curriculum vitae – jaydev prataprai desai curriculum vitae...curriculum vitae – jaydev prataprai...

Curriculum Vitae – Jaydev Prataprai Desai

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CURRICULUM VITAE Jaydev Prataprai Desai

1. Personal Information Title: Professor BME Distinguished Faculty Fellow

Office Address: Wallace H. Coulter Department of Biomedical Engineering Georgia Institute of Technology 313 Ferst Drive, Suite 3112 Atlanta, GA 30332 Home Address: 5172 Baldwin Terrace Marietta, GA 30068

Phone: (404) 385-5381 Email: [email protected] Cell Phone: 240-743-9615

EDUCATION Post-Doctoral Fellow (1998-1999) Harvard University, Cambridge, MA Division of Engineering and Applied Sciences Advisor: Dr. Robert Howe Ph.D. Mechanical Engineering and Applied Mechanics University of Pennsylvania Philadelphia, PA 19104, USA Dissertation title: Motion Planning and Control of Cooperative Robotic Systems Degree Awarded: 12/1998 Dissertation Supervisor: Dr. Vijay Kumar Dissertation Co-Supervisor: Dr. James P. Ostrowski MA Mathematics University of Pennsylvania Philadelphia, PA 19104, USA Degree Awarded: 12/1997 MSE Mechanical Engineering and Applied Mechanics University of Pennsylvania Philadelphia, PA 19104, USA Degree Awarded: 05/1995 B. Tech Mechanical Engineering Indian Institute of Technology Bombay, India Degree Awarded: 07/1993


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PROFESSIONAL EXPERIENCE Professor 2016-present

Wallace H. Coulter Department of Biomedical Engineering Georgia Institute of Technology, Atlanta, GA

Professor 2013-2016

Department of Mechanical Engineering University of Maryland, College Park, MD

Associate Professor 2006-2013

Department of Mechanical Engineering University of Maryland, College Park, MD

Affiliate Professor 2014-2016 Department of Electrical and Computer Engineering University of Maryland, College Park Faculty Member 2010-2016

Applied Mathematics & Statistics, and Scientific Computation (AMSC) Program

Affiliate Faculty Member 2010-2016 Institute for Systems Research, University of Maryland, College Park Member of University of Maryland Marlene and Stewart Greenebaum 2009-2016 Cancer Center

University of Maryland School of Medicine Affiliate Faculty 2007-2016 Fischell Department of Bioengineering University of Maryland, College Park, MD Associate Professor 2005-2006

Department of Mechanical Engineering and Mechanics Drexel University, Philadelphia, PA

Affiliated Faculty appointment in the Department of 2005-2006

Materials Science and Engineering Drexel University, Philadelphia, PA

Affiliated faculty appointment in Department of Surgery 2005-2006

Drexel University College of Medicine, Philadelphia, PA

Affiliated faculty appointment in Department of Cardiothoracic Surgery 2002-2006 Drexel University College of Medicine, Philadelphia, PA

Affiliated Faculty with College of Biomedical Engineering, Science 01/2000-2006

and Health Systems Drexel University, Philadelphia, PA


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Pei Chi Chou Assistant Professor of Mechanical Engineering and Mechanics 2004-2005

Department of Mechanical Engineering and Mechanics Drexel University, Philadelphia, PA

Assistant Professor 09/1999 - 2005 Department of Mechanical Engineering and Mechanics Drexel University, Philadelphia, PA

Assistant Professor 08/2002 – 08/2004

Department of Materials Engineering Drexel University, Philadelphia, PA

2. Research, Scholarly, and Creative Activities Google Scholar: Citations: 5713 h-index: 37 i-10 index: 73 a. Chapters in books.

1. 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

2. Jaydev P. Desai, J. Yasha Kresh, Andrew S. Wechsler, Andres E. Castellanos, William C. Meyers, “Robotic Surgery”, Chapter in Wiley Encyclopedia of Biomedical Engineering, Edited by Metin Akay, John Wiley & Sons, Inc., 2006; DOI: 10.1002/9780471740360.ebs1050; ISBN: 978-0-471-24967-2

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

b. Articles in Refereed Journals.

1. Hardik J. Pandya, Jun Sheng, and Jaydev P. Desai, “MEMS-Based Flexible Force Sensor for Tri-Axial Catheter Contact Force Measurement”, Journal of Microelectromechanical Systems, 2016, Accepted.

2. Shing Shin Cheng, Yeongjin Kim, and Jaydev P. Desai, “Modeling and Characterization of SMA Springs with Water Cooling Strategy in a Neurosurgical Robot”, Journal of Intelligent Material Systems and Structures, 2016, Accepted.

3. Jun Sheng, Dheeraj Gandhi, Rao Gullapalli, J. Marc Simard, and Jaydev P. Desai, “Development of a Meso-Scale SMA-Based Torsion Actuator for Image-Guided Procedures”, IEEE Transactions on Robotics, 2016, Accepted.

4. Kihan Park and Jaydev P. Desai, “Micropositioning and Control of an Underactuated Platform for Microscopic Applications”, IEEE/ASME Transactions on Mechatronics, 2016, Accepted; DOI: 10.1109/TMECH.2016.2579620


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5. Hardik J. Pandya, Kihan Park, Wenjin Chen, Lauri A. Goodell, David J. Foran, and Jaydev P. Desai, “Towards a Portable Cancer Diagnostic Tool Using a Disposable MEMS-based Biochip”, IEEE Transactions on Biomedical Engineering, vol. 63, no. 7, pp. 1347-1353, Jul. 2016. DOI: 10.1109/TBME.2016.2535364 (NIHMS ID: 762511; PubMed ID: 26930673)

6. Chad C. Kessens and Jaydev P. Desai, “Versatile Passive Grasping for Manipulation”, IEEE/ASME Transactions on Mechatronics, Accepted, 2015.

7. Jun Sheng and Jaydev P. Desai, “Design, Modeling and Characterization of A Novel Meso-Scale SMA-Actuated Torsion Actuator”, 24(10), 105005 (13pp), Smart Materials and Structures, 2015. DOI: http://dx.doi.org/10.1088/0964-1726/24/10/105005

8. Wenjin Chen, Zachary Brandes, Rajarshi Roy, Marina Chekmareva, Hardik Jeetendra Pandya, Jaydev P. Desai, and David J. Foran, “Robot-Guided Atomic Force Microscopy for Mechano-Visual Phenotyping of Cancer Specimens”, 21(5), pp. 1224-1235, Microscopy and Microanalysis, 2015. DOI: 10.1017/S1431927615015007. PMID: 26343283

9. 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”, 15(18), pp. 3695-3706. Lab on a Chip, 2015; DOI: 10.1039/C5LC00491H. PMID: 26224116 [PubMed - in process] PMCID: PMC4550491.

10. 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, 25(7), 075025 (13pp), 2015; DOI: 10.1088/0960-1317/25/7/075025. PMID: 26526747 [PubMed] PMCID: PMC4624460.

11. Mingyen Ho, Yeongjin Kim, Shing Shin Cheng, Rao Gullapalli, and Jaydev P. Desai, “Design, Development, and Evaluation of a MRI-Guided SMA Spring Actuated Neurosurgical Robot”, The International Journal of Robotics Research, 34(8), pp. 1147-1163, 2015; DOI: 10.1177/0278364915579069.

12. Elif Ayvali and Jaydev P. Desai, “Optical Flow-Based Tracking of Needles and Needle-Tip Localization Using Circular Hough Transform in Ultrasound Images”, Annals of Biomedical Engineering, 43(8), pp. 1828-1840, 2015. DOI: 10.1007/s10439-014-1208-0; (PMID: 25503523).

13. 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. PMCID: PMC4167594.

14. 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 tissue”, Lab on a Chip, 14(23), pp. 4523-4532, 2014. DOI: 10.1039/c4lc00594e. PMCID: PMC4224189.

15. Rajarshi Roy 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(9), pp. 1806-1822, 2014.

16. 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


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Bioimpedance Measurements”, Sensors & Actuators: B. Chemical, vol. 199, pp. 259-268, 2014. PMCID: PMC4084740.

17. 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. DOI: 10.1016/j.mssp.2013.12.016. PMCID: PMC4026197

18. 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. PMID: 24081838. PMCID: PMC3966978.

19. 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, 25(6), pp. 720-730, 2014, DOI: 10.1177/1045389X13502576. (NIHMSID # 508012).

20. 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, 33(4), pp. 616-630, 2014; DOI: 10.1177/0278364913500365. (PMCID: PMC4193388).

21. Rajarshi Roy, Wenjin Chen, Lei Cong, Lauri A. Goodell, David J. Foran, and Jaydev P. Desai, “A Semi-Automated Positioning System for contact-mode Atomic Force Microscopy (AFM)”, IEEE Transactions on Automation Science and Engineering, 10(2), pp. 462-465, 2013; DOI: 10.1109/TASE.2012.2226154. (NIHMSID # 508038).

22. Chia-Pin Liang, Bo Yang, Il Kyoon Kim, George Makris, Jaydev P. Desai, Rao P. Gullapalli, and Yu Chen, “Concurrent multiscale imaging with magnetic resonance imaging and optical coherence tomography”, Journal of Biomedical Optics, 18(4):049801, 2013; DOI: 10.1117/1.JBO.18.4.040506. (PMID: 23609326, PMCID: PMC3634554).

23. 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.

