Prof. Jaydev Desai, University of Maryland
Dr. Jaydev P. Desai is currently a Professor in the Department of Mechanical Engineering and a Member of the Maryland Robotics Center at the University of Maryland, College Park (UMCP). Prior to joining UMCP, he was an Associate Professor at Drexel University. He completed his undergraduate studies from the Indian Institute of Technology, Bombay, India, in 1993. He received his M.A. in Mathematics in 1997, M.S. and Ph.D. in Mechanical Engineering and Applied Mechanics in 1995 and 1998 respectively, all from the University of Pennsylvania. Prior to joining Drexel University, he was a Post-Doctoral Fellow in the Division of Engineering and Applied Sciences at Harvard University. He is a recipient several NIH R01 awards, NSF CAREER award, and was also the lead inventor on the “Outstanding Invention of 2007 in Physical Science Category” at the University of Maryland, College Park. He is also the recipient of the Ralph R. Teetor Educational Award. His research interests include image-guided surgical robotics, reality-based soft-tissue modeling for surgical simulation, grasping, haptics, and micro-scale cell and tissue characterization. He has served as Co-Chair of Surgical Robotics Technical Committee of IEEE Robotics and Automation Society, Associate Editor of IEEE Transactions on Biomedical Engineering (TBME), Editorial board of IEEE/ASME Transactions on Mechatronics, ASME Journal of Medical Devices, and Guest co-editor of the Special Issue on “Medical Robotics” in the International Journal of Robotics Research, to name a few. He is also a member of the ASME and IEEE.

Towards Robot-Assisted Neurosurgery Under Continuous MRI Guidance
Brain tumors are among the most feared complications of cancer occurring in 20–40% of adult cancer patients. Though there have been significant advances in treatment, the prognosis for these patients is poor. Whether there is a primary malignancy or a secondary malignancy, whenever the brain of the cancer patient is involved in treatment, there is a significant impact on their overall quality of life. While the most optimal treatment currently for most brain tumors involves primary surgical resection, many patients may not be able to undergo that treatment plan due to either their poor general health or an unfavorable location (either deep inside the brain or inaccessibility of the tumor) of the lesion.
Magnetic resonance imaging (MRI) provides excellent soft tissue contrast and has become a standard imaging modality for physicians in several image-guided interventions. However, the nature of MR imaging imposes several constraints on the development of a robotic system. These challenges include actuator choice, sensor choice, material choice, size of the robot, etc., to name a few.
This talk will focus on our progress on the development of MINIR: Minimally Invasive Neurosurgical Intracranial Robot, and identify the challenges in the development of this meso-scale robotic system operated under MRI guidance.

Relevant Publications
[1] 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.

[2] Mingyen Ho, Alan B. McMillan, J. Marc Simard, Rao Gullapalli, and Jaydev. P. Desai, “Towards a Meso-scale SMA-Actuated MRI-Compatible Neurosurgical Robot”, IEEE Transaction on Robotics, 28(1), pp. 213-222, 2012.