RAMS Laboratory: Publications

ARCHIVAL PUBLICATIONS

2013

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)”, in-press, IEEE Transactions on Automation Science and Engineering, 2013.

2012

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

2011

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 Robotic - Transactions of the ASME, 3(4), pp. 045001-1 To 045001-8, 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

2010

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

2009

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

2008

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

2007

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

2005

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

2004

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

2003

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

2002

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

2001

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

2000

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

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

JOURNAL and CONFERENCE ABSTRACTS

2010

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&rdquo, Society for Simulation in Healthcare, Phoenix, 2010.

2009

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.

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.

2002

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

2007

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

2006

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.

2005

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

EDITORIALS and MAGAZINE PUBLICATIONS

2010

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

2009

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

2012

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.

Rajarshi Roy, Lei Li, Carol Keefer, and Jaydev P. Desai, “An Error-In-Variables (EIV) based Bayesian Probabilistic Approach toEstimating Cell Mechanical Properties Using Atomic Force Microscopy,” IEEE International Conference on Biomedical Robotics and Biomechatronics, June 2012.

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.

Elif Ayvali and Jaydev P. Desai, “Towards a Discretely Actuated Steerable Cannula,” IEEE International Conference on Robotics and Automation, pp. 1614-1619, 2012.

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

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.

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.

K. Lister, Z. Gao, 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.

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

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, 2012.

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.

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.

C. C. Kessens and Jaydev P. Desai, “Design, Fabrication, and Implementation of a Self-selecting Grasper”, In IEEE International Conference on Robotics and Automation, pp. 765-770, Anchoroge, AK, May 2010.

A. Baheti, Y. Millo, and Jaydev P. Desai, “Fiber-Optic Intubation Simulator with Force Feedback”, In IEEE Haptics Symposium, pp. 379-385, March 2010.

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.

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.

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.

2009

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.

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.

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.

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.

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.

2008

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.

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.

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.

2007

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.

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

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.

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 Resistance 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.

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.

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.

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.

2005

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.

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.

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.

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.

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.

2004

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.

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.

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

Teeranoot Chanthasopee phan, 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.

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.

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

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.

2001

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.

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.

1999

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.

1998

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.

1997

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.

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.

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.

1996

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.

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

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.