24. 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. (PMID: 22639482; PMCID: PMC3359092)

25. Mingyen Ho, Alan McMillan, Marc Simard, Rao Gullapalli, Jaydev P. Desai, “Towards a Meso-scale SMA-Actuated MRI-Compatible Neurosurgical Robot”, IEEE Transactions on Robotics, 28(1), pp. 213-222, 2012; DOI: 10.1109/TRO.2011.2165371

26. Hamid Ladjal, Jean-Luc Hanus, Anand Pillarisetti, Carol Keefer, Antoine Ferreira, 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

27. Ankur R. Baheti, Robert Hafey, Sneha Pai, Jose Gomez, Yuri Millo, and Jaydev P. Desai, “Real-Time Fiber-Optic Intubation Simulator with Force Feedback”,


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IEEE/ASME Transactions on Mechatronics, 17(1), pp. 98-106, 2012; DOI: 10.1109/TMECH.2010.2090666

28. Bo Yang, U-Xuan Tan, Alan B. 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. (PMID: 22058649; PMCID: PMC3205926)

29. Anand Pillarisetti, Jaydev P. Desai, Hamid Ladjal, Andrew Schiffmacher, Antoine Ferreira, 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

30. U-Xuan Tan, Bo Yang, Rao Gullapalli, and Jaydev P. Desai, “Triaxial MRI-Compatible Fiber-optic Force Sensor”, IEEE Transactions on Robotics, 27(1), pp. 65-74, 2011; DOI: 10.1109/TRO.2010.2090061. (PMID: 21666783, PMCID: PMC3111224).

31. Arvind Ananthanarayanan, Leicester Ehrlich, Jaydev P. Desai, 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. (PMID: 23904746, PMCID: PMC3707200).

32. Chad C. Kessens and Jaydev P. Desai, “A Self-Sealing Suction Cup Array for Grasping”, Journal of Mechanisms and Robotics – Transactions of the ASME, 3(4), pp. 045001-1 To 045001-8, 2011; DOI: 10.1115/1.4004893

33. Kevin Lister, Zhan Gao, and Jaydev P. Desai, “Development of In Vivo Constitutive Models for Liver: Application to Surgical Simulation”, Annals of Biomedical Engineering, 39(3), pp. 1060-1073, 2011; DOI: 10. 1007/s10439-010-0227-8. (PMID: 21161684, PMCID: PMC3160273).

34. 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.

35. 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

36. Zhan Gao, Kevin Lister, and Jaydev P. Desai, “Constitutive Modeling of Liver Tissue: Experiment and Theory”, Annals of Biomedical Engineering, 38(2), pp. 505–516, 2010; DOI: 10.1007/s10439-009-9812-0

37. 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. (PMID: 19303805; PMCID: PMC2698937)

38. Tie Hu, Alan C. W. Lau, and Jaydev P. Desai, “Instrumentation for Testing Soft Tissue Undergoing Large Deformation: Ex Vivo and In Vivo Studies”, Journal of Medical Devices – Transactions of the ASME, 2(4), pp. 041001-1 To 041001-6, 2008; DOI: 10.1115/1.2996594

39. Gregory Tholey and Jaydev P. Desai, “A Compact and Modular Laparoscopic Grasper with Tridirectional Force Measurement Capability”, Journal of Medical Devices – Transactions of the ASME, 2(3), pp. 031001-1 To 031001-8, 2008; DOI: 10.1115/1.2952817

40. Jaydev P. Desai, Anand Pillarisetti, and Ari D. Brooks, “Engineering Approaches


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to Biomanipulation”, Annual Review of Biomedical Engineering, vol. 9, pp. 35-53, 2007; DOI: 10.1146/annurev.bioeng.9.060906.151940

41. Anand Pillarisetti, Maxim Pekarev, Ari D. Brooks, and Jaydev P. Desai, “Evaluating the Effect of Force Feedback in Cell Injection”, 4(3): pp. 322-331, IEEE Transactions on Automation Science and Engineering, 2007; DOI: 10.1109/TASE.2006.888051

42. 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

43. 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

44. Gregory Tholey and Jaydev P. Desai, “A General-Purpose 7 DOF Haptic Device: Applications Toward Robot-Assisted Surgery”. IEEE/ASME Transactions on Mechatronics, 12(6), pp. 662-669, 2007; DOI: 10.1109/TMECH.2007.910105

45. 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

46. 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

47. 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

48. 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

49. Gregory Tholey, Anand Pillarisetti, and Jaydev P. Desai, “On-site three dimensional force sensing capability in a laparoscopic grasper”, Industrial Robot: An International Journal, 31(6), pp. 509-518, 2004; DOI 10.1108/01439910410566380

50. 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.

51. 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

52. 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

53. 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


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54. 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

55. 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

56. 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

57. 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

58. 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)16:103.0.CO;2-H

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

Editorials, Magazine, and Book reviews

1. Jaydev P. Desai, Gregory Dudek, Oussama Khatib, and Vijay Kumar, “Editorial:

Special Issue of the Thirteenth International Symposium on Experimental Robotics”, The International Journal of Robotics Research, 33(4), pp. 487-488, 2014; DOI: 10.1177/0278364913518697

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

3. 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

4. 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

5. 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

6. 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, 56(9), pp. 2293-2294, 2009; DOI: 10.1109/TBME.2009.2029817

c. Invited talks.

1. “Flexible Meso-scale Robotic Systems for Image-guided Neurosurgery”, 2015

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015) Workshop on “Navigation and Actuation of Flexible Instruments in Medical Applications (NAFIMA)”, October 2015.


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2. Keynote talk: MRI-guided Robotic Surgery: Challenges and Opportunities, CRAS – Joint Workshop on New Technologies for Computer/Robot Assisted Surgery, Brussels, Belgium, September 2015.

3. Flexible Meso-scale Robotic Systems for Image-guided Neurosurgery, 7th Summer School on Surgical Robotics, Montpellier, France, September 2015.

4. Flexible Meso-scale Robotic Systems for Image-guided Neurosurgery, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, September 2015.

5. Flexible Meso-scale Robotic Systems for Image-guided Neurosurgery, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology & Emory University School of Medicine, August 2015.

6. Image-guided Robotic Neurosurgical Procedures, Department of Neurosurgery, The Hospital of the University of Pennsylvania, 2015.

7. Image-guided Neurosurgical Interventions, Department of Mechanical Engineering, Vanderbilt University, 2014.

8. Image-guided Neurosurgical Interventions, Workshop on Advanced Robotics PLUS, Technical University of Munich (TUM), 2014.

9. Towards Robot-Assisted MRI-Guided Neurosurgery, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) Workshop on “Community Consensus Benchmarks and Systems for Clinical Translation of Medical Robots”, 2014.

10. Towards an SMA-Actuated Robotic Hand Rehabilitation Exoskeleton For Stroke Therapy, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) Workshop on “Rehabilitation and Assistive Robotics: Bridging the Gap Between Clinicians and Roboticists”, 2014.

11. Challenges in Image-guided Theranostic Interventions, 2014 Frontiers of Medical Devices Conference (FMD2014), 2014.

12. Towards Robot-Assisted Neurosurgery Under Continuous MRI, 2014 IEEE International Conference on Robotics and Automation Workshop on “Advances in Flexible Access Robots for Surgical Interventions”

13. MEMS-based Breast Cancer Diagnosis, 2014 IEEE International Conference on Robotics and Automation Workshop on “Future Challenges in Nanorobotics”

14. MRI-guided Robotic Interventions: Challenges and Opportunities – Department of Mechanical Engineering, University of Colorado, Boulder, April 2014

15. Towards Robot-Assisted Neurosurgery Under Continuous MRI – Invited speaker at the 6th Image Guided Therapy Workshop, Arlington, VA, 2013.

16. Towards Robot-Assisted Neurosurgery Under Continuous MRI, 3rd North American Summer School on Image-Guided Interventions, Surgical Robotics & Simulation, London, Ontario, Canada.

17. Towards Robot-Assisted Neurosurgery Under Continuous MRI – The Robotics Institute, Carnegie Mellon University, 2012.

18. Discretely Actuated Steerable Cannula - Invited speaker at the ICRA 2012 workshop on “Pathways to Clinical Needle Steering: Recent Advances and Future Applications”.

19. Challenges in Robotic MRI-guided Interventions: From Macro-scale to Meso-scale, Università Campus Bio-Medico, Rome, 2012.

20. Medical Robotics Research @ Robotics, Automation, and Medical Systems (RAMS) Laboratory, Applied Physics Laboratory, 2011.


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21. Invited to give a talk in the National Academy of Sciences “Distinctive Voices” seminar series on the topic of “Robot-Assisted Neurosurgery” at the Beckman Center in Irvine, California, 2011.

22. Challenges in Robotic MRI-guided Interventions: From Macro-scale to Meso-scale, The IDEAS Project - Innovation, Design, and Emerging Alliances in Surgery: Opportunities and Challenges in Surgical Robotics, Beth Israel Deaconess Medical Center, Boston, 2011.

23. “Challenges in Robotic MRI-guided Interventions: From Macro-scale to Meso-scale”, Georgia Institute of Technology, 2010.

24. “Challenges in Robotic MRI-guided Interventions: From Macro-scale to Meso-scale”, University of Maryland Marlene and Stewart Greenebaum Cancer Center, University of Maryland School of Medicine, 2010.

25. “Mechanical Characterization of Biological Samples: From Cells to Tissues”, IEEE International Conference on Robotics and Automation workshop titled: Micromanipulation and Characterization on Biological Cells, Anchorage, AK, 2010.

26. “Robotic MRI-guided Interventions – Position Control and Force Sensing”, IEEE International Conference on Robotics and Automation workshop titled: Medical Cyber-Physical Systems, Anchorage, AK, 2010.

