Jaydev P. Desai

147 papers A* 29A 15C 1Journal 58Unranked 43
YearRankTypeTitle / Venue / Authors
2025 J jnl
Design of a Polymer-based Steerable Cannula for Neurosurgical Applications.
CoRR
Nidhi Malhotra, Amber K. Rothe, Revanth Konda, Jaydev P. Desai
2025 — conf
Enabling Distal Rotation in a Robotically Steerable Guidewire: An Initial Approach.
ISMR
Revanth Konda, Sharan R. Ravigopal, Jaydev P. Desai
2025 J jnl
Evaluating the Navigation Capabilities of a Modified COAST Guidewire Robot in an Anatomical Phantom Model.
CoRR
Timothy A. Brumfiel, Revanth Konda, Drew Elliott, Jaydev P. Desai
2025 J jnl
Model-Based Parameter Selection for a Steerable Continuum Robot - Applications to Bronchoalveolar Lavage (BAL).
IEEE Robotics Autom. Lett.
Amber K. Rothe, Timothy A. Brumfiel, Revanth Konda, Kirsten M. Williams, Jaydev P. Desai
2025 J jnl
Robotically steerable guidewires - Current trends and future directions.
Sci. Robotics
Revanth Konda, Timothy A. Brumfiel, Zachary L. Bercu, Jonathan A. Grossberg, Jaydev P. Desai
2025 — conf
Towards Shape Estimation of Meso-Scale Continuum Robots Using Direct Laser Written Piezoresistive Strain Sensors.
ISMR
Amber K. Rothe, Nidhi Malhotra, C. Cloud Barré, Jaydev P. Desai
2025 J jnl
Towards a Tendon-Driven Robotically Steerable Guidewire With a Retractable Distal Balloon.
IEEE Robotics Autom. Lett.
C. Cloud Barré, Jaydev P. Desai
2024 J jnl
Corrections to "Model-Based Design of the COAST Guidewire Robot for Large Deflection".
IEEE Robotics Autom. Lett.
Yash Chitalia, Achraj Sarma, Timothy A. Brumfiel, Nancy Joanna Deaton, Maxina Sheft, Jaydev P. Desai
2024 J jnl
Design and Modeling of a Compact Spooling Mechanism for the COAST Guidewire Robot.
IEEE Robotics Autom. Lett.
Timothy A. Brumfiel, Jared Grinberg, Betina Siopongco, Jaydev P. Desai
2024 — conf
Middle Tube Rotation of the COAST Guidewire Robot: Design and Modeling.
ISMR
Sharan R. Ravigopal, Nidhi Malhotra, Timothy A. Brumfiel, Benjamin Chern, Yuanning Liu, Jaydev P. Desai
2024 J jnl
Modeling Non-Linear Effects in a 4-DoF Robotic Transcatheter Delivery System.
IEEE Robotics Autom. Lett.
Namrata Nayar, Jaydev P. Desai
2024 — conf
Teleoperated Navigation of a Robotically Steerable Guidewire under Fluoroscopy in a Flow Environment.
EMBC
Timothy A. Brumfiel, Sharan R. Ravigopal, Namrata U. Nayar, Mesum Zaidi, Jaydev P. Desai
2024 J jnl
Ultrasound-Guided Real-Time Joint Space Control of a Robotic Transcatheter Delivery System.
IEEE Robotics Autom. Lett.
Namrata Nayar, Jaydev P. Desai
2023 J jnl
Corrections to "Design, Modeling, and Control of a Coaxially Aligned Steerable (COAST) Guidewire Robot".
IEEE Robotics Autom. Lett.
Seokhwan Jeong, Yash Chitalia, Jaydev P. Desai
2023 J jnl
Model-Based Design of the COAST Guidewire Robot for Large Deflection.
IEEE Robotics Autom. Lett.
Yash Chitalia, Achraj Sarma, Timothy A. Brumfiel, Nancy Joanna Deaton, Maxina Sheft, Jaydev P. Desai
2023 A* conf
Modeling of a Robotic Transcatheter Delivery System.
