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ARCHIVAL PUBLICATIONS

2007

1. Jaydev P. Desai, Anand Pillarisetti, and Ari D. Brooks, “Engineering Approaches to Biomanipulation”, Annual Review of Biomedical Engineering, 2007.
2. Anand Pillarisetti, Maxim Pekarev, Ari D. Brooks, and Jaydev P. Desai, “Evaluating the Effect of Force Feedback in Cell Injection”, 4(3): pp. 322-331, IEEE Transactions on Automation Science and Engineering, 2007.
3. 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, pp. 62-78, Volume 11, Issue 1, February 2007.

   2006

4. 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”, Accepted for publication to IEEE Transactions on Biomedical Engineering, 2006.
5. Gregory Tholey and Jaydev P. Desai, “A General Purpose 7 DOF Haptic Device: Applications towards Robot-Assisted Surgery”. Accepted for publication in IEEE/ASME Transactions on Mechatronics, 2006.

   2005

6. 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.
7. 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.
8. 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): 53-60, 2005.

   2004

9. Tie Hu, Gregory Tholey, Jaydev P. Desai, and Andres E. Castellanos, “Evaluation of a Laparoscopic Grasper with Force Feedback”, Surgical Endoscopy, 18(5): 863-867, 2004.
10. Gregory Tholey, Anand Pillarisetti, and Jaydev P. Desai, “On-Site Three Dimensional Force Sensing Capability in a Laparoscopic Grasper”, Industrial Robot, 31(6): 509-518, 2004.
11. 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): 307-322, 2004.

    2003

12. 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.
13. 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.

    2002

14. 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): 15-22, 2002.
15. Jaydev P. Desai, “ A graph theoretic approach for modeling mobile robot team formations”, Journal of Robotic Systems, 19(11): 511-525, 2002.

    2001

16. 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): 905-908, 2001.
17. 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): 789-798, 2001.

    2000

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

    1999

19. Jaydev P. Desai and Vijay Kumar, “Motion planning for cooperating mobile manipulators”. Journal of Robotic Systems, 16 (10): 557-579, 1999.
20. Jaydev P. Desai, Milos Zefran, and Vijay Kumar, “Two-arm manipulation tasks with friction-assisted grasping”. Advanced Robotics, 12 (5): 485-507 1999.

JOURNAL ABSTRACTS

2002

1. 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.

BOOK CHAPTERS

2006

1. 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.
2. Invited to write a chapter on “Robotics for Life Science Automation” in the Book: “Life Science Automation: Fundamentals and Applications”, 2006.

   2005

3. 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.

REFEREED CONFERENCE PROCEEDINGS

2007

1. Gregory Tholey and Jaydev P. Desai, “A Modular, Automated Laparoscopic Grasper with Three-Dimensional Force Measurement Capability”, 2007 IEEE International Conference on Robotics and Automation.

   2006

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

   2005

9. 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”, International Symposium of Robotics Research, San Francisco, CA, October 2005.
10. Anand Pillarisetti, Waqas Anjum, Jaydev P. Desai, Gary Friedman, and Ari D. Brooks, "Force feedback Interface for Cell Injection", First Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 391-400, 2005.
11. Gregory Tholey and Jaydev P. Desai, "A General Purpose 7 DOF Haptic Interface", First Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 582-583, 2005.
12. Teeranoot Chanthasopeephan, Jaydev P. Desai and Alan Lau, "3D and 2D Finite Element Analysis in Soft Tissue Cutting for Haptic Display", International Conference on Advanced Robotics, pp. 360-367, 2005.
13. 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", International Conference on Advanced Robotics, 2005.
14. Christopher W. Kennedy and Jaydev P. Desai, "Enabling Technologies for Robotically-Assisted Sutureless Coronary Anastomosis", IEEE International Conference on Robotics and Automation, Spain, 2005.

    2004

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

    2003

24. Teeranoot Chanthasopee phan, Jaydev P. Desai, and Alan Lau, “ Measuring Forces in Liver Cutting for Reality-Based Haptic Display”, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol.3 pp. 3083- 3088, Las Vegas, NV, 2003.
25. Christopher Kennedy and Jaydev P. Desai, “Estimation and modeling of the harmonic drive transmission in the Mitsubishi PA-10 robot arm”, IEEE/RSJ International Conference on Intelligent Robots and Syste ms , pp. 3331-3336, Las Vegas, NV, 2003.
26. 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”, 2003 Medical Image Computing and Computer Assisted Intervention conference , part 1, pp. 198-205, M ontreal , Canada , 2003.
27. Tie Hu and Jaydev P. Desai, “ A Biomechanical Model of the Liver for Reality-Based Haptic Feedback”, 2003 Medical Image Computing and Computer Assisted Intervention conference , Montreal, Canada, pp. 75-82, 2003.
28. Christopher Kennedy and Jaydev P. Desai, “Force feedback using Vision”, International Conference on Advanced Robotics, pp.179-184, Coimbra, Portugal, 2003.
29. Gregory Tholey, Teeranoot Chanthasopeephan, Tie Hu, Jaydev P. Desai, and Alan Lau, “Measuring Grasping and Cutting Forces for Reality-Based Haptic Modeling”, Computer Assisted Radiology and Surgery - 1 st International Workshop on Haptic Devices in Medical Applications, pp. 794-800, London, UK, 2003.

    2002

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

    2001

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

    1999

36. Jaydev P. Desai, Vijay Kumar, and James P. Ostrowski, “Control of changes in formation for a team of mobile robots”. IEEE International Conference on Robotics and Automation, Detroit, vol.2, pp. 1556 -1561, May 1999.

    1998

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

    1997

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

    1996

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

    1995

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