27. Invited speaker at minisymposia titled: “Frontiers of microrobotics in endo-and transluminal therapy” at 31st Annual International IEEE EMBS Conference, Minneapolis, MN, 2009.

28. Invited Speaker at 1st International Symposium of Global Center of Excellence for Mechanical Systems Innovation, University of Tokyo, Japan, February 2-3, 2009.

29. Image-guided Surgical Robotics: From Macro-scale to Meso-scale, University of Pennsylvania, 2009.

30. Robotics Research @ RAMS Laboratory, Army Research Laboratory (ARL), 2008.

31. Haptic Feedback: From Macro Scale to Micro Scale, Robotics: Science and Systems (RSS) Area Chair Workshop, Zurich, Switzerland, 2008.

32. Haptic feedback in Medical Robotics: From Micro to Macro Scale, Applied Physics laboratory (APL), 2007.

33. Medical Robotics @ Robotics, Automation, Manipulation, and Sensing (RAMS) Laboratory, NIST, 2007.

34. Macro to Micro Scale Haptics: From Surgical Simulation to Cell Manipulation, IIT Bombay, 2007.

35. Macro to Micro Scale Haptics: From Surgical Simulation to Cell Manipulation – Georgia Institute of Technology, 2006.

36. Macro to Micro Scale Haptics: From Surgical Simulation to Cell Manipulation, The Johns Hopkins University, 2006.

37. Reality-Based Haptic Feedback for Surgical Simulation and Robot-Assisted Surgery – Vanderbilt University, 2006.

38. Reality-Based Haptic Feedback for Surgical Simulation and Robot-Assisted Surgery – Purdue University, 2006.

39. Reality-Based Haptic Feedback for Surgical Simulation and Robot-Assisted Surgery – Georgia Institute of Technology, 2005.

40. Reality-Based Soft Tissue Modeling for Robot-Assisted Surgery - Columbia University, 2004.


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41. Reality-based modeling for soft tissue probing and cutting for surgical simulation – Invited Speaker for Workshop at 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, San Francisco, CA, 2004.

42. Reality-Based Soft-Tissue Modeling for Robot-Assisted Surgery, Rutgers University, 2004.

43. Reality-Based Modeling of Tool-tissue Interaction for Robot-Assisted Surgery, University of Pennsylvania, 2004.

44. Measuring Grasping and Cutting Forces for Reality-Based Haptic Modeling - Computer Assisted Radiology and Surgery - 1st International Workshop on Haptic Devices in Medical Applications, London, UK, 2003.

45. Motion planning for cooperative robotic systems, Department of Mechanical Engineering, University of California, Riverside, 1998

46. Motion planning for cooperative robotic systems, Department of Mechanical Engineering, The Johns Hopkins University, 1998

47. Nonholonomic motion planning, Stanford University, 1996

d. Refereed conference proceedings.

1. Hardik J. Pandya, Jun Sheng, and Jaydev P. Desai, “Towards a Tri-Axial Flexible Force Sensor for Catheter Contact Force Measurement”, IEEE Sensors, 2016.

2. Yeongjin Kim, and Jaydev P. Desai, “Design and Kinematic Analysis of a Neurosurgical Spring-based Continuum Robot using SMA Spring Actuators”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015.

3. Jun Sheng and Jaydev P. Desai, “A Novel Meso-Scale SMA-Actuated Torsion Actuator”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015.

4. Jun Sheng and Jaydev P. Desai, “Towards a SMA-Actuated Neurosurgical Intracerebral Hemorrhage Evacuation (NICHE) Robot”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015.

5. Carolyn M. Davis, Kihan Park, Jaydev P. Desai, “Design and Analysis of an Under-actuated 𝑋𝑌𝜃 Stage for Automated Tissue Indentation”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015.

6. Shing Shin Cheng, Yeongjin Kim, and Jaydev P. Desai, “Towards Real-Time SMA Control for a Neurosurgical Robot: MINIR-II”, International Symposium of Robotics Research (ISRR), In-Press, 2015.

7. Shing Shin Cheng and Jaydev P. Desai, “Towards High Frequency Actuation of SMA Spring for the Neurosurgical Robot - MINIR-II”, IEEE International Conference on Robotics and Automation, pp. 2580-2585, 2015.

8. Yeongjin Kim, Shing Shin Cheng, and Jaydev P. Desai, “Towards the Development of a Spring-based Continuum Robot for Neurosurgery”, Proc. SPIE 9415, Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling, 94151Q (18 March 2015); DOI: 10.1117/12.2082193

9. Chad C. Kessens and Jaydev P. Desai, “Compact Hand with Passive Grasping”, International Symposium on Experimental Robotics, In-Press, 2014.

10. Yeongjin Kim, Shing Shin Cheng, Aleksandrs Ecins, Cornelia Fermüller, Kelly P. Westlake, and Jaydev P. Desai, “Towards A Robotic Hand Rehabilitation Exoskeleton For Stroke Therapy”, ASME Dynamic Systems and Control (DSC) Conference, pp. V001T04A006 (9 pages), 2014.

11. Wenxue Zhao and Jaydev P. Desai, “Towards the Development of a Low-Cost


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Minimally Invasive Highly Articulated MRI-Compatible Neurosurgical Robot”, ASME Dynamic Systems and Control (DSC) Conference, pp. V001T17A006 (8 pages), 2014; DOI: 10.1115/DSCC2014-6328.

12. Sagar Chowdhury, Mahamadou Diakite, Taehoon Shin, Rao P. Gullapalli, Jaydev P. Desai, and Satyandra Gupta, “Towards The Development Of A Low-Cost Minimally Invasive Highly Articulated MRI-Compatible Neurosurgical Robot”, ASME Dynamic Systems and Control (DSC) Conference, pp. V003T46A003 (10 pages), 2014; DOI: 10.1115/DSCC2014-6075.

13. 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, pp. 5896-5901, 2014.

14. Elif Ayvali, Mingyen Ho, and Jaydev P. Desai, “A Novel Discretely Actuated Steerable Probe for Percutaneous Procedures”, The 12th International Symposium on Experimental Robotics, Springer Tracts in Advanced Robotics, vol. 79, pp. 115-123, 2014.

15. Arvind Ananthanarayanan, Felix Bussemer, Satyandra K. Gupta, and Jaydev P. Desai, “Fabrication of Highly Articulated Miniature Snake Robot Structures Using In-Mold Assembly of Compliant Joints”, The 12th International Symposium on Experimental Robotics, Springer Tracts in Advanced Robotics, vol. 79, pp. 799-809, 2014.

16. 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”, The 13th International Symposium on Experimental Robotics, Springer Tracts in Advanced Robotics, vol. 88, pp. 565-577, 2013.

17. Hardik J. Pandya, Hyun Tae Kim, and Jaydev P. Desai, “A Microscale Piezoresistive Force Sensor for Nanoindentation of Biological Cells and Tissues”, ASME Dynamic Systems and Control (DSC) Conference, pp. V002T29A003 (5 pages), October 2013.

18. 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.

19. 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, pp. 481-485, 2012.

20. Elif Ayvali and Jaydev P. Desai, “Motion Planning for the Discretely Actuated Steerable Cannula”, IEEE International Conference on Biomedical Robotics and Biomechatronics, pp. 50-55, June 2012.

21. Rajarshi Roy, Lei Li, Carol Keefer, and Jaydev P. Desai, “An Error-In-Variables (EIV) based Bayesian Probabilistic Approach to Estimating Cell Mechanical Properties Using Atomic Force Microscopy”, IEEE International Conference on Biomedical Robotics and Biomechatronics, pp. 389-394, June 2012.

22. 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.

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

24. Arvind Ananthanarayanan, Mingyen Ho, Leicester Ehrlich, Jaydev P. Desai, and Satyandra K. Gupta, “Embedding Shape Memory Allow Actuators in Miniature


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Articulating Polymer Structures Using In-Mold Assembly”, 40th North American Manufacturing Research Conference, Proceedings of NAMRI/SME, Vol. 40, 2012.

25. U-Xuan Tan and Jaydev P. Desai, “Design and Development of a 2-DOF Miniature Force Sensor for Surgical Procedures”, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control (DSCC2011), pp. 459-462, October 31 – November 2, 2011, Arlington, Virginia USA.

26. Mingyen Ho, Jaydev P. Desai, “Towards the Development of a Tendon-Driven Neurosurgical Robot”, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control (DSCC2011), pp. 795-797, October 31 – November 2, 2011, Arlington, Virginia USA.

27. Rajarshi Roy, Wenjin Chen, Lei Cong, Lauri Goodell, David Foran, Jaydev Desai, “Towards Automated Mechanical Characterization of Biological Samples using Atomic Force Microscopy (AFM)”, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control (DSCC2011), pp. 603-605, October 31 – November 2, 2011, Arlington, Virginia USA.

28. Kevin Lister, Alan Lau, and Jaydev P. Desai, “Towards a Soft-Tissue Cutting Simulator using the Cohesive Zone Approach”, 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC ’11), pp. 6691 - 6694, Boston, 2011.

29. 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”, IEEE International Conference on Robotics and Automation, pp. 674 - 679, 2011.

30. Mingyen Ho, Michael Koltz, Marc Simard, Rao Gullapalli, Jaydev P. Desai “Towards a MR Image-Guided SMA-Actuated Neurosurgical Robot”, IEEE International Conference on Robotics and Automation, pp. 1153 - 1158, 2011.

31. 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”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3993 - 3998, 2010.

32. Kevin Lister, Zhan Gao, Jaydev P. Desai, “A 3D In-vivo Constitutive Model for Porcine Liver: Matching Force Characteristics and Surface Deformations”, Third IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics – BioRob 2010, pp. 656 - 661, Tokyo, Japan, September 26-29, 2010.