ICRA
Namrata Nayar, Ronghuai Qi, Jaydev P. Desai
2023 J jnl
Simultaneous Shape and Tip Force Sensing for the COAST Guidewire Robot.
IEEE Robotics Autom. Lett.
Nancy Joanna Deaton, Timothy A. Brumfiel, Achraj Sarma, Jaydev P. Desai
2023 J jnl
Telerobotic Transcatheter Delivery System for Mitral Valve Implant.
IEEE Robotics Autom. Lett.
Ronghuai Qi, Namrata Nayar, Jaydev P. Desai
2023 — conf
Towards Closed-loop Control of the Modified COAST Guidewire under Fluoroscopic Imaging for Endotracheal and Endovascular Interventions.
ISMR
Sharan R. Ravigopal, Kirsten M. Williams, Jaydev P. Desai
2023 — conf
Towards the development of a MEMS-based force sensor for in vivo tumor tissue demarcation.
ISMR
Nidhi Malhotra, Kimberly Hoang, Jaydev P. Desai
2022 A* conf
Design and Modeling of a Compact Advancement Mechanism for a Modified COAST Guidewire Robot.
ICRA
Patrick Lis, Achraj Sarma, Grace Trimpe, Timothy A. Brumfiel, Ronghuai Qi, Jaydev P. Desai
2022 J jnl
Fluoroscopic Image-Based 3-D Environment Reconstruction and Automated Path Planning for a Robotically Steerable Guidewire.
IEEE Robotics Autom. Lett.
Sharan R. Ravigopal, Timothy A. Brumfiel, Achraj Sarma, Jaydev P. Desai
2022 J jnl
State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions.
Proc. IEEE
Hao Su, Ka-Wai Kwok, Kevin Cleary, Iulian Iordachita, Murat Cenk Cavusoglu, Jaydev P. Desai, Gregory S. Fischer
2022 — conf
Towards FBG-based End-Effector Force Estimation for a Steerable Continuum Robot.
ISMR
Timothy A. Brumfiel, Achraj Sarma, Jaydev P. Desai
2021 J jnl
A Robotically Steerable Guidewire With Forward-Viewing Ultrasound: Development of Technology for Minimally-Invasive Imaging.
IEEE Trans. Biomed. Eng.
Graham C. Collins, Achraj Sarma, Zachary L. Bercu, Jaydev P. Desai, Brooks D. Lindsey
2021 — conf
Automated Motion Control of the COAST Robotic Guidewire under Fluoroscopic Guidance.
ISMR
Sharan R. Ravigopal, Timothy A. Brumfiel, Jaydev P. Desai
2021 J jnl
Corrections to "Patient-Specific, Voice-Controlled, Robotic FLEXotendon Glove-II System for Spinal Cord Injury".
IEEE Robotics Autom. Lett.
Phillip Tran, Seokhwan Jeong, Steven L. Wolf, Jaydev P. Desai
2021 A* conf
Design and Control of 5-DoF Robotically Steerable Catheter for the Delivery of the Mitral Valve Implant.
ICRA
Namrata Nayar, Seokhwan Jeong, Jaydev P. Desai
2021 A* conf
FLEXotendon Glove-III: Soft Robotic Hand Rehabilitation Exoskeleton for Spinal Cord Injury.
ICRA
Phillip Tran, Seokhwan Jeong, Kinsey Herrin, Shovan Bhatia, Scott Kozin, Jaydev P. Desai
2021 J jnl
Modeling and Control of a 2-DoF Meso-Scale Continuum Robotic Tool for Pediatric Neurosurgery.
IEEE Trans. Robotics
Yash Chitalia, Seokhwan Jeong, Kent K. Yamamoto, Joshua J. Chern, Jaydev P. Desai
2020 — conf
Capacitive Two-dimensional Force Sensing Microcantilever with a Conductive Tip for Characterization of Biological Samples.
ISMR
Kihan Park, Jaydev P. Desai
2020 J jnl
Design, Modeling, and Control of a Coaxially Aligned Steerable (COAST) Guidewire Robot.
IEEE Robotics Autom. Lett.
