Intubation Simulator”, Society for Simulation in Healthcare, Phoenix, 2010.

Editorials and Magazine Publications

  • George Chiu, Jaydev P. Desai, Jason Gu, Guillaume Morel, “Guest Editorial: Introduction to the Focused Section on Healthcare Mechatronics”, IEEE/ASME Transactions on Mechatornics, 15(2), pp. 165-169, 2010; DOI: 10.1109/TMECH.2010.2044063

Refereed Conference Proceedings

  • Ayvali, E., Ho, M., and Desai, J. P. “A novel discretely actuated steerable probe for percutaneous procedures”, In Proc. 12th International Symposium on Experimental Robotics, 79, pp. 115-123, 2010.
  • Hamid Ladjal, Jean Luc Hanus, Antoine Ferreira, Carol Keefer, Anand Pillarisetti, and Jaydev P. Desai, “Realistic Visual and Haptic Feedback Simulator for Real-Time Cell Indentation”, In IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3993 – 3998, 2010.; DOI: 10.1109/IROS.2010.5653281
  • U-Xuan Tan, B. Yang, R. Gullapalli, and Jaydev P. Desai, “Design and Development of a 3-Axis MRI-compatible Force Sensor”, In IEEE International Conference on Robotics and Automation, pp. 2586-2591, Anchoroge, AK, May 2010.; DOI: 10.1109/ROBOT.2010.5509761
  • Chad C. Kessens and Jaydev P. Desai, “Design, Fabrication, and Implementation of Self-Sealing Suction Cup Arrays for Grasping,” IEEE International Conference on Robotics and Automation (ICRA), pp. 765 – 770, May 2010, Anchorage, AK, USA;  DOI: 10.1109/ROBOT.2010.5509818.
  • A. Baheti, Y. Millo, and Jaydev P. Desai, “Fiber-Optic Intubation Simulator with Force Feedback”, In IEEE Haptics Symposium, pp. 379-385, March 2010. DOI: 10.1109/HAPTIC.2010.5444629
  • Mingyen Ho and Jaydev P. Desai, “Towards a MRI-Compatible Meso-Scale SMA-Actuated Robot using PWM Control”, In Third IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics – BioRob 2010, Tokyo, Japan, September 26-29, 2010. DOI: 10.1109/BIOROB.2010.5626044
  • Arvind Ananthanarayanan, Leicester Ehrlich, Jaydev Desai, and Satyandra Gupta, “Design of Revolute Joints for Insert Molding: A Step Towards Realizing Low Cost Highly Articulated Robot Structures”, In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2010), pp. 253-264, Montreal, Quebec, Canada, August 15-18, 2010.
  • K. Lister, Z. Gao, J. P. Desai, “A 3D In Vivo Constitutive Model for Porcine Liver: Matching Force Characteristics and Surface Deformations,” In Third IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics – BioRob, Tokyo, Japan 2010.; DOI: 10.1109/BIOROB.2010.5627794
  • Rajarshi Roy, Wenjin Chen, Lauri Goodell, Jun Hu, David Foran, Jaydev P. Desai, “Microarray-facilitated Mechanical Characterization of Breast Tissue Pathology Samples using contact mode Atomic Force Microscopy (AFM)”, In Third IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics – BioRob 2010, Tokyo, Japan, September 26-29, 2010.; DOI: 10.1109/BIOROB.2010.5625952

2009

Archival

  • Rebecca Kokes, Kevin Lister, Rao Gullapalli, Bao Zhang, Alan MacMillan, Howard Richard, and Jaydev P. Desai, “Towards a teleoperated needle driver robot with haptic feedback for RFA of breast tumors under continuous MRI”, Medical Image Analysis, 13(3), pp. 445-455, 2009; DOI: 10.1016/j.media.2009.02.001

Journal and Conference Abstracts

  • Rajarshi Roy, Weijin Chen, Jun Hu, Lauri Goodell, David J. Foran, Jaydev P. Desai, “Tissue Microarray Facilitated Mechanical Characterization of Cancerous Breast Tissue using Atomic Force Microscopy”, Advanced Practice, Instruction and Innovation through Informatics (APIII), September 2009.; DOI: 10.1109/BIOROB.2010.5625952
  • K. Lister, R. Kokes, B. Zhang, R. Gullapalli, Jaydev P. Desai, “MRI Compatible Robotic System with Haptic Feedback for RF Ablation/Biopsy under Continuous MRI”, International Society for Magnetic Resonance in Medicine, 2009.