33. 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)”, Third IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics – BioRob 2010, pp. 710 - 715, Tokyo, Japan, September 26-29, 2010.

34. Mingyen Ho and Jaydev P. Desai, “Towards a MRI-Compatible Meso-Scale SMA-Actuated Robot using PWM Control”, Third IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics – BioRob 2010, pp. 361 - 366, Tokyo, Japan, September 26-29, 2010.

35. Arvind Ananthanarayanan, Leicester Ehrlich, Jaydev Desai, and Satyandra Gupta, “Design of Revolute Joints for Insert Molding: A Step Towards Realizing Low


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Cost Highly Articulated Robot Structures”, 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.

36. U-Xuan Tan, B. Yang, R. Gullapalli, and Jaydev P. Desai, “Design and Development of a 3-Axis MRI-compatible Force Sensor”, 2010 IEEE International Conference on Robotics and Automation, pp. 2586 - 2591, Anchorage, AK, May 2010.

37. C. C. Kessens and Jaydev P. Desai, “Design, Fabrication, and Implementation of Self-sealing Suction Cup Arrays for Grasping”, 2010 IEEE International Conference on Robotics and Automation, pp. 765 - 770, Anchorage, AK, May 2010.

38. A. Baheti, Y. Millo, and Jaydev P. Desai, “Fiber-Optic Intubation Simulator with Force Feedback”, 2010 IEEE Haptics Symposium, pp. 379 - 385, Waltham, MA, March 25-26, 2010.

39. H. Ladjal, J. -L. Hanus, A. Pillarisetti, C. Keefer, A. Ferreira, Jaydev P. Desai, “Atomic force microscopy-based single-cell indentation: Experimentation and finite element simulation”, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1326 – 1332, 2009.

40. Kevin Lister, Zhan Gao, and Jaydev P. Desai, “Real-Time, Haptics-enabled Simulator for Probing ex vivo Liver Tissue”, 31st Annual International Conference of the IEEE EMBS, pp. 1196 - 1199, Minneapolis, MN, 2009.

41. Mingyen Ho and Jaydev P. Desai, “Characterization of SMA Actuator for Applications in Robotic Neurosurgery”, 31st Annual International Conference of the IEEE EMBS, pp. 6856 - 6859, Minneapolis, MN, 2009.

42. Anand Pillarisetti, Hamid Ladjal, Antoine Ferreira, Carol Keefer, and Jaydev P. Desai, “Mechanical Characterization of Mouse Embryonic Stem Cells”, 31st Annual International IEEE EMBS Conference, pp. 1176 - 1179, Minneapolis, MN, 2009.

43. Z. Gao, T. Kim, D. L. James, and Jaydev P. Desai, “Semi-automated soft-tissue acquisition and modeling for surgical simulation”, IEEE International Conference on Automation Science and Engineering, pp. 268-273, 2009, Bangalore, India.

44. Zhan Gao, Kevin Lister, Jaydev P. Desai, “Constitutive Modeling of Liver Tissue: Experiment and Theory, Second biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics – BioRob, pp. 477 - 482, October 2008.

45. Anand Pillarisetti, Carol Keefer, and Jaydev P. Desai, “Mechanical Characterization of Fixed Undifferentiated and Differentiating mESC”, Second biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics – BioRob, pp. 618 - 623, October 2008.

46. 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”, ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2008), pp. 747-754, 2008.

47. 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”, IEEE International Conference on Robotics and Automation, pp. 2509 - 2514, Pasadena, CA, USA, 2008.

48. Gregory Tholey and Jaydev P. Desai, “A Modular, Automated Laparoscopic


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Grasper with Three-Dimensional Force Measurement Capability”, IEEE International Conference on Robotics and Automation, pp. 250-255, Rome, Italy, 2007.

49. James Hing, Ari Brooks, and Jaydev P. Desai, “Reality Based Needle Insertion Simulation for Haptic Feedback in Prostate Brachytherapy”, IEEE International Conference on Robotics and Automation, pp. 619 - 624, May 15-19, 2006, Orlando, Florida.

50. Teeranoot Chanthasopeephan, Jaydev P. Desai and Alan Lau, "Determining Fracture Characteristics in Scalpel Cutting of Soft Tissue", BioRob2006 - The first IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 899 - 904, February 20-22, 2006, Pisa, Italy.

51. Tie Hu, Jaydev P. Desai, Andres E. Castellanos and Alan Lau, "Modeling In vivo Soft Tissue Probing", BioRob2006 - The first IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 537 - 542, February 20-22, 2006, Pisa, Italy.

52. Anand Pillarisetti, Maxim Pekarev, Ari D. Brooks, Jaydev P. Desai, “Evaluating the Role of Force Feedback for Biomanipulation Tasks”, 14th Symposium on Haptic Interfaces for Virtual environment and Teleoperator Systems, pp. 11 - 18, March 25-26, 2006.

53. Gregory Tholey and Jaydev P. Desai, “Design and Development of a General Purpose 7 DOF Haptic Device”, 14th Symposium on Haptic Interfaces for Virtual environment and Teleoperator Systems, pp. 95 - 101, March 25-26, 2006.

54. James T. Hing, Ari D. Brooks, Jaydev P. Desai, “Reality-based Estimation of Needle and Soft-tissue Interaction for Accurate Haptic Feedback in Prostate Brachytherapy Simulation”, International Symposium of Robotics Research, San Francisco, CA, October 2005.

55. Anand Pillarisetti, Waqas Anjum, Jaydev P. Desai, Gary Friedman, and Ari D. Brooks, "Force feedback Interface for Cell Injection", First Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 391-400, 2005.

56. Gregory Tholey and Jaydev P. Desai, "A General Purpose 7 DOF Haptic Interface", First Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 582-583, 2005.

57. Teeranoot Chanthasopeephan, Jaydev P. Desai and Alan Lau, "3D and 2D Finite Element Analysis in Soft Tissue Cutting for Haptic Display", International Conference on Advanced Robotics, pp. 360-367, 2005.

58. Tie Hu, Jaydev P. Desai, and Alan Lau, "Direct and Inverse Problem Models for Large Soft-Tissue Deformation: Application to Haptic Feedback in Surgical Simulation", International Conference on Advanced Robotics, pp. 445 - 451, 2005.

59. Christopher W. Kennedy and Jaydev P. Desai, "Enabling Technologies for Robotically-Assisted Sutureless Coronary Anastomosis", IEEE International Conference on Robotics and Automation, pp. 2927-2932, Spain, 2005.

60. Teeranoot Chanthasopeephan, Jaydev P. Desai, and Alan Lau, “Determining Deformation Resistance in Cutting Soft Tissue with Non-Uniform Thickness, 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 2754-2757, San Francisco, CA, 2004.

61. Tie Hu, Jaydev P. Desai, “Soft-Tissue Material Properties under Large Deformation: Strain Rate Effect”, 26th Annual International Conference of the


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IEEE Engineering in Medicine and Biology Society, pp. 2758-2761, 2004, San Francisco, USA.

62. Gregory Tholey, Anand Pillarisetti, William Green, and Jaydev P. Desai, “Direct 3-D Force Measurement Capability in an Automated Laparoscopic Grasper”, pp. 478-481, Eurohaptics, Munich, Germany, 2004.

63. Tie Hu, Jaydev P. Desai, “Modeling Large Deformation in Soft-tissues: Experimental results and Analysis”, EuroHaptics, pp. 387-390, Munich, Germany, 2004.

64. Christopher Kennedy and Jaydev P. Desai, “Model-Based Control of the Mitsubishi PA-10 Robot Arm: Application to Robot-Assisted Surgery”, IEEE International Conference on Robotics and Automation, pp. 2523-2528, New Orleans, LA, 2004.

65. Teeranoot Chanthasopeephan, Jaydev P. Desai, and Alan Lau, “Deformation Resistance in Soft Tissue Cutting: A Parametric Study”, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'04), pp. 323-330, Chicago, Illinois, 2004.

66. Tie Hu, Jaydev P. Desai, “Characterization of Soft-Tissue Material Properties: Large Deformation Analysis”, Medical Simulation Proceedings, Lectures Notes in Computer Science, Vol. 3078, pp. 28-37, 2004.

67. Gregory Tholey, Anand Pillarisetti, William Green, and Jaydev P. Desai, “Design, Development, and Testing of an Automated Laparoscopic Grasper with 3-D Force Measurement Capability”, Medical Simulation Proceedings, Lectures Notes in Computer Science, Vol. 3078, pp. 38-48, 2004.

68. Teeranoot Chanthasopeephan, Jaydev P. Desai, and Alan Lau, “Measuring Forces in Liver Cutting for Reality-Based Haptic Display”, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol.3 pp. 3083- 3088, Las Vegas, NV, 2003.

69. Christopher Kennedy and Jaydev P. Desai, “Estimation and modeling of the harmonic drive transmission in the Mitsubishi PA-10 robot arm”, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3, pp. 3331-3336, Las Vegas, NV, 2003.

70. Gregory Tholey, Jaydev P. Desai, and Andres E. Castellanos, “Evaluating the Role of Vision and Force Feedback in Minimally Invasive Surgery: New Automated Laparoscopic Grasper and A Case Study”, Medical Image Computing and Computer Assisted Intervention – MICCAI 2003, PT 1, Lecture Notes in Computer Science, Vol. 2878, pp. 198-205, 2003.

