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.