Editorials and Magazine Publications

  • Ron Alterovitz and Jaydev P. Desai, “Surgical Robotics”, IEEE Robotics and Automation Magazine, 16(2), pp. 16-17, 2009; DOI: 10.1109/MRA.2009.932616
  • Jaydev P. Desai and Rao Gullapalli, “Editorial: Image-guided robotic interventions for breast biopsy and ablative therapies: challenges and opportunities”, Women’s Health, 5(3), pp. 229-233, 2009; DOI: 10.2217/whe.09.1
  • Jaydev P. Desai and Nicholas Ayache, “Editorial: Special Issue on Medical Robotics”, The International Journal of Robotics Research, 28(9), pp. 1099-1100, 2009; DOI: 10.1177/0278364909338986
  • Jaydev P. Desai, Arianna Menciassi, and Auke Ijspeert, “Guest Editorial to the Special Letters Issue on Biomedical Robotics and Biomechatronics – BioRob”, IEEE Transactions on Biomedical Engineering Letters, 56(9), pp. 2293-2294, 2009; DOI: 10.1109/TBME.2009.2029817

Refereed Conference Proceedings

  • H. Ladjal, J.-L. Hanus, A. Pillarisetti, C. Keefer, A. Ferreira, Jadev P. Desai, “Atomic force microscopy-based single-cell indentation: Experimentation and finite element simulation” In IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1326-1332, 2009.; DOI: 10.1109/IROS.2009.5354351
  • Lister Kevin, and Jaydev P. Desai, “Real-time, haptics-enabled simulator for probing ex vivo liver tissue”, In Engineering in Medicine and Biology Society, 2009. EMBC 2009. Annual International Conference of the IEEE, pp. 1196-1199, September 2009.; DOI: 10.1109/IEMBS.2009.5333410
  • Mingyen Ho, and Jaydev P. Desai, “Characterization of SMA actuator for application in robotic neurosurgery”, In International Conference of the IEEE Engineering in Medicine and Biology, pp. 6856-6859, September 2009.; DOI: 10.1109/IEMBS.2009.5333118
  • Anand Pillarisetti, Hamid Ladjal, Antoine Ferreira, Carol Keefer, and Jaydev P. Desai, “Mechanical characterization of mouse embryonic stem cells”, In 31st Annual International IEEE EMBS Conference, Minneapolis, MN, 2009.; DOI: 10.1109/IEMBS.2009.5333954
  • Zhan Gao, Theodore Kim, Doug L. James, Jaydev P. Desai, “Semi-automated soft-tissue acquisition and modeling for surgical simulation”, In 5th Annual IEEE Conference on Automation Science and Engineering, CASE 2009, pp. 268-273, August 22-25, 2009.; DOI: 10.1109/COASE.2009.5234158

2008

Archival

  • Gregory Tholey and Jaydev P. Desai, “A Compact and Modular Laparoscopic Grasper with Tri-directional Force Measurement Capability”, ASME Journal of Medical Devices – Transactions of the ASME, 2(3), pp. 031001-1 To 031001-8, 2008; DOI: 10.1115/1.2952817
  • Tie Hu, Alan C. W. Lau, and Jaydev P. Desai, “Instrumentation for Testing Soft-Tissue Undergoing Large Deformation: ex vivo and in vivo studies”, ASME Journal of Medical Devices, 2(4), pp. 041001-1 To 041001-6, 2008; DOI: 10.1115/1.2996594