Seokhwan Jeong, Yash Chitalia, Jaydev P. Desai
2020 — conf
Image guided mitral valve replacement: registration of 3D ultrasound and 2D x-ray images.
Image-Guided Procedures
James D. Dormer, Md. Fiaz Islam Bhuiyan, Nahian Rahman, Nancy Joanna Deaton, Jun Sheng, Muralidhar Padala, Jaydev P. Desai, Baowei Fei
2020 J jnl
Integration of Self-Sealing Suction Cups on the FLEXotendon Glove-II Robotic Exoskeleton System.
IEEE Robotics Autom. Lett.
Seokhwan Jeong, Phillip Tran, Jaydev P. Desai
2020 J jnl
Patient-Specific, Voice-Controlled, Robotic FLEXotendon Glove-II System for Spinal Cord Injury.
IEEE Robotics Autom. Lett.
Phillip Tran, Seokhwan Jeong, Steven L. Wolf, Jaydev P. Desai
2020 — conf
Pose-aware C-Arm Calibration and Image Distortion Correction for Guidewire Tracking and Image Reconstruction.
ISMR
Florian Heemeyer, Anirudh Choudhary, Jaydev P. Desai
2020 J jnl
Towards FBG-Based Shape Sensing for Micro-Scale and Meso-Scale Continuum Robots With Large Deflection.
IEEE Robotics Autom. Lett.
Yash Chitalia, Nancy Joanna Deaton, Seokhwan Jeong, Nahian Rahman, Jaydev P. Desai
2020 — conf
Towards a Robotically Steerable System for High Dose Rate Brachytherapy.
ISER
Nancy Joanna Deaton, Yash Chitalia, Pretesh Patel, Jaydev P. Desai
2020 A conf
Towards the Development of a Robotic Transcatheter Delivery System for Mitral Valve Implant.
IROS
Namrata Nayar, Seokhwan Jeong, Jaydev P. Desai
2020 — conf
Towards the Development of an Ultrasound-Guided Robotically Steerable Guidewire.
ISMR
Achraj Sarma, Graham C. Collins, Namrata Nayar, Yash Chitalia, Seokhwan Jeong, Brooks D. Lindsey, Jaydev P. Desai
2019 A* conf
A Large-Deflection FBG Bending Sensor for SMA Bending Modules for Steerable Surgical Robots.
ICRA
Jun Sheng, Nancy Joanna Deaton, Jaydev P. Desai
2019 J jnl
Modular FBG Bending Sensor for Continuum Neurosurgical Robot.
IEEE Robotics Autom. Lett.
Nahian Rahman, Nancy Joanna Deaton, Jun Sheng, Shing Shin Cheng, Jaydev P. Desai
2019 — conf
Multi-walled Carbon Nanotube (MWCNT)/PDMS-based Flexible Sensor for Medical Applications.
ISMR
Kihan Park, Phillip Tran, Nancy Joanna Deaton, Jaydev P. Desai
2019 J jnl
Robotic Artificial Muscles: Current Progress and Future Perspectives.
IEEE Trans. Robotics
Jun Zhang, Jun Sheng, Ciarán T. O'Neill, Conor J. Walsh, Robert J. Wood, Jee-Hwan Ryu, Jaydev P. Desai, Michael C. Yip
2019 A conf
Towards the Design and Development of a Pediatric Neuroendoscope Tool.
IROS
Yash Chitalia, Seokhwan Jeong, Ji Bok, Vinh Nguyen, Shreyes N. Melkote, Joshua J. Chern, Jaydev P. Desai
2019 — conf
Towards the development of a voice-controlled exoskeleton system for restoring hand function.
ISMR
Xuefeng Wang, Phillip Tran, Sarah M. Callahan, Steven L. Wolf, Jaydev P. Desai
2019 J jnl
Viscoelastic Properties of Human Autopsy Brain Tissues as Biomarkers for Alzheimer's Diseases.
IEEE Trans. Biomed. Eng.
Kihan Park, Gabrielle E. Lonsberry, Marla Gearing, Allan I. Levey, Jaydev P. Desai
2019 A conf
Voice-Controlled Flexible Exotendon (FLEXotendon) Glove For Hand Rehabilitation.
