Title: Continuum Robotic Tools and Sensors for Brain Tumor Diagnosis and Neurosurgical Interventions 

Date: July 13, 2026

Time: 12:00 pm - 02:00 pm EST

Location: Conference Room, Whitaker 2110

Virtual Link:  https://gatech.zoom.us/j/99383814873?pwd=Wl4UxkBpKMc5fmmiOTDaQJLx2bCWnT.1  

Meeting ID: 993 8381 4873

Passcode: 368240

Nidhi Malhotra

Robotics Ph.D. Candidate

School of 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

Dr. Rafael V. Davalos 

Wallace H. Coulter Department of Biomedical Engineering

Georgia Institute of Technology

Dr. Azadeh Ansari 

School of Electrical and Computer Engineering

Georgia Institute of Technology

Dr. Yue Chen 

Wallace H. Coulter Department of Biomedical Engineering

Georgia Institute of Technology

Abstract:

Compared with open surgery, minimally invasive surgery (MIS) reduces tissue damage, resulting in faster patient recovery. However, current MIS tools are rigid, allowing access only via linear trajectories to desired locations. Among MIS procedures, neurosurgical interventions require enhanced precision and dexterity, as well as tools that minimize damage to 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 used to distinguish the mechanical properties of normal and tumor tissues. Secondly, to enable bimanual triangulation, a single-port dual-arm neuroendoscope design is presented. Compared to existing systems, this proposed device can enter the body through a smaller single incision and provide 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 delivering electrodes to the tumor site. For the same, two robotic tool designs are developed. The first design consists of a robotically steerable device with two concentric electrodes, and the second design uses a single-port parallel-electrode configuration for IRE. Overall, 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.