Refereed Conference Proceedings

  • Zhan Gao, Kevin Lister, Jaydev P. Desai, “Constitutive Modeling of Liver Tissue: Experiment and Theory”, In Second biennial IEEE/RAS-EMBSInternational Conference on Biomedical Robotics and Biomechatronics – BioRob, Scottsdale, AZ, USA, October 2008.; DOI: 10.1109/BIOROB.2008.4762881
  • Anand Pillarisetti, Carol Keefer, and Jaydev P. Desai, “Mechanical Characterization of Fixed Undifferentiated and Differentiating mESC”, In Second biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics – BioRob, October 2008.; DOI: 10.1109/BIOROB.2008.4762935
  • Nicholas Pappafotis, Wojciech Bejgerowski, Rao Gullapalli, Marc Simard, Satyandra K. Gupta, and Jaydev P. Desai, “Towards Design and Fabrication of a miniature MRI-compatible Robot for Applications in Neurosurgery”, In Proceedings of the ASME 2008 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE, 2008.
  • Anand Pillarisetti, Carol Keefer, and Jaydev P. Desai, “Mechanical Response of Embryonic Stem Cells using Haptics-enabled Atomic Force Microscopy”, In 11th International Symposium on Experimental Robotics, Athens, Greece, 2008.
  • Kevin Lister, Rebecca Kokes, Bao Zhang, Rao Gullapalli, Jaydev P. Desai,“MRI Compatible Robotic System with Haptic Feedback for RF Ablation/Biopsy under Continuous MRI”, In The International Society for Magnetic Resonance in Medicine (ISMRM), Toronto, Canada, 2008.
  • Rebecca Kokes, Kevin Lister, Rao Gullapalli, Bao Zhang, Howard Richard, Jaydev P. Desai, “Towards a Needle Driver Robot for Radiofrequency Ablation of Tumors under Continuous MRI”, In IEEE International Conference on Robotics and Automation, pp. 2509-2514, Pasadena, CA, USA, May 2008.; DOI: 10.1109/ROBOT.2008.4543590

2007

Archival

  • Jaydev P. Desai, Anand Pillarisetti, and Ari D. Brooks, “Engineering Approaches to Biomanipulation”, Annual Review of Biomedical Engineering, vol. 9, pp. 35-53, 2007; DOI: 10.1146/annurev.bioeng.9.060906.151940
  • Anand Pillarisetti, Maxim Pekarev, Ari D. Brooks, and Jaydev P. Desai, “Evaluating the Effect of Force Feedback in Cell Injection”, IEEE Transactions on Automation Science and Engineering, 4(3): pp. 322-331, 2007; DOI: 10.1109/TASE.2006.888051
  • James T. Hing, Ari D. Brooks, and Jaydev P. Desai, “A Biplanar Fluoroscopic Approach for the Measurement, Modeling, and Simulation of Needle and Soft tissue Interaction”, Medical Image Analysis, 11(1), pp. 62-78, 2007; DOI: 10.1016/j.media.2006.09.005
  • Teeranoot Chanthasopeephan, Jaydev P. Desai, and Alan C. W. Lau, “Modeling Soft-Tissue Deformation Prior to Cutting for Surgical Simulation: Finite Element Analysis and Study of Cutting Parameters”, IEEE Transactions on Biomedical Engineering, 54(3), pp. 349-359, 2007; DOI: 10.1109/TBME.2006.886937
  • Gregory Tholey and Jaydev P. Desai, “A General Purpose 7 DOF Haptic Device: Applications towards Robot-Assisted Surgery”, IEEE/ASME Transactions on Mechatronics, 12(6), pp. 662-669, 2007; DOI: 10.1109/TMECH.2007.910105