IROS
Phillip Tran, Seokhwan Jeong, Jaydev P. Desai
2018 — conf
A highly compact fiberoptic rotation sensor for a neurosurgical robot.
ISMR
Jun Sheng, Jaydev P. Desai
2018 J jnl
Active Stiffness Tuning of a Spring-Based Continuum Robot for MRI-Guided Neurosurgery.
IEEE Trans. Robotics
Yeongjin Kim, Shing Shin Cheng, Jaydev P. Desai
2018 — conf
Design and Analysis of a Bidirectional Notch Joint for a Robotic Pediatric Neuroendoscope.
ISER
Yash Chitalia, Xuefeng Wang, Vinh Nguyen, Shreyes N. Melkote, Joshua J. Chern, Jaydev P. Desai
2018 J jnl
Design, Analysis, and Evaluation of a Remotely Actuated MRI-Compatible Neurosurgical Robot.
IEEE Robotics Autom. Lett.
Xuefeng Wang, Shing Shin Cheng, Jaydev P. Desai
2018 A* conf
Design, Modeling and Control of a 2-DoF Robotic Guidewire.
ICRA
Yash Chitalia, Xuefeng Wang, Jaydev P. Desai
2018 J jnl
Development of a Mesoscale Fiberoptic Rotation Sensor for a Torsion Actuator.
IEEE Robotics Autom. Lett.
Jun Sheng, Jaydev P. Desai
2018 J jnl
Electromechanical Coupling Factor of Breast Tissue as a Biomarker for Breast Cancer.
IEEE Trans. Biomed. Eng.
Kihan Park, Wenjin Chen, Marina A. Chekmareva, David J. Foran, Jaydev P. Desai
2018 J jnl
Towards the Development of a Steerable and MRI-Compatible Cardiac Catheter for Atrial Fibrillation Treatment.
IEEE Robotics Autom. Lett.
Jun Sheng, Xuefeng Wang, Timm-Michael L. Dickfeld, Jaydev P. Desai
2017 A conf
A skull-mounted robotic headframe for a neurosurgical robot.
IROS
Jun Sheng, Jaydev P. Desai
2017 A conf
Design and analysis of a remotely-actuated cable-driven neurosurgical robot.
IROS
Shing Shin Cheng, Xuefeng Wang, Jaydev P. Desai
2017 J jnl
Development of a Meso-Scale SMA-Based Torsion Actuator for Image-Guided Procedures.
IEEE Trans. Robotics
Jun Sheng, Dheeraj Gandhi, Rao P. Gullapalli, J. Marc Simard, Jaydev P. Desai
2017 J jnl
New Actuation Mechanism for Actively Cooled SMA Springs in a Neurosurgical Robot.
IEEE Trans. Robotics
Shing Shin Cheng, Yeongjin Kim, Jaydev P. Desai
2017 J jnl
Toward the Development of a Flexible Mesoscale MRI-Compatible Neurosurgical Continuum Robot.
IEEE Trans. Robotics
Yeongjin Kim, Shing Shin Cheng, Mahamadou Diakite, Rao P. Gullapalli, J. Marc Simard, Jaydev P. Desai
2016 J jnl
Toward a Portable Cancer Diagnostic Tool Using a Disposable MEMS-Based Biochip.
IEEE Trans. Biomed. Eng.
Hardik Jeetendra Pandya, Kihan Park, Wenjin Chen, Lauri A. Goodell, David J. Foran, Jaydev P. Desai
2016 — conf
Towards a tri-axial flexible force sensor for catheter contact force measurement.
IEEE SENSORS
Hardik Jeetendra Pandya, Jun Sheng, Jaydev P. Desai
2016 A* conf
Versatile aerial grasping using self-sealing suction.
ICRA
Chad C. Kessens, Justin Thomas, Jaydev P. Desai, Vijay Kumar
2015 A conf
A novel meso-scale SMA-actuated torsion actuator.
IROS
Jun Sheng, Jaydev P. Desai
2015 A conf
Design and analysis of an under-actuated XYθ stage for automated tissue indentation.