71. Tie Hu and Jaydev P. Desai, “A Biomechanical Model of the Liver for Reality-Based Haptic Feedback”, Medical Image Computing and Computer Assisted Intervention – MICCAI 2003, PT 1, Lecture Notes in Computer Science, Vol. 2878, pp. 75-82, 2003.

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

73. Gregory Tholey, Teeranoot Chanthasopeephan, Tie Hu, Jaydev P. Desai, and Alan Lau, “Measuring Grasping and Cutting Forces for Reality-Based Haptic Modeling”, Computer Assisted Radiology and Surgery - 1st International Workshop on Haptic Devices in Medical Applications, pp. 794-800, London, UK, 2003.

74. Tie Hu, Andres E. Castellanos, Gregory Tholey, and Jaydev P. Desai, “Real-Time Haptic feedback in Laparoscopic tools for use in Gastro-intestinal Surgery”,


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Medical Image Computing and Computer Assisted Intervention – MICCAI 2002, PT 1, Lecture Notes in Computer Science, Vol. 2488, pp. 66 – 74, 2002.

75. Christopher W. Kennedy, Tie Hu, and Jaydev P. Desai, “Combining Haptic and Visual Servoing for Cardiothoracic Surgery”, IEEE International Conference on Robotics and Automation, pp. 2106-2111, Washington D.C., 2002.

76. Jaydev P. Desai, “Modeling Multiple Teams of Mobile Robots: A Graph Theoretic Approach”, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 381-386, 2001.

77. Rafael Fierro, Calin Belta, Jaydev P. Desai, and Vijay Kumar, “On Controlling Aircraft Formations”, The 40th IEEE Conference on Decision and Control, vol. 2, pp. 1065-1070, 2001.

78. Thomas Sugar, Jaydev P. Desai, Vijay Kumar, and James P. Ostrowski, “Coordination of Multiple Mobile manipulators”, IEEE International Conference on Robotics and Automation, vol. 3, pp. 3022 -3027, May 2001.

79. Jaydev P. Desai and Robert D. Howe, “Towards the development of a humanoid arm by minimizing interaction forces through minimum impedance control”, IEEE International Conference on Robotics and Automation, vol. 4, pp. 4214 -4219, May 2001.

80. 1Jaydev P. Desai, Vijay Kumar, and James P. Ostrowski, “Control of changes in formation for a team of mobile robots”, IEEE International Conference on Robotics and Automation, Detroit, vol. 2, pp. 1556 -1561, May 1999.

81. Jaydev P. Desai, Milos Zefran and Vijay Kumar, “A geometric approach to second and higher order kinematic analysis”, The Sixth International Symposium on Advances in Robot Kinematics, June 29th-July 4th, 1998, Strobl, Austria.

82. Jaydev P. Desai, Jim Ostrowski and Vijay Kumar, “Controlling formations of multiple mobile robots”, IEEE International Conference on Robotics and Automation, vol. 4, pp. 2864 –2869, May 1998, Belgium.

83. Jaydev P. Desai and Vijay Kumar, “Experimental investigation of planar two-arm friction assisted grasping tasks”, The Sixth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 29-36, November 1997, Dallas, TX.

84. Jaydev P. Desai, Milos Zefran and Vijay Kumar, “Two arm manipulation tasks with friction assisted grasping”, IEEE-RSJ International Conference on Intelligent Robots and Systems, vol.1, pp. 189-195, September 1997, Grenoble, France.

85. Jaydev P. Desai and Vijay Kumar, “Nonholonomic motion planning for multiple mobile manipulators”, IEEE International Conference on Robotics and Automation, vol. 4, pp. 3409-3414, April 20 - 25, 1997, Albuquerque, NM.

86. James Ostrowski, Jaydev P. Desai and Vijay Kumar, “Optimal gait selection for nonholonomic locomotion systems”, IEEE International Conference on Robotics and Automation, vol. 1, pp. 786-791, April 20 - 25, 1997, Albuquerque, NM.

87. M. Zefran, Jaydev P. Desai and Vijay Kumar, “Continuous motion plans for robotic systems with changing dynamic behavior”, Workshop on Algorithmic Foundations of Robotics (WAFR), pp. 113-127, July 3-5, 1996, Toulouse, France.

88. Jaydev P. Desai, C. C. Wang, M. Zefran and Vijay Kumar, “Motion Planning for multiple mobile manipulators”, IEEE International Conference on Robotics and Automation, vol. 3, pp. 2073-2078, April 1996, Minneapolis, MN.

1 Nominated for the Anton Philips Best Student paper award.


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89. M. Zefran, Vijay Kumar, Gregory Garvin and Jaydev P. Desai, “Experimental investigation of human two-arm manipulation”, International Conference on Mechanics in Medicine and Biology, 1996.

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

e. Patents

1. System, Method, and Apparatus for Suction Gripping Inventors: Jaydev P. Desai and Chad Kessens Patent No.: US 8,382,174 B2 Date of Patent: Feb. 26, 2013; Filed: Oct. 8, 2010. 2. Real-Time Tracking and Navigation System and Method for Minimally Invasive Surgical Procedures Inventors: Alan B. McMillan Rao Gullapalli Howard M. Richard, III Steven Roys Jaydev P. Desai Patent No.: US 9,326,823 B2 Date of Patent: May 3, 2016; Filed: May 2, 2013

f. Contracts and Grants.

ACTIVE

Title: MINIR-II: Minimally Invasive Neurosurgical Intracranial Robot PIs: Jaydev P. Desai (Contact-PI), Rao P. Gullapalli, and J. Marc Simard Co-I’s: Satyandra K. Gupta, Jiachen Zhuo, Taehoon Shin Sponsor: National Institutes of Health Amount: $2,008,264 (R01 grant)

Duration: 09/30/2012-08/31/2017 Title: Mechano-Visual Phenotyping of Cancer: From Onset Through Disease

Progression PIs: Jaydev P. Desai (Contact-PI) and David J. Foran Investigators: Wenjin Chen and Lauri Goodell Sponsor: National Institutes of Health Amount: $1,572,131 (R01 grant) Duration: 3/12/2012-2/28/2018

Title: Identification of AF Ablation Targets via a Steerable Actuated Catheter

PI: Jaydev P. Desai Co-I’s: Yu Chen, Don DeVoe, and Timm-Michael Dickfeld Sponsor: National Institutes of Health Amount: $407,273 (R21 grant) Duration: 05/01/15-02/28/18


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Title: Neurosurgical Intracerebral Hemorrhage Evacuation (NICHE) Robot

PI: Jaydev P. Desai Co-I’s: Dheeraj Gandhi, Rao Gullapalli, and J. Marc Simard Sponsor: National Institutes of Health Amount: $379,238 (R21 grant)

Duration: 6/1/14-5/31/17

COMPLETED Title: Robotic Haptic Feedback System for Bx/RFA of Breast Tumor

under Continuous MRI PI: Jaydev P. Desai Co-I’s: Rao Gullapalli – University of Maryland School of Medicine

Howard Richard - University of Maryland School of Medicine Deirdre Coll – University of Maryland School of Medicine

Sponsor: National Institutes of Health Amount: $1,259,256 (R01 grant) Duration: 9/15/08-6/30/14 Title: Mechanical Phenotyping of Cells: Haptics-enabled Atomic Force

Microscopy PI: Jaydev P. Desai Co-PI’s: Nikhil Chopra and Carol Keefer Sponsor: National Science Foundation Amount: $215,000 Duration: 8/01/08-8/31/2012

Title: MINIR: Minimally Invasive Neurosurgical Intracranial Robot PI: Jaydev P. Desai Co-I’s: Satyandra K. Gupta – University of Maryland, College Park

Rao Gullapalli – University of Maryland School of Medicine J. Marc Simard - University of Maryland School of Medicine

Sponsor: National Institutes of Health Amount: $397,542 (R21 grant) Duration: 8/10/08-7/31/11 Title: Mechanical Phenotyping of Embryonic Stem Cell Differentiation PI: Carol Keefer Co-PI: Jaydev Desai Sponsor: STMD-Maryland Technology Development Corporation Amount: $230,000 Duration: 6/30/08-6/29/11 Title: Data-driven Real-Time Surgical Simulation from Reality-based Soft-

Tissue Models PI: Jaydev P. Desai Co-I’s: Alan C. W. Lau - Drexel University

Andres Castellanos (Department of Surgery) – Drexel University College of Medicine


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Doug James - Cornell University Sponsor: National Institutes of Health Amount: $1,145,748 (R01 grant) Duration: 9/1/06-6/30/11

Title: CompBio: Reality-based Data-driven Computer Models for Surgical

Simulation PI: Jaydev P. Desai Co-PI: Doug James – Cornell University Sponsor: National Science Foundation Amount: $275,000 Duration: 9/1/06-8/31/11

Title: Research Experiences for Teachers in Areas of Innovative and Novel

Technologies in Philadelphia PI: Mun Young Choi Co-PIs: Jaydev P. Desai, Yury Gogotsi, Athina Petropulu, and Fredricka

Reisman Sponsor: National Science Foundation Amount: $449,904 Duration: 3/1/2006-2/28/2009 Title: Force Feedback and MEMS based Cellular Surgery PI: Jaydev P. Desai Co-PIs: Ari Brooks and Gennady Friedman Sponsor: Defense Advanced Research Projects Agency (DARPA) Amount: $65,000 ($52,500 – Received at University of Maryland, College Park