Book Chapters

  • Jaydev P. Desai and Anand Pillarisetti, “Robotics for Life Science Automation”, Chapter 7 “Life Science Automation Fundamentals and Applications”, Editors: Mingjun Zhang, Bradley Nelson, and Robin Felder, pp. 197-218, Artech House, Inc., 2007; ISBN-13: 978-1-59693-105-3

Refereed Conference Proceedings

  • Jaydev P. Desai, Gregory Tholey, and Christopher W. Kennedy, “Haptic Feedback system for Robot-Assisted Surgery”, In Performance Metrics for Intelligent Systems Workshop (PerMIS), August 2007.
  • Gregory Tholey and Jaydev P. Desai, “A Modular, Automated Laparoscopic Grasper with Three-Dimensional Force Measurement Capability”, In 2007 IEEE International Conference on Robotics and Automation, pp. 250-255, Rome, Italy, 2007.; DOI: 10.1109/ROBOT.2007.363795
  • Kevin Lister and Jaydev P. Desai, “Soft-Tissue Characterization during Monopolar Electrocautery Procedures”, In The 16th Annual Medicine Meets Virtual Reality Conference, Long Beach, CA, 2007.

2006

Book Chapters

  • Jaydev P. Desai, J. Yasha Kresh, Andrew S. Wechsler, Andres E. Castellanos, William S. Meyers, “Robotic Surgery”, Chapter in Wiley Encyclopedia of Biomedical Engineering, Wiley-Interscience, 2006; DOI: 10.1002/9780471740360.ebs1050; ISBN: 978-0-471-24967-2
  • Invited to write a chapter on “Robotics for Life Science Automation” in the Book: Life Science Automation: Fundamentals and Applications, 2006.

Refereed Conference Proceedings

  • Anand Pillarisetti, Edward Steager, Maxim Pekarev, Ari D. Brooks, Jaydev P. Desai, “Micro Robotic Gripper for Cell Manipulation”, In 10th International Symposium on Experimental Robotics (ISER), Brazil, 2006.
  • James Hing, Ari Brooks, and Jaydev P. Desai, “Reality Based Needle Insertion Simulation for Haptic Feedback in Prostate Brachytherapy”, In IEEE International Conference on Robotics and Automation, Orlando, Florida, May 15-19, 2006.; DOI: 10.1109/ROBOT.2006.1641779
  • Gregory Tholey and Jaydev P. Desai, “Performance of a 7 DOF General Purpose Haptic Device”, Video presentation at the IEEE International Conference on Robotics and Automation, Orlando, Florida, May 15-19, 2006.
  • Teeranoot Chanthasopeephan, Jaydev P. Desai and Alan Lau, “Determining Fracture Characteristics in Scalpel Cutting of Soft Tissue”, In BioRob2006 – The first IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa, Italy, February 20-22, 2006.; DOI: 10.1109/BIOROB.2006.1639205
  • Tie Hu, Jaydev P. Desai, Andres E. Castellanos and Alan Lau, “Modeling In vivo Soft Tissue Probing”, In BioRob2006 – The first IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa, Italy, February 20-22, 2006.; DOI: 10.1109/BIOROB.2006.1639144
  • Anand Pillarisetti, Maxim Pekarev, Ari D. Brooks, Jaydev P. Desai, “Evaluating the Role of Force Feedback for Biomanipulation Tasks”, In 14th Symposium on Haptic Interfaces for Virtual environment and Teleoperator Systems, Washington D.C., March 25-26, 2006.; DOI: 10.1109/HAPTIC.2006.1627080
  • Gregory Tholey and Jaydev P. Desai, “Design and Development of a General Purpose 7 DOF Haptic Device”, In 14th Symposium on Haptic Interfaces for Virtual environment and Teleoperator Systems, Washington D.C., March 25-26, 2006.; DOI: 10.1109/HAPTIC.2006.1627089

