Date: December 18, 2025

Time: 1:00 pm - 3:00 pm

Location: UAW 3115 - McIntire Conference Room

Virtual Link: Zoom

Meeting ID: 968 0292 0111

Passcode: 860920

Nidhi Malhotra

Robotics PhD Student

Electrical and Computer Engineering

Georgia Institute of Technology

Committee:

Dr. Jaydev P. Desai (Advisor) 

Wallace H. Coulter Department of Biomedical Engineering

Georgia Institute of Technology

Dr. Kimberly Hoang

Department of Neurosurgery

Emory University School of Medicine

Dr. Rafael Davalos 

Wallace H. Coulter Department of Biomedical Engineering

Georgia Institute of Technology

Dr. Azadeh Ansari 

Electrical and Computer Engineering

Georgia Institute of Technology

Dr. Yue Chen 

Wallace H. Coulter Department of Biomedical Engineering

Georgia Institute of Technology

Abstract:

In comparison to open surgery, minimally invasive surgery (MIS) reduces tissue damage, resulting in faster patient recovery. However, current tools for MIS are rigid, allowing access through only linear trajectories to desired locations. Among MIS procedures, neurosurgical interventions require enhanced precision and dexterity, and tools that reduce damage to the surrounding functional brain tissue.  This work focuses on the design of continuum robotic tools and integrated sensors for minimally invasive neurosurgery. Firstly, the design of a MEMS sensor and its integration with a robotically steerable neuroendoscope tool are described. The proposed sensor is utilized to differentiate between the mechanical properties of normal and tumor tissues. Secondly, for bimanual triangulation capabilities, a single-port dual-arm neuroendoscope design is presented. Compared to existing systems, this proposed device has the ability to enter the body through a smaller single incision with a larger reachable workspace. Additionally, polymer-based materials are explored for the design and fabrication of tendon-driven robotically steerable joints. Furthermore,  two sensing approaches utilizing imaging and strain sensors, respectively, are developed to facilitate real-time control of the proposed robotic tools.  Lastly, for applications in tumor treatment, novel therapeutic approaches such as irreversible electroporation (IRE) require the delivery of electrodes to the tumor site. The design of a robotically steerable device containing two concentric electrodes is presented.  The extension of the robotically steerable device to a single-port parallel electrode configuration for IRE is under development. This work demonstrates the range of capabilities robotic devices can provide for tissue stiffness evaluation, dexterous motion, intrinsic shape sensing, and increased safety during minimally invasive neurosurgical interventions.