(UMD)) Duration: 3/13/2006-3/12/2007 Title: CAREER: Minimally Invasive Surgery using Haptics and Vision PI: Jaydev P. Desai Co-PIs: None Sponsor: The National Science Foundation Amount: $349,850 Duration: 7/1/02-12/31/08 Title: ITR: Collaborative Research: Modeling and Display of Haptic Information

for Enhanced Performance of Computer-Integrated Surgery PI: Jaydev P. Desai Co-PI: Alan Lau Sponsor: The National Science Foundation Amount: $228,817 Duration: 8/15/03-7/31/07

Title: (Research Experiences for Undergraduates (REU) Supplement) ITR:

Collaborative Research: Modeling and Display of Haptic Information for Enhanced Performance of Computer-Integrated Surgery

PI: Jaydev P. Desai Co-PI: Alan Lau


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Sponsor: The National Science Foundation Amount: $6,000 Duration: 8/15/03-7/31/07

Title: RET Site: Research Experience for Teachers in Areas of Innovative and

Novel Technologies in Philadelphia [RETAIN Technologies in Philadelphia]

PI: Mun Young Choi Co-PIs: Jaydev P. Desai, Anthony Lowman, Fredericka Reisman, and Yury

Gogotsi Sponsor: The National Science Foundation Amount: $471,220 Duration: 3/15/2003 – 2/28/2006

Title: Drexel University GAANN Fellowships in Emerging Areas of Research:

Nanotechnology, Information Technology, and Biotechnology PI: Mun Young Choi Co-PIs: Jaydev P. Desai, Steven Wrenn, Fredericka Reisman, Stephen Cox, Yury

Gogotsi Sponsor: Department of Education Amount: $576,940

Title: Computer Assisted Robotic Cardiac Surgery PI: Jaydev P. Desai Co-PIs: None (Co-PIs not allowed on this grant. Collaborating Investigators were

Dr. J. Yasha Kresh and Dr. Andrew Wechsler) Sponsor: American Heart Association (Beginning Grant-in-Aid Award) Amount: $100,000 Duration: 7/1/01-6/30/03

Title: Research Experiences for Undergraduates (REU) Supplement: Acquisition

of a Complete Whole Arm Manipulator (WAM) Robot system PI: Jaydev P. Desai Co-PIs: Bor-Chin Chang, Harry Kwatny, Ali Shokoufandeh, and Cato Laurencin Sponsor: The National Science Foundation Amount: $24,000 Duration: 9/1/2000-8/31/2003

Title: Acquisition of a Complete Whole Arm Manipulator (WAM) Robot system PI: Jaydev P. Desai Co-PIs: Bor-Chin Chang, Harry Kwatny, Ali Shokoufandeh, and Cato Laurencin Sponsor: The National Science Foundation Amount: $158,177 Duration: 9/1/2000-8/31/2003

Internal Funding received at Drexel University Title: Development of a Robotic System for Relative Stabilization of a soft

tissue using tactile feedback for cardiothoracic procedures PI: Jaydev P. Desai


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Co-PIs: Dr. J. Yasha Kresh and Dr. Andrew Wechsler Sponsor: Drexel University (Synergy Grant) Amount: $19,900 Duration: 7/1/2000-12/31/2001 Title: Maximizing Transgenic Yield using Microfabrication Array and

Force Feedback for Cell Manipulation PI: Jaydev P. Desai Co-PI: Gennady Friedman, Adam Fontecchio, and Ari Brooks Sponsor: Drexel University (Synergy Grant) Amount: $10,000 Duration: 6/1/04-5/31/05

Internal Funding / Fellowship received at UMD

Title: A Robotic Grasping and Vision (GraspVis) System for Stroke

Rehabilitation PIs: Jaydev P. Desai and Kelly Westlake Sponsor: UMCP-UMB Research and Innovation Seed Grant Program Amount: $75,000 Duration: 8/1/13-7/31/14 Title: Accurate Robotic in-situ Diagnosis of Ablation Targets for Atrial

Fibrillation PIs: Jaydev P. Desai and Timm-Michael L. Dickfeld Co-I: Yu Chen Sponsor: UMCP-UMB Seed Grant Amount: $75,000 Duration: 6/1/2011-12/31/2012 Title: Development of a Reality-Based, Haptics-Enabled Simulator for

Tool-Tissue Interactions PI: Jaydev P. Desai

Note: This is a fellowship for my graduate student, Mr. Kevin Lister. Since I am his Ph.D. advisor, I have been assigned as the PI on this fellowship by the University of Maryland, College Park.

Sponsor: The Link Foundation Amount: $25,000 Duration: 7/1/2011-9/30/2012 Title: Semantic Active Vision and Manipulation PIs: Cornelia Fermüller, Yiannis Aloimonos, Hal Daumé, and

Jaydev P. Desai Sponsor: UMIACS Seed Grant Amount: $30,000 Duration: 10/1/11-9/30/13

Donation


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1. Equipment donation (in-kind) from Tektronix for the development of my Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory at Drexel University. Donated value of the equipment was $14,357.35.

g. Honors, Awards, and Recognition.

1. Elected to the College of Fellows at the American Institute for Medical and Biological Engineering (AIMBE), 2016.

2. July 2016 issue cover image in IEEE Transactions on Biomedical Engineering for our journal article titled: “Towards a portable cancer diagnostic tool using a disposable MEMS-based biochip”

3. Fellow, American Society of Mechanical Engineers (ASME), 2015. 4. Invited to Research Leaders Luncheon, University of Maryland, College Park, 2015 5. Founding Editor-in-Chief of Journal of Medical Robotics Research, 2014. 6. Editor-in-Chief of the multi-volume Major Reference Work tentatively entitled:

“Encyclopedia of Medical Robotics”, 2014. 7. One of Five Faculty chosen from University of Maryland, College Park, for

Committee on Institutional Cooperation (CIC) Academic Leadership Program (ALP) Fellow for the 2014-2015 academic year.

8. Invited to Research Leaders Luncheon, University of Maryland, College Park, 2014. 9. Invited to Research Leaders Luncheon, University of Maryland, College Park, 2013. 10. Invited to give a talk in the National Academy of Sciences “Distinctive Voices”

seminar series on the topic of “Robot-Assisted Neurosurgery” at the Beckman Center in Irvine, California, 2011.

11. Invited to attend National Academy of Engineering's 2011 U.S. Frontiers of Engineering Symposium at Google Headquarters in Mountain View, CA, September 18 - September 21, 2011.

12. Invited to Research Leaders Luncheon, University of Maryland, College Park, 2011 13. Member of the NIH College of CSR Reviewers (2010-2012). 14. Invited to Research Leaders Luncheon, University of Maryland, College Park, 2010 15. Invited to Research Leaders Luncheon, University of Maryland, College Park, 2009 16. Invited to attend NSF / CCC workshop on Healthcare and Medical Robotics, 2008. 17. Outstanding Invention of 2007 in Physical Science Category, University of Maryland,

College Park: MINIR: Minimally Invasive Neurosurgical Intracranial Robot – Lead Inventor.

18. Invited to Research Leaders Luncheon, University of Maryland, College Park, 2007 19. Ralph R. Teetor Educational Award (2004) - Society of Automotive Engineers

(SAE). 20. College of Engineering Outstanding Teaching Award (2004) - Drexel University,

Philadelphia, PA. 21. Outstanding Contribution to Graduate Teaching (2004) - Mechanical Engineering and

Mechanics, Drexel University, Philadelphia, PA. 22. National Science Foundation CAREER Award – “CAREER: Minimally Invasive

Surgery using Haptics and Vision” (2002).

h. Editorships and Editorial Board Activities

1. Founding Editor-in-Chief of Journal of Medical Robotics Research, 2014. 2. Editor-in-Chief of the multi-volume Major Reference Work tentatively entitled:

“Encyclopedia of Medical Robotics”, 2014 (currently in preparation).


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3. Associate Editor of ASME Journal of Mechanisms and Robotics (2014-2015) 4. Co-Editor (Editors: Jaydev P. Desai, Gregory Dudek, Oussama Khatib, and Vijay

Kumar) of Experimental Robotics (The 13th International Symposium on Experimental Robotics) in Springer Tracts in Advanced Robotics, 2013.

5. Associate editor of IEEE Transactions on Biomedical Engineering (TBME), 2009-2012.

6. Associate Editor of IEEE Robotics and Automation Society Conference Editorial Board (CEB) for ICRA 2010.

7. Associate Editor - ASME Journal of Medical Devices (1/2008-12/2010). 8. Guest Co-editor IEEE/ASME Transactions on Mechatronics Focused Section on

Healthcare Mechatronics, (2008-2010). 9. Guest Co-editor IEEE TBME Letters Special Issue on Biomedical Robotics and

Biomechatronics (2008-2009). 10. Guest Co-editor for the Special Issue on Medical Robotics in International Journal

of Robotics Research (2007-2009). 11. Associate Editor of IEEE Robotics and Automation Society Conference Editorial

Board for ICRA 2007. 12. Editorial Board of IEEE/ASME Transactions on Mechatronics (2005-2008).

i. Memberships

1. Fellow, American Society of Mechanical Engineers (ASME). 2. Senior Member, Institute of Electrical and Electronics Engineers (IEEE).

j. Student Commendations

1. Jun Sheng was awarded the National Science Foundation Travel Award to attend

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. However, he was unable to attend the conference because he was not able to get the visa in time.

2. Jun Sheng was awarded the Jacob K. Goldhaber Travel Grant from the University of Maryland, College Park, to attend 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. However, he was unable to attend the conference because he was not able to get the visa in time.

3. Jun Sheng was awarded the International Conference Student Support Award (ICSSA) from the University of Maryland, College Park, to attend 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. However, he was unable to attend the conference because he was not able to get the visa in time.