IROS
Carolyn M. Davis, Kihan Park, Jaydev P. Desai
2015 A conf
Design and kinematic analysis of a neurosurgical spring-based continuum robot using SMA spring actuators.
IROS
Yeongjin Kim, Jaydev P. Desai
2015 J jnl
Design, development, and evaluation of an MRI-guided SMA spring-actuated neurosurgical robot.
Int. J. Robotics Res.
Mingyen Ho, Yeongjin Kim, Shing Shin Cheng, Rao P. Gullapalli, Jaydev P. Desai
2015 — conf
Towards Real-Time SMA Control for a Neurosurgical Robot: MINIR-II.
ISRR (1)
Shing Shin Cheng, Yeongjin Kim, Jaydev P. Desai
2015 A conf
Towards a SMA-actuated Neurosurgical Intracerebral Hemorrhage Evacuation (NICHE) robot.
IROS
Jun Sheng, Jaydev P. Desai
2015 A* conf
Towards high frequency actuation of SMA spring for the neurosurgical robot - MINIR-II.
ICRA
Shing Shin Cheng, Jaydev P. Desai
2015 — conf
Towards the development of a spring-based continuum robot for neurosurgery.
Image-Guided Procedures
Yeongjin Kim, Shing Shin Cheng, Jaydev P. Desai
2014 A* conf
Accurate in-plane and out-of-plane ultrasound-based tracking of the discretely actuated steerable cannula.
ICRA
Elif Ayvali, Jaydev P. Desai
2014 — conf
Compact Hand with Passive Grasping.
ISER
Chad C. Kessens, Jaydev P. Desai
2014 J jnl
Design, development, and evaluation of a master-slave surgical system for breast biopsy under continuous MRI.
Int. J. Robotics Res.
Bo Yang, Steve Roys, U-Xuan Tan, Mathew Philip, Howard Richard, Rao P. Gullapalli, Jaydev P. Desai
2014 J jnl
Probabilistic Estimation of Mechanical Properties of Biomaterials Using Atomic Force Microscopy.
IEEE Trans. Biomed. Eng.
Rajarshi Roy, Wenjin Chen, Lei Cong, Lauri A. Goodell, David J. Foran, Jaydev P. Desai
2014 J jnl
Special Issue of the Thirteenth International Symposium on Experimental Robotics, 2012.
Int. J. Robotics Res.
Jaydev P. Desai, Gregory Dudek, Oussama Khatib, Vijay Kumar
2013 J jnl
A Semi-Automated Positioning System for Contact-Mode Atomic Force Microscopy (AFM).
IEEE Trans Autom. Sci. Eng.
Rajarshi Roy, Wenjin Chen, Lei Cong, Lauri A. Goodell, David J. Foran, Jaydev P. Desai
2013 — ed.
Experimental Robotics - The 13th International Symposium on Experimental Robotics, ISER 2012, June 18-21, 2012, Québec City, Canada
ISER
Jaydev P. Desai, Gregory Dudek, Oussama Khatib, Vijay Kumar
2013 A* conf
Modeling, characterization and control of antagonistic SMA springs for use in a neurosurgical robot.
ICRA
Mingyen Ho, Jaydev P. Desai
2012 J jnl
Toward a Meso-Scale SMA-Actuated MRI-Compatible Neurosurgical Robot.
IEEE Trans. Robotics
Mingyen Ho, Alan B. McMillan, J. Marc Simard, Rao P. Gullapalli, Jaydev P. Desai
2012 J jnl
Towards a discretely actuated steerable cannula for diagnostic and therapeutic procedures.
Int. J. Robotics Res.
Elif Ayvali, Chia-Pin Liang, Mingyen Ho, Yu Chen, Jaydev P. Desai
2012 A* conf
Towards a discretely actuated steerable cannula.
ICRA
Elif Ayvali, Jaydev P. Desai
2012 — conf
Towards the Development of a Master-Slave Surgical System for Breast Biopsy under Continuous MRI.
ISER
Bo Yang, U-Xuan Tan, Alan MacMillan, Rao P. Gullapalli, Jaydev P. Desai
2012 A* conf
Towards the development of a SMA-actuated MRI-compatible tendon-driven neurosurgical robot.