2005

Archival

  • Christopher W. Kennedy and Jaydev P. Desai, “Modeling and Control of the Mitsubishi PA-10 Robot Arm Harmonic Drive System”, IEEE/ASME Transactions on Mechatronics, 10(3): 263-274, 2005; DOI: 10.1109/TMECH.2005.848290
  • Gregory Tholey, Jaydev P. Desai, and Andres E. Castellanos, “Force Feedback plays a significant role in Minimally Invasive Surgery – Results and Analysis”, Annals of Surgery, 241(1): 102-109, 2005; DOI: 10.1097/01.sla.0000149301.60553.1e
  • C. W. Kennedy and J. P. Desai, “A vision-based approach for estimating contact forces: Applications to robot-assisted surgery”, Applied Bionics and Biomechanics, 2(1), pp. 53-60, 2005; DOI: 10.1533/abbi.2004.0006

Book Chapters

  • Jaydev P. Desai, “D-H convention”, Chapter 8 in Robotics and Automation Handbook edited by Dr. Thomas R. Kurfess, CRC Press, pp. 8-1 to 8-21, 2005; ISBN: 0-8493-1804-1

Refereed Conference Proceedings

  • James T. Hing, Ari D. Brooks, Jaydev P. Desai, “Reality-based Estimation of Needle and Soft-tissue Interaction for Accurate Haptic Feedback in Prostate Brachytherapy Simulation”, In International Symposium of Robotics Research, San Francisco CA, October 2005.
  • Anand Pillarisetti, Waqas Anjum, Jaydev P. Desai, Gary Friedman, and Ari D. Brooks, “Force feedback Interface for Cell Injection”, In First Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 391-400, 2005.; DOI: 10.1109/WHC.2005.57
  • Gregory Tholey and Jaydev P. Desai, “A General Purpose 7 DOF Haptic Interface”, In First Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 582-583, 2005.; DOI: 10.1109/WHC.2005.9
  • Teeranoot Chanthasopeephan, Jaydev P. Desai and Alan Lau, “3D and 2D Finite Element Analysis in Soft Tissue Cutting for Haptic Display”, In International Conference on Advanced Robotics, pp. 360-367, 2005.; DOI: 10.1109/ICAR.2005.1507436
  • Tie Hu, Jaydev P. Desai, and Alan Lau, “Direct and Inverse Problem Models for Large Soft-Tissue Deformation: Application to Haptic Feedback in Surgical Simulation”, In International Conference on Advanced Robotics, 2005.; DOI: 10.1109/ICAR.2005.1507448
  • Christopher W. Kennedy and Jaydev P. Desai, “Enabling Technologies for Robotically-Assisted Sutureless Coronary Anastomosis”, In IEEE International Conference on Robotics and Automation, Spain, 2005.; DOI: 10.1109/ROBOT.2005.1570558

2004

Archival

  • Tie Hu, Gregory Tholey, Jaydev P. Desai, and Andres E. Castellanos, “Evaluation of a Laparoscopic Grasper with Force Feedback”, Surgical Endoscopy, 18(5), pp. 863-867, 2004; DOI: 10.1007/s00464-003-8132-y
  • Gregory Tholey, Anand Pillarisetti, and Jaydev P. Desai, “On-Site Three Dimensional Force Sensing Capability in a Laparoscopic Grasper”, Industrial Robot, 31(6), pp. 509-518, 2004; DOI 10.1108/01439910410566380
  • Thomas Sugar and Jaydev P. Desai, “A Framework for Kinematic and Dynamic Motion Planning for a Formation of Mobile Robots”, Intelligent Automation and Soft Computing: An International Journal, 10(4), pp. 307-322, 2004
  • Anthony R. Lanfranco, Andres E. Castellanos, Jaydev P. Desai, and William C. Meyers, “Robotic Surgery: A Current Perspective”, Annals of Surgery, 239(1): 14-21, 2004; DOI: 10.1097/01.sla.0000103020.19595.7d