4. Elif Ayvali – Department of Mechanical Engineering Best Dissertation Award, 2015. Her Ph.D. Dissertation was entitled: Design, Development, and Evaluation of a Discretely Actuated Steerable Cannula

5. Shing Shin Cheng was awarded the Jacob K. Goldhaber Travel Grant from the University of Maryland, College Park, to attend 2015 IEEE International Conference on Robotics and Automation.

6. Shing Shin Cheng was awarded a travel grant supported by the IEEE Robotics and Automation Society and the US National Science Foundation, for attending the 2015 ICRA conference in Seattle.

7. Shing Shin Cheng received travel support to attend the “Community Consensus Benchmarks for Clinical Translation of Medical Robots” workshop at IEEE/RSJ International Conference on Robotics and Systems (IROS) 2014.


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8. Rajarshi Roy was selected to participate in the Dean's Doctoral Research Competition, 2014.

9. Mingyen Ho was the recipient of the Travel grant to attend ICRA 2012. 10. Kevin Lister was the recipient of the Link Foundation Fellowship in Advanced

Simulation and Training (2011-2012). 11. Mingyen Ho was the recipient of the 2011 NSF funded ICRA GRASSROOTS Travel

Fellowship. 12. Bo Yang was the recipient of the 2011 NSF funded ICRA GRASSROOTS Travel

Fellowship. 13. Rebecca Kokes received the 2008 National Science Foundation Graduate

Research Fellowship for pursuing graduate studies. 14. Tie Hu was in a Post-Doctoral position at Columbia University after he graduated. 15. Christopher Kennedy, my first Ph.D. student, joined in a Post-Doctoral position in the

area of Medical Robotics in 2004 at the Engineering Research Center for Computer-Integrated Surgical Systems and Technology at The Johns Hopkins University.

16. Ms. Teeranoot Chanthasopeephan is the recipient of the 2005-2006 Link Foundation Fellowship for pursuing Ph.D. studies in the area of Minimally Invasive Surgery. She was also the recipient of the scholarship from the Government of Thailand.

17. Gregory Tholey received the 2003 National Science Foundation Graduate Research Fellowship for pursuing graduate studies with me in the area of Medical Robotics. He was also the recipient of the Dean’s Fellowship at Drexel University.

18. James Hing, my previous graduate student, received the GAANN Fellowship and also the Gates Millennium Scholarship to pursue graduate studies. He was also the recipient of the Dean’s Fellowship at Drexel University.

19. Christopher Kennedy received the Koerner Fellowship for excellence in graduate studies in the Department of Mechanical Engineering and Mechanics. He was also the recipient of the Dean’s Fellowship at Drexel University.

20. Title: An Enhanced Tissue-Joining Device for Delivery of Bioactive Closures (2002) – My role was as one of the project advisors for the students who won second place in the Baiada Center Business Plan competition and received $10,000.

21. Title: The Development of Factor-Containing Biodegradable Closures for Use in Bile Duct Anastomosis (2002) – My role was as one of the project advisors for this Best Undergraduate Senior Design Project in the School of Biomedical Engineering, Science, and Health Systems.

k. News and Other publicity

1. Our work was featured in “Technology Corner”, Analytical Chemistry (62:9 (2016) pp. 1287-1289), in the article titled: “In Breast Cancer, a Potential Partner for Pathologists”.

2. American Society for Engineering Education (ASEE) PRiSM Magazine; Also on web-site (2014): http://www.asee-prism.org/2014/01/

3. WTOP Radio (2013) 4. National Public Radio web-site (2013):

http://www.npr.org/blogs/health/2013/09/27/226837903/why-brain-surgeons-want-help-from-a-maggot-like-robot

5. National Institute of Biomedical Imaging and Bioengineering web-site (2013): http://www.nibib.nih.gov/news-events/newsroom/robots-could-one-day-help-surgeons-remove-hard-reach-brain-tumors


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3. Teaching, Mentoring and Advising. a. Courses taught at UMD.

Course # Title Term

ENME603 Advanced Mechanisms and Robot Manipulators Spring 2007

ENME489R/ENME808M Medical Robotics Fall 2007

ENME489C/ENME808C Kinematics and Dynamics of Robot Manipulators Spring 2008

ENME472 Integrated Product and Process Development Spring 2008

ENME472 Integrated Product and Process Development Fall 2008

ENME808V A Mathematical Introduction to Robotics Spring 2009 ENME489C Medical Robotics Fall 2009 ENME808V A Mathematical Introduction to Robotics Spring 2010 ENME489C Medical Robotics Fall 2010 ENME808V A Mathematical Introduction to Robotics Spring 2011 ENME489C/ENME808M Medical Robotics Fall 2011


ENME 675 A Mathematical Introduction to Robotics Fall 2013 ENME489C/ENME808M Medical Robotics Spring 2014 ENME 675 A Mathematical Introduction to Robotics Fall 2014


ENME489C/ENME808M Medical Robotics Spring 2015 ENME 675 A Mathematical Introduction to Robotics Fall 2015 ENME489C/ENME808M Medical Robotics Spring 2016

b. Courses taught at Drexel University

Course # Title Term MEM 423 Mechanics of Vibration Fall 1999-2000 MEM 800/571 Kinematics of Robots Winter 1999-2000 MEM 423 Mechanics of Vibration Spring 1999-2000 MEM 423 Mechanics of Vibration Fall 2000-2001 MEM 380/571 Kinematics of Robots Winter 2000-2001 MEM 423 Mechanics of Vibration Spring 2000-2001 TDEC180-002 Emerging Engineering

Technologies (Medical Robotics module)

Spring 2000-2001

MEM 423 Mechanics of Vibration Fall 2001-2002 MEM 380/571; 800/571; 380/771

Robotics Winter 2001-2002

MEM 335 Theory of Machines Winter 2001-2002 MEM 423 Mechanics of Vibration Spring 2001-2002 MEM 800/501; 380/501 Medical Robotics – I Fall 2002-2003 MEM 800/502; 380/502 Haptics for Medical Robotics Winter 2002-2003 MEM 800/505; 380/505 Medical Robotics – II Spring 2002-2003


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MEM 800/001; 380/002 Haptics for Medical Robotics Fall 2003-2004 MEM 800/002; 380/002 Medical Robotics - I Winter 2003-2004 MEM 423 Mechanics of Vibration Spring 2003-2004 TDEC 211 Materials - I Fall 2004-2005 MEM 492 Senior Design coordinator Winter 2004-2005 MEM 423 Mechanics of Vibration Spring 2004-2005 MEM 255 Introduction to Control Systems Fall 2005-2006 MEM 455 Introduction to Robotics Winter 2005-2006 MEM 238 Dynamics Spring 2005-2006 MEM 423 Mechanics of Vibration Spring 2005-2006

Courses Developed University of Maryland, College Park • A Mathematical Introduction to Robotics Drexel University • Haptics for Medical Robotics • Medical Robotics-I • Medical Robotics-II Laboratories Developed • University of Maryland, College Park: Robotics, Automation, and Medical

Systems (RAMS) laboratory. • Drexel University: Program for Robotics, Intelligent Sensing, and

Mechatronics (PRISM) Laboratory.

c. Teaching Awards and Other Special Recognition.

1. Ralph R. Teetor Educational Award (2004) - Society of Automotive Engineers (SAE).

2. College of Engineering Outstanding Teaching Award (2004) - Drexel University, Philadelphia, PA.

3. Outstanding Contribution to Graduate Teaching (2004) - Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA.

d. Advising (other than research direction).

i. Undergraduate. Drexel University Senior Design Projects I have supervised six senior design projects. Below is the list of senior design projects that I have served as an advisor. 1. Human Augmentation System for Prenatal Diagnostic Procedures 2. Design and Development of a Novel Stereoendoscope 3. Design and development of a surgical stapler 4. Motion Planning for a Mobile Robot 5. Path Planning for a Lead Robot


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6. Electrical Vehicle Conversion

Freshmen Design Projects I have supervised freshmen design projects. Below is the list of freshmen design projects that I have been involved as an advisor. Design of a Robotic Swing for Infants Design of a Wall Climbing Robot 1. Satellite Sushi 2. SmartPark 3. Biometrics: An effective solution to car security 4. S.A.F.E. Safety Allows for Excellence Blind Spot Detection System 5. Smart Laser Lawnmower 6. Spherical Wrist

ii. Graduate.

Independent Study Drexel University 1. Edward Steager (Winter 2006) – Kinematics of Robots.

iii. Other advising and mentoring activities. e. Advising: Research Direction.

i. Undergraduate.

Independent Study (Drexel University) I have supervised the following students for independent study. 1. Socheth Bith (Summer 2004) – Worked on data analysis for modeling soft-

tissue cutting. 2. Jake, Justin, and John – Programming experience for developing virtual

interfaces for surgery. 3. Christopher Kennedy (Fall, Winter, Spring, and summer 2000-2001 term) –

Worked on robot vision, understanding image processing, familiarizing with vision hardware, and understanding motion planning for a mobile robot.

4. Brian Schmidt (Summer 2001) – Worked on the design of the robotic hand.

University of Maryland, College Park (Undergraduate research) 1. Ahmed Siddiqui 2. Chungho Patrick Woo 3. Zachary Brandes 4. Danielle Khoo 5. Mr. Christopher Caruso 6. Ms. Bethany Springer 7. Ms. Yasamin Ekrami 8. Ms. Alondra Hernandez 9. Mr. Peter Phelps 10. Mr. Yalun Wu


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Research Experiences for Undergraduates (REU) – NSF sponsored I have been successful in involving undergraduate students in research through the REU program of the National Science Foundation, while I was at Drexel University. Drexel University (Undergraduate research) 1. Mr. Theodore A. Bieniosek – Hardware development for robot-assisted

surgery system with Haptic feedback. 2. Mr. James Hing – Developed soft-tissue property estimation apparatus. 3. Ms. Angelina Schulz – Developed soft-tissue property estimation apparatus. 4. Mr. Greg Tholey – Development of the experimental testbed for tissue

property estimation and the servomotor housing assembly for controlling the laparoscopic grasper movement.