ICRA
Mingyen Ho, Jaydev P. Desai
2011 A* conf
Design and implementation of a pneumatically-actuated robot for breast biopsy under continuous MRI.
ICRA
Bo Yang, U-Xuan Tan, Alan B. McMillan, Rao P. Gullapalli, Jaydev P. Desai
2011 A* conf
Towards a MR image-guided SMA-actuated neurosurgical robot.
ICRA
Mingyen Ho, Michael Koltz, J. Marc Simard, Rao P. Gullapalli, Jaydev P. Desai
2011 — conf
Towards a soft-tissue cutting simulator using the cohesive zone approach.
EMBC
Kevin Lister, Alan C. W. Lau, Jaydev P. Desai
2011 J jnl
Triaxial MRI-Compatible Fiber-optic Force Sensor.
IEEE Trans. Robotics
U-Xuan Tan, Bo Yang, Rao P. Gullapalli, Jaydev P. Desai
2010 — conf
A Novel Discretely Actuated Steerable Probe for Percutaneous Procedures.
ISER
Elif Ayvali, Mingyen Ho, Jaydev P. Desai
2010 A* conf
Design and development of a 3-axis MRI-compatible force sensor.
ICRA
U-Xuan Tan, Bo Yang, Rao P. Gullapalli, Jaydev P. Desai
2010 A* conf
Design, fabrication, and implementation of self-sealing suction cup arrays for grasping.
ICRA
Chad C. Kessens, Jaydev P. Desai
2010 J jnl
Estimating zero-strain states of very soft tissue under gravity loading using digital image correlation.
Medical Image Anal.
Zhan Gao, Jaydev P. Desai
2010 — conf
Fabrication of Highly Articulated Miniature Snake Robot Structures Using In-Mold Assembly of Compliant Joints.
ISER
Arvind Ananthanarayanan, Felix Bussemer, Satyandra K. Gupta, Jaydev P. Desai
2010 — conf
Fiber-optic intubation simulator with force feedback.
HAPTICS
Ankur R. Baheti, Yuri Millo, Jaydev P. Desai
2010 A conf
Realistic visual and haptic feedback simulator for real-time cell indentation.
IROS
Hamid Ladjal, Jean-Luc Hanus, Anand Pillarisetti, Carol Keefer, Antoine Ferreira, Jaydev P. Desai
2009 A conf
Atomic force microscopy-based single-cell indentation: Experimentation and finite element simulation.
IROS
Hamid Ladjal, Jean-Luc Hanus, Anand Pillarisetti, Carol Keefer, Antoine Ferreira, Jaydev P. Desai
2009 J jnl
Editorial: Special Issue on Medical Robotics.
Int. J. Robotics Res.
Jaydev P. Desai, Nicholas Ayache
2009 J jnl
Guest Editorial to the Special Letters Issue on Biomedical Robotics and Biomechatronics - BioRob.
IEEE Trans. Biomed. Eng.
Jaydev P. Desai, Arianna Menciassi, Auke Jan Ijspeert
2009 — conf
Semi-automated soft-tissue acquisition and modeling for surgical simulation.
CASE
Zhan Gao, Theodore Kim, Doug L. James, Jaydev P. Desai
2009 J jnl
Surgical Robotics [TC Spotlight].
IEEE Robotics Autom. Mag.
Ron Alterovitz, Jaydev P. Desai
2009 J jnl
Towards a teleoperated needle driver robot with haptic feedback for RFA of breast tumors under continuous MRI.
Medical Image Anal.
Rebecca Kokes, Kevin Lister, Rao P. Gullapalli, Bao Zhang, Alan MacMillan, Howard Richard, Jaydev P. Desai
2008 — conf
Mechanical Response of Embryonic Stem Cells Using Haptics-Enabled Atomic Force Microscopy.
ISER
Anand Pillarisetti, Carol Keefer, Jaydev P. Desai
2008 — conf
Soft-Tissue Characterization during Monopolar Electrocautery Procedures.
