Research

Apr 2019 – Present Baltimore, MD

With Prof. Jeffrey H. Siewerdsen.

Developing a Vision-Guided K-Wire Navigation System for Ortho/Pelvic Trauma.
Designing Deep Learning models for Surgical Outcome Prediction using EHRs, Demographics and Imaging.

Aug 2018 – Apr 2019 Baltimore, MD

With Prof. Russell H. Taylor.

Integrated Systems, Vision and Control to create a complete framework for mosquito microdissection using retinal eye surgery robot.
Best Paper Finalist for CASE 2019!
Developed Deep Learning based dense segmentation methods for identifying mosquito parts during dissection.

May 2018 – Aug 2018 Cambridge, MA

With Dr. Paul Thienphrapa and Dr. Torre Bydlon.

Developed a multimodal interactive AR system for lung surgeries to track and visualize anatomy.
Published in MICCAI 2019!
Designed an intuitive User Centric Registration Method for improving surgical workflows.
Published in ICRA 2019!

Aug 2017 – May 2018 Baltimore, MD

With Prof. Russell H. Taylor.

Prototyped a force sensing bone drill using custom strain gage force sensors, within extremely constrained space limits.
Designed and manufactured an adapter sleeve for Transoral Thyroidectomy dilators.

May 2016 – Apr 2017 Pittsburgh, PA

With Prof. Howie Choset.

Tested Sparse point registration using deterministic and probabilistic methods in laparoscopic surgeries.
Published in ISRR 2017! Watch video here.
Extensively tested methods to register using sparse surface normals along with points, tested on dVRK and HARP.
Integrated stereo imaging with contact sensing to develop multimodal registration methods.
Published in RSS 2017!
Developed an Inexpensive Tri-axial Force Sensor for Minimally Invasive Surgery.
Published in IROS 2017! Watch video here.
Designed a device for registration and stiffness quantification of soft tissues.
Implemented Hybrid Force-Position Control for Optimal Palpation for tumor search.

Dec 2014 – Jan 2015 Nagpur, India

For a Hybrid 6DOF Serial-Parallel Manipulator:

Tested the simulation platform for machine tending, grinding and electrochemical deburring.
Simulated contact and environment on V-REP.

Aug 2013 – Apr 2016 Nagpur, India

With Prof. Shital S. Chiddarwar.

Designed and manufactured 20 DoF Kid Sized Humanoid (Swayat), first of its kind in India.
Worked on Walking Gait patterns for the humanoid and motion analysis.
Developed an Assistive Glove for the hearing/speaking disabled as part of Texas Instruments Analog Design Contest.
Developed system for automated angle of attack control for wind turbine blades.
Guided undergraduate teams and held seminars about basics of various topics in Robotics.