5. Ms. Mary Emig - Design of the robotic hand. 6. Ms. Roseanne Crockett – Design of the robotic hand. 7. Mr. Griffin Harold – Design of the robotic hand. 8. Mr. Christopher Kennedy – Vision algorithms for tracking deformable

membrane.

ii. Master's. University of Maryland, College Park

Carolyn Davis MS (non-thesis) Started Spring 2014

Completed 2015

Area: Medical Robotics

Wenxue Zhao MS (non-thesis) Started Fall 2013

Completed 2015


Drexel University

Muhammed Ucar

MS (Transferred) Fall 2001 Transferred


Ajit Borundia MS (non-thesis) Fall 1999 06/2001 (completed) Area: Tactile sensors

iii. Doctoral.

Name Start Date

Completed / Expected Graduation Date

Current Status2

Christopher Kennedy Fall 2001 Completed 2004

Medical Physicist University of Pennsylvania Perelman Center for Advanced Medicine Department of Radiation Oncology Philadelphia, PA 19104

Tie Hu Fall 2001 Completed 2006 Sr. Electricalmechanical Engineer Amazon Corporate LLC

2 Some of this information was last updated in October 2015.


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Teeranoot Chanthasopeephan Fall 2002 Completed 2006

Assistant Professor Department of Mechanical Engineering King Mongkut's University of Technology Thonburi Thailand

Gregory Tholey Fall 2002 Completed 2007

Senior Mechanical Engineer Kulicke & Soffa Industries Inc. 1005 Virginia Drive Fort Washington, PA 19034

Anand Pillarisetti Fall 2003 Completed 2008

Mechanical Design Engineer Automotive Sensor Products Sensata Technologies Attleboro, MA 02703

Kevin Lister Spring 2007 Completed 2012 Computational Analyst Corvid Technologies Alexandria, VA

Bo Yang Fall 2008 Completed 2013

Senior Software Engineer Deerfield Imaging, Inc. 5101 Shady Oak Rd, Minnetonka, MN 55343

Mingyen Ho Fall 2008 Completed 2013

Senior Systems Engineer Auris Surgical Robotics, Inc. 125 Shoreway Rd. San Carlos, CA 94070

Rajarshi Roy Fall 2008 Completed 2014 Postdoctoral Research Scholar Vanderbilt University

Elif Ayvali Fall 2009 Completed 2014 Post-Doctoral Fellow The Robotics Institute Carnegie Mellon University

Chad Kessens Fall 2008 Expected 2017 Graduate Student Shing Shin Cheng Fall 2013 Expected 2018 Graduate Student Jun Sheng Summer 2014 Expected 2019 Graduate Student Kihan Park Fall 2014 Expected 2019 Graduate Student Katelyn Fry Fall 2016 Expected 2021 Graduate Student Yash Chitalia Fall 2016 Expected 2021 Graduate Student

iv. Research Associate / Faculty Research Associate / Faculty Research

Assistant • Zhan Gao (2007-2010) • U-Xuan Calvin Tan (2009-2011) - Currently Assistant Professor at

Singapore University of Technology and Design (SUTD), Singapore. • Hardik J. Pandya (2012-2016) – Currently Postdoctoral Research

Fellow, Department of Medicine - Division of Renal Medicine, Brigham and Women's Hospital, Harvard Medical School

• Yeongjin Kim (2013-2016) – Currently Assistant Professor,


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Department of Mechanical Engineering, Incheon National University, Republic of Korea

4. Extension Activities at University of Maryland, College Park

M.S. Thesis Committee Member 1. Robert Cullen (2015) 2. Mary Claire Tellers (2015)

Proposal and Dissertation Committee Member 1. Carlos Morato (2016) 2. Chia-Pin Liang (2014) 3. Bo Yang (2013) 4. Mingyen Ho (2013) 5. Elif Ayvali (2013) 6. Pavan Tallapragada (2013) 7. James K. Hopkins (2013) 8. Sagar Chowdhury (2013) 9. Rubyca Jaai (2013) 10. Carlos Morato (2013) 11. Kevin Lister (2012) 12. Rajarshi Roy (2012) 13. Yen-Chen Liu (2012) 14. Konstantinos Bitsakos (2010) 15. Lijun Zhu (2010) 16. Anand Pillarisetti (2008)

Department of Mechanical Engineering: Ph.D. Qualifying Exam committee

1. Mr. Michael Kuhlman (2015) 2. Mr. Shing Shin Cheng (2015) 3. Mr. Kihan Park (2015) 4. Mr. Jun Sheng (2015) 5. Mr. Yimeng Dong (2015) 6. Ms. Wenxue Zhao (2015) 7. Mr. Prasad Chanekar (2014) 8. Mr. Ryan St. Pierre (2014) 9. Mr. Mehdi Kohani (2014) 10. Galen Mullins (2013) 11. Mohammad Ali (2012) 12. Ms. Dana Vogtmann (2011) 13. Mr. Chris Brown (2010) 14. Mr. Pavan Tallapragada (2009) 15. Mr. Peyman Karimian (2008) 16. Mr. Atul Thakur (2008) 17. Mr. Ashis Banerjee (2007) 18. Mr. Dennis Leber (2007)

Department of Aerospace Engineering: Comprehensive Exam Committee

19. Ryan Robinson (2013) 20. Badri Ranganathan (2013) 21. Amanda Salmoiraghi (2013)


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4. Service a. Professional.

i. Offices and committee memberships held in professional organizations.

1. Program Co-Chair – 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada.

1. Program Chair - 2019 IEEE International Conference on Robotics and Automation to be held in Montreal, Canada.

2. Steering Committee – 2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

3. Steering Committee – 2014 International Symposium on Experimental Robotics, Morocco.

4. Co-Chair of the IEEE Robotics and Automation Society Technical Committee on Surgical Robotics, 2005 - 2013.

5. Member of the Organizing Committee for 13th International Symposium on Experimental Robotics, Quebec City, Canada, 2012.

6. Organizer of the 2-day single-track Symposium on Surgical Robotics as part of IEEE International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, 2012.

7. Chair of the Bio-Systems and Health Care Technical Committee of ASME Dynamic Systems and Control Division (DSCD), 2012-2013.

8. Co-organizer of the workshop titled: “Image-guided Medical Robotic Interventions” at IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, September 2011.

9. Member of the NIH College of CSR Reviewers (2010-2012) 10. Chair of Awards Committee for the 2010 IEEE Haptics Symposium,

Waltham, MA, March 2010. 11. Chair of the Travel Awards Committee for the 2010 IEEE International

Conference on Robotics and Automation, Anchorage, AK. 12. Chair of Awards Committee for the Third IEEE/RAS-EMBS International

Conference on Biomedical Robotics and Biomechatronics – BioRob 2010, Tokyo, Japan, September 26-29, 2010.

13. Co-organizer of the workshop titled: “Meso-scale Robotics for Medical Interventions” at IEEE International Conference on Robotics and Automation, Anchorage, AK, May 2010.

14. Program Chair of Second Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics – BioRob, October 2008.

15. Area Chair – Robotics Science and Systems (RSS), 2008. 16. Member of the Awards Committee for the Best Conference Paper award

for IEEE International Conference on Robotics and Automation, 2007. 17. Area Chair for Robotics: Science and Systems Conference, 2007. 18. Awards Chair for the 14th Symposium on Haptic Interfaces for Virtual

Environment and Teleoperator Systems, 2006. 19. Member of the Technical Committee on BioRobotics for IEEE

Engineering in Medicine and Biology (EMB) Society, 2005 - present.


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20. Theme Co-Chair for "Biomechanics, Bio-Robotics, and Surgical Planning" at IEEE 2006 International Conference of the Engineering in Medicine and Biology Society, New York, NY.

21. Member of the 2006 IEEE International Conference on Robotics and Automation Program Committee, Orlando, Florida.

22. Member of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Program Committee, Alberta, Canada.

23. Invited to be a Member of the Program Committee for International Conference on Advanced Robotics, Seattle, WA, July 17-20, 2005.

24. Member of the International Program Committee for Solid and Physical Modeling 2005, MIT, Cambridge, MA, June 13-15, 2005.

25. Track chair for Surgical and Rehabilitative Robotics Theme at the 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, San Francisco, CA, September 1-5, 2004.

26. Member of the Program committee for EuroHaptics, 2004. 27. Member of the International Program Committee for the Tenth IASTED

International Conference on Robotics and Applications, Honolulu, Hawaii, USA, August 23-25, 2004.

28. Member of the Program committee for International Conference on Intelligent Robots and Systems, Las Vegas, 2003.

29. Chair of the session at International Conference on Advanced Robotics, Coimbra, Portugal, 2003.

30. Member of the Program committee for Sixth International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), 2003, Montreal, Canada.

31. Member of the Program committee for International Conference on Advanced Robotics, Coimbra, Portugal, 2003.

32. Member of the Program committee for Fifth International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), 2002, Tokyo, Japan.

33. Member of the Program committee for 2002 IEEE International Conference on Robotics and Automation, Washington D.C.

34.

curriculum vitae – jaydev prataprai desai curriculum vitae...curriculum vitae – jaydev prataprai...

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