MMVR
Kevin Lister, Jaydev P. Desai
2008 A* conf
Towards a needle driver robot for radiofrequency ablation of tumors under continuous MRI.
ICRA
Rebecca Kokes, Kevin Lister, Rao P. Gullapalli, Bao Zhang, Howard Richard, Jaydev P. Desai
2007 A* conf
A Modular, Automated Laparoscopic Grasper with Three-Dimensional Force Measurement Capability.
ICRA
Gregory Tholey, Jaydev P. Desai
2007 J jnl
A biplanar fluoroscopic approach for the measurement, modeling, and simulation of needle and soft-tissue interaction.
Medical Image Anal.
James T. Hing, Ari D. Brooks, Jaydev P. Desai
2007 J jnl
Evaluating the Effect of Force Feedback in Cell Injection.
IEEE Trans Autom. Sci. Eng.
Anand Pillarisetti, Maxim Pekarev, Ari D. Brooks, Jaydev P. Desai
2007 — conf
Haptic feedback system for robot-assisted surgery.
PerMIS
Jaydev P. Desai, Gregory Tholey, Christopher W. Kennedy
2007 J jnl
Modeling Soft-Tissue Deformation Prior to Cutting for Surgical Simulation: Finite Element Analysis and Study of Cutting Parameters.
IEEE Trans. Biomed. Eng.
Teeranoot Chanthasopeephan, Jaydev P. Desai, Alan C. W. Lau
2006 — conf
Design and Development of a General Purpose 7 DOF Haptic Device.
HAPTICS
Gregory Tholey, Jaydev P. Desai
2006 — conf
Evaluating the Role of Force Feedback for Biomanipulation Tasks.
HAPTICS
Anand Pillarisetti, Maxim Pekarev, Ari D. Brooks, Jaydev P. Desai
2006 A* conf
Reality-based Needle Insertion Simulation for Haptic Feedback in Prostate Brachytherapy.
ICRA
James T. Hing, Ari D. Brooks, Jaydev P. Desai
2005 — conf
A General Purpose 7 DOF Haptic Interface.
WHC
Gregory Tholey, Jaydev P. Desai
2005 A* conf
Enabling Technologies for Robotically-Assisted Sutureless Coronary Anastomosis.
ICRA
Christopher W. Kennedy, Jaydev P. Desai
2005 — conf
Force Feedback Interface for Cell Injection.
WHC
Anand Pillarisetti, Waqas Anjum, Jaydev P. Desai, Gary Friedman, Ari D. Brooks
2005 C conf
Reality-Based Estimation of Needle and Soft-Tissue Interaction for Accurate Haptic Feedback in Prostate Brachytherapy Simulation.
ISRR
James T. Hing, Ari D. Brooks, Jaydev P. Desai
2004 J jnl
A Framework for Kinematic and Dynamic Motion Planning for a Formation of Mobile Robots.
Intell. Autom. Soft Comput.
Thomas Sugar, Jaydev P. Desai
2004 — conf
Characterization of Soft-Tissue Material Properties: Large Deformation Analysis.
ISMS
Tie Hu, Jaydev P. Desai
2004 — conf
Deformation Resistance in Soft Tissue Cutting: A Parametric Study.
HAPTICS
Teeranoot Chanthasopeephan, Jaydev P. Desai, Alan C. W. Lau
2004 — conf
Design, Development, and Testing of an Automated Laparoscopic Grasper with 3-D Force Measurement Capability.
ISMS
Gregory Tholey, Anand Pillarisetti, William Green, Jaydev P. Desai
2004 A* conf
Model-based Control of the Mitsubishi PA-10 Robot Arm: Application to Robot-assisted Surgery.
ICRA
Christopher W. Kennedy, Jaydev P. Desai
2004 J jnl
On-site three dimensional force sensing capability in a laparoscopic grasper.
Ind. Robot
Gregory Tholey, Anand Pillarisetti, Jaydev P. Desai
2003 — conf
A Biomechanical Model of the Liver for Reality-Based Haptic Feedback.
MICCAI (1)
Tie Hu, Jaydev P. Desai
2003 A conf
Estimation and modeling of the harmonic drive transmission in the Mitsubishi PA-10 robot arm.