Refereed Conference Proceedings

  • Teeranoot Chanthasopeephan, Jaydev P. Desai, and Alan Lau, “Determining Deformation Resistance in Cutting Soft Tissue with Non-Uniform Thickness”, In 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 2754-2757, San Francisco, CA, 2004.
  • Tie Hu, Jaydev P. Desai , “Soft-Tissue Material Properties under Large Deformation: Strain Rate Effect”, In 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 2758-2761, 2004, San Francisco, USA.; DOI: 10.1109/IEMBS.2004.1403789
  • Gregory Tholey, Anand Pillarisetti, William Green, and Jaydev P. Desai, “Design, Development, and Testing of an Automated Laparoscopic Grasper with 3-D Force Measurement Capability”, In Medical Simulation: International Symposium, ISMS 2004, pp. 38-48, Cambridge, MA, USA.
  • Tie Hu, Jaydev P. Desai, “Characterization of Soft-Tissue Material Properties: Large Deformation Analysis”, In Medical Simulation: International Symposium, ISMS 2004, pp. 28-37, Cambridge, MA, USA.
  • Gregory Tholey, Anand Pillarisetti, William Green, and Jaydev P. Desai, “Direct 3-D Force Measurement Capability in an Automated Laparoscopic Grasper”, In Eurohaptics, Munich, Germany, 2004.
  • Tie Hu, Jaydev P. Desai, “Modeling Large Deformation in Soft-tissues: Experimental results and Analysis”, In EuroHaptics, Munich, Germany, 2004.
  • Christopher Kennedy and Jaydev P. Desai, “Model-Based Control of the Mitsubishi PA-10 Robot Arm: App lication to Robot-Assisted Surgery”, In IEEE International Conference on Robotics and Automation, pp. 2523-2528, New Orleans, LA, 2004.
  • Teeranoot Chanthasopeephan, Jaydev P. Desai, and Alan Lau, “Deformation Resistance in Soft Tissue Cutting: A Parametric Study”, In 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS’04) , pp. 323-330, Chicago, Illinois, 2004.; DOI: 10.1109/HAPTIC.2004.1287216
  • Teeranoot Chanthasopeephan, Jaydev P. Desai, Alan C.W. Lau, “Study of Soft Tissue Cutting Forces and Cutting Speeds”, In The 12th Annual Medicine Meets Virtual Reality Conference, pp. 56-62, 2004.

2003

Archival

  • Teeranoot Chanthasopeephan, Jaydev P. Desai, and Alan C. W. Lau, “Measuring Forces in Liver Cutting: New Equipment and Experimental Results”, Annals of Biomedical Engineering, 31(11): 1372-1382, 2003; DOI: 10.1114/1.1624601

Refereed Conference Proceedings

  • Teeranoot Chanthasopeephan, Jaydev P. Desai, and Alan Lau, “Measuring Forces in Liver Cutting for Reality-Based Haptic Display”, In IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3, pp. 3083-3088, Las Vegas, NV, 2003.; DOI: 10.1109/IROS.2003.1249630
  • Christopher Kennedy and Jaydev P. Desai, “Estimation and modeling of the harmonic drive transmission in the Mitsubishi PA-10 robot arm”, In IEEE/RSJ International Conference on Intelligent Robots and Syste ms, pp. 3331-3336, Las Vegas, NV, 2003.; DOI: 10.1109/IROS.2003.1249670
  • Gregory Tholey, Jaydev P. Desai, and Andres E. Castell anos, “Evaluating the Role of Vision and Force Feedback in Minimally Invasive Surgery: New Automated Laparoscopic Grasper and A Case Study”, In 2003 Medical Image Computing and Computer Assisted Intervention conference , part 1, pp. 198-205, Montreal, Canada, 2003.
  • Tie Hu and Jaydev P. Desai, “A Biomechanical Model of the Liver for Reality-Based Haptic Feedback”, In 2003 Medical Image Computing and Computer Assisted Intervention conference, pp. 75-82, Montreal, Canada, 2003.
  • Christopher Kennedy and Jaydev P. Desai, “Force feedback using Vision”, In International Conference on Advanced Robotics, pp.179-184, Coimbra, Portugal, 2003.
  • Gregory Tholey, Teeranoot Chanthasopeephan, Tie Hu, Jaydev P. Desai, and Alan Lau, “Measuring Grasping and Cutting Forces for Reality-Based Haptic Modeling”, In Computer Assisted Radiology and Surgery – 1 st International Workshop on Haptic Devices in Medical Applications, pp. 794-800, London, UK, 2003.

