Publications

 

2015 bibtex

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, 2015.bibtex
  • 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. (Accepted)bibtex
  • 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 (2015) 075025 (13pp); DOI: 10.1088/0960-1317/25/7/075025. bibtex
  • 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.bibtex

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) (Accepted)bibtex
  • 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) (Accepted)bibtex
  • 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) (Accepted)bibtex
  • 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) (Accepted)bibtex
  • 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) (Accepted)bibtex

2014 bibtex

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 42, no. 9 (2014): 1806-1822.bibtex
  • 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 (Advanced Article), 2014; DOI: 10.1039/c4lc00594e.bibtex
  • 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.bibtex
  • 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. bibtex

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. bibtex
  • 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.bibtex
  • 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.bibtex

2013 bibtex

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.bibtex
  • 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. bibtex
  • 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; DOI: 10.1177/1045389X13502576. bibtex
  • 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, 10(2), pp.462-465; DOI: 10.1109/TASE.2012.2226154. bibtex

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, October 21-23 2013, Palo Alto,California, USA. bibtex
  • 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, pp. 2503-2508, May 2013. bibtex

2012 bibtex

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 bibtex
  • 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 bibtex
  • 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 bibtex
  • 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 bibtex
  • 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 bibtex

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. bibtex
  • Elif Ayvali and Jaydev P. Desai, “Motion Planning for the Discretely Actuated Steerable Cannula,” IEEE International Conference on Biomedical Robotics and Biomechatronics, June 2012. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • Elif Ayvali and Jaydev P. Desai, “Towards a Discretely Actuated Steerable Cannula,” IEEE International Conference on Robotics and Automation, pp. 1614-1619, 2012. bibtex
  • 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. bibtex

2011 bibtex

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 bibtex
  • 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 bibtex
  • 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 bibtex
  • 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 bibtex
  • 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 bibtex
  • 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 bibtex
  • 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 bibtex

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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex

2010 bibtex

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 bibtex
  • 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 bibtex

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

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 bibtex

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

2009 bibtex

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 bibtex

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. bibtex
  • 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. bibtex

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 bibtex
  • 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 bibtex
  • 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 bibtex
  • 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 bibtex

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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex

2008 bibtex

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 bibtex
  • 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 bibtex

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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex

2007 bibtex

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 bibtex
  • 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 bibtex
  • 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 bibtex
  • 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 bibtex
  • 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 bibtex

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 bibtex

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. bibtex
  • 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. bibtex
  • 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. bibtex

2006 bibtex

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 bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex

2005 bibtex

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 bibtex
  • 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 bibtex
  • 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 bibtex

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 bibtex

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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex

2004 bibtex

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 bibtex
  • 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 bibtex
  • 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 bibtex
  • 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 bibtex

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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • Tie Hu, Jaydev P. Desai, “Modeling Large Deformation in Soft-tissues: Experimental results and Analysis”, In EuroHaptics, Munich, Germany, 2004. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex

2003 bibtex

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 bibtex

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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex
  • Christopher Kennedy and Jaydev P. Desai, “Force feedback using Vision”, In International Conference on Advanced Robotics, pp.179-184, Coimbra, Portugal, 2003. bibtex
  • 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. bibtex

2002 bibtex

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 bibtex
  • 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 bibtex

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. bibtex

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. bibtex
  • 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. bibtex

2001 bibtex

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 bibtex
  • 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 bibtex

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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex

2000 bibtex

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 bibtex

1999 bibtex

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 bibtex
  • Jaydev P. Desai, Milos Zefran, and Vijay Kumar, “Two-arm manipulation tasks with friction-assisted grasping”, Advanced Robotics, 12(5), pp. 485-507, 1999 bibtex

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. bibtex

1998 bibtex

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. bibtex
  • 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. bibtex

1997 bibtex

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. bibtex
  • 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. bibtex
  • 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. bibtex
  • 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. bibtex

1996 bibtex

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. bibtex
  • 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. bibtex
  • 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. bibtex

1995 bibtex

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. bibtex