IROS
Christopher W. Kennedy, Jaydev P. Desai
2003 — conf
Evaluating the Role of Vision and Force Feedback in Minimally Invasive Surgery: New Automated Laparoscopic Grasper and A Case Study.
MICCAI (1)
Gregory Tholey, Jaydev P. Desai, Andres E. Castellanos
2003 A conf
Measuring forces in liver cutting for reality-based haptic display.
IROS
Teeranoot Chanthasopeephan, Jaydev P. Desai, Alan C. W. Lau
2003 — conf
Measuring grasping and cutting forces for reality-based haptic modeling.
CARS
Gregory Tholey, Teeranoot Chanthasopeephan, Tie Hu, Jaydev P. Desai, Alan C. W. Lau
2002 J jnl
A Graph Theoretic Approach for Modeling Mobile Robot Team Formations.
J. Field Robotics
Jaydev P. Desai
2002 A* conf
Combining Haptic and Visual Servoing for Cardiothoracic Surgery.
ICRA
Christopher W. Kennedy, Tie Hu, Jaydev P. Desai
2002 — conf
Real-Time Haptic Feedback in Laparoscopic Tools for Use in Gastro-Intestinal Surgery.
MICCAI (1)
Tie Hu, Andres E. Castellanos, Gregory Tholey, Jaydev P. Desai
2001 A* conf
Coordination of Multiple Mobile Manipulators.
ICRA
Thomas Sugar, Jaydev P. Desai, Vijay Kumar, James P. Ostrowski
2001 J jnl
Modeling and control of formations of nonholonomic mobile robots.
IEEE Trans. Robotics Autom.
Jaydev P. Desai, James P. Ostrowski, Vijay Kumar
2001 A conf
Modeling multiple teams of mobile robots: a graph theoretic approach.
IROS
Jaydev P. Desai
2001 — conf
On controlling aircraft formations.
CDC
Rafael Fierro, Calin Belta, Jaydev P. Desai, Vijay Kumar
2001 A* conf
Towards the Development of a Humanoid Arm by Minimizing Interaction Forces Through Minimum Impedance Control.
ICRA
Jaydev P. Desai, Robert D. Howe
2001 J jnl
Visual and haptic collaborative tele-presence.
Comput. Graph.
Adnan Ansar, Denilson Rodrigues, Jaydev P. Desai, Kostas Daniilidis, Vijay Kumar, Mario Fernando Montenegro Campos
2000 J jnl
Optimal Gait Selection for Nonholonomic Locomotion Systems.
Int. J. Robotics Res.
James P. Ostrowski, Jaydev P. Desai, Vijay Kumar
1999 A* conf
Control of Changes in Formation for a Team of Mobile Robots.
ICRA
Jaydev P. Desai, Vijay Kumar, James P. Ostrowski
1999 J jnl
Motion planning for cooperating mobile manipulators.
J. Field Robotics
Jaydev P. Desai, Vijay Kumar
1998 A* conf
Controlling Formations of Multiple Mobile Robots.
ICRA
Jaydev P. Desai, James P. Ostrowski, Vijay Kumar
1997 A* conf
Nonholonomic motion planning for multiple mobile manipulators.
ICRA
Jaydev P. Desai, Vijay Kumar
1997 A* conf
Optimal gait selection for nonholonomic locomotion systems.
ICRA
Jim Ostrowski, Jaydev P. Desai, Vijay Kumar
1997 A conf
Two-arm manipulation tasks with friction assisted grasping.
IROS
Jaydev P. Desai, Milos Zefran, Vijay Kumar
1997 J jnl
Two-arm manipulation tasks with friction-assisted grasping.
Adv. Robotics
Jaydev P. Desai, Milos Zefran, Vijay Kumar
1996 A* conf
Motion planning for multiple mobile manipulators.
ICRA
Jaydev P. Desai, Chau-Chang Wang, Milos Zefran, Vijay Kumar
1995 — conf
Two-arm manipulation: what can we learn by studying humans?
IROS (1)
Milos Zefran, Vijay Kumar, Jaydev P. Desai, Ealan Henis