2002

Archival

  • Christopher W. Kennedy, Tie Hu, Jaydev P. Desai, Andrew S. Wechsler, and J. Yasha Kresh, “A Novel approach to Robotic Cardiac Surgery using Haptics and Vision”, Cardiovascular Engineering: An International Journal, 2(1), pp. 15-22, 2002; DOI: 10.1023/A:1019926620096
  • Jaydev P. Desai, “A graph theoretic approach for modeling mobile robot team formations”, Journal of Robotic Systems, 19(11), pp. 511-525, 2002; DOI: 10.002/rob.10057

Journal and Conference Abstracts

  • Andres E. Castellanos, Jaydev P. Desai, Tie Hu, Ari Brooks, and William C. Meyers, “Force-sensing Laparoscopic Tool for Robotically Assisted Minimally Invasive Surgery”, Journal of the Society of Laparoendoscopic Surgeons, July-September 2002.

Refereed Conference Proceedings

  • Tie Hu, Andres E. Castellanos, Gregory Tholey, and Jaydev P. Desai, “Real-Time Haptic feedback in Laparoscopic tools for use in Gastro-intestinal Surgery”, In Fifth International Conference on Medical Image Computing and Computer Assisted Intervention, part 1, pp. 66-74, 2002.
  • Christopher W. Kennedy, Tie Hu, and Jaydev P. Desai, “Combining Haptic and Visual Servoing for Cardiothoracic Surgery”, In IEEE International Conference on Robotics and Automation, pp. 2106-2111, Washington D.C., 2002.; DOI: 10.1109/ROBOT.2002.1014851

2001

Archival

  • Jaydev P. Desai, James P. Ostrowski, and Vijay Kumar, “Modeling and Control of Formations of Nonholonomic Mobile Robots”, IEEE Transactions on Robotics and Automation, 17(6), pp. 905-908, 2001; DOI: 10.1109/70.976023
  • Adnan Ansar, Denilson Rodrigues, Jaydev P. Desai, Kostas Daniilidis, Vijay Kumar, and Mario F.M. Campos, “Visual and Haptic Collaborative Tele-presence”, Computers & Graphics, 25(5), pp. 789-798, 2001; DOI: 10.1016/S0097-8493(01)00121-2

Refereed Conference Proceedings

  • Jaydev P. Desai, “Modeling Multiple Teams of Mo bile Robots: A Graph Theoretic Approach”, In IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 381-386, 2001.
  • Rafael Fierro, Calin Belta, Jaydev P. Desai, and Vijay Kumar, “On Controlling Aircraft Formations”, In The 40th IEEE Conference on Decision and Control, vol. 2, pp. 1065-1070, 2001.
  • Thomas Sugar, Jaydev P. Desai, Vijay Kumar, and James P. Ostrowski, “Coordination of Multiple Mobile manipulators”, In IEEE International Conference on Robotics and Automation, vol. 3, pp. 3022-3027, May 2001.; DOI: 10.1109/ROBOT.2001.933081
  • Jaydev P. Desai and Robert D. Howe, “Towards the development of a humanoid arm by minimizing interaction forces through minimum impedance control”, In IEEE International Conference on Robotics and Automation, vol. 4, pp. 4214-4219, May 2001.; DOI: 10.1109/ROBOT.2001.933276

2000

Archival

  • James P. Ostrowski, Jaydev P. Desai, and Vijay Kumar, “Optimal gait selection for nonholonomic locomotion systems”, International Journal of Robotics Research, 19(3), pp. 225-237, 2000; DOI: 10.1177/02783640022066833

1999

Archival

  • Jaydev P. Desai and Vijay Kumar, “Motion planning for cooperating mobile manipulators”, Journal of Robotic Systems, 16(10), pp. 557-579, 1999; DOI: 10.1002/(SICI)1097-4563(199910)16:10<557::AID-ROB3>3.0.CO;2-H
  • Jaydev P. Desai, Milos Zefran, and Vijay Kumar, “Two-arm manipulation tasks with friction-assisted grasping”, Advanced Robotics, 12(5), pp. 485-507, 1999; DOI: 10.1109/IROS.1997.649047

Refereed Conference Proceedings

  • Jaydev P. Desai, Vijay Kumar, and James P. Ostrowski, “Control of changes in formation for a team of mobile robots”, In IEEE International Conference on Robotics and Automation, vol.2, pp. 1556-561, Detroit, MI, May 1999.; DOI: 10.1109/ROBOT.1999.772581

1998

Refereed Conference Proceedings

  • Jaydev P. Desai, Milos Zefran and Vijay Kumar, “A geometric approach to second order kinematic analysis”, In The Sixth International Symposium on Advances in Robot Kinematics, Strobl, Austria, June 29th-July 4th, 1998.
  • Jaydev P. Desai, Jim Ostrow ski and Vijay Kumar, “Controlling formations of multiple mobile robots”, In IEEE International Conference on Robotics and Automation, vol. 4, pp. 2864-2869, Belgium, May 1998.; DOI: 10.1109/ROBOT.1998.680621

1997

Refereed Conference Proceedings

  • Jaydev P. Desai and Vijay Kumar, “Experimental investigation of planar two-arm friction assisted grasping tasks”, In The Sixth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 29-36, Dallas, TX, November 1997.
  • Jaydev P. Desai, Milos Zefran and Vijay Kumar, “Two arm manipulation tasks with friction assisted grasping”, In IEEE-RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 189-195, Grenoble, France, September 1997.; DOI: 10.1109/IROS.1997.649047
  • Jaydev P. Desai and Vijay Kumar, “Nonholonomic motion planning for multiple mobile manipulators”, In IEEE International Conference on Robotics and Automation, vol. 4, pp.3409-3414, Albuquerque, NM, April 20-25, 1997.; DOI: 10.1109/ROBOT.1997.606863
  • James Ostrowski, Jaydev P. Desai and Vijay Kumar, “Optimal gait selection for nonholonomic locomotion systems”, In IEEE International Conference on Robotics and Automation, vol. 1, pp. 786-791, Albuquerque, NM, April 20-25, 1997.; DOI: 10.1109/ROBOT.1997.620130

1996

Refereed Conference Proceedings

  • M. Zefran, Jaydev P. Desai and Vijay Kumar, “Continuous motion plans for robotic systems with changing dynamic behavior”, In Workshop on Algorithmic Foundations of Robotics (WAFR), pp. 113-127, Toulouse, France, July 3-5, 1996.
  • Jaydev P. Desai, C. C. Wang, M. Zefran and Vijay Kumar, “Motion Planning for multiple mobile manipulators”, In IEEE International Conference on Robotics and Automation, vol. 3, pp. 2073-2078, Minneapolis, MN, April 1996.; DOI: 10.1109/ROBOT.1996.506176
  • M. Zefran, Vijay Kumar, Gregory Garvin and Jaydev P. Desai, “Experimental investigation of human two-arm manipulation”, In International Conference on Mechanics in Medicine and Biology, 1996.

1995

Refereed Conference Proceedings

  • M. Zefran, Vijay Kumar, Jaydev P. Desai and E. A. Henis, “Two-arm manipulation: What can we learn by studying humans”, In IEEE-RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 70-75, Pittsburgh, PA, August 1995.; DOI: 10.1109/IROS.1995.525777