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Mechanical Engineering Seminar by Dr. Yash Chitalia

When: Friday, September 30, 2022
2:00 PM - 3:00 PM
Where: > See description for location
Description: DATE:
September 30, 2022

2:00 p.m. - 3:00 p.m.


Meeting ID: 943 2164 2292, Passcode: 541820

Dr. Yash Chitalia, Assistant Professor
Mechanical Engineering, University of Louisville

Design, Modeling, and Control of Micro-and Meso-Scale Surgical Robots

Manual manipulation of passive surgical tools is time consuming with uncertain results. Steerable robotic micro-catheters and miniature endoscopes are essential to the operating room of the future. This talk introduces the design of a micro-scale (Outer Diameter: 0.4 mm) COaxially Aligned STeerable (COAST) guidewire/catheter robot for cardiovascular surgeries. This robot demonstrates variable and independently controlled bending length and curvature of the distal end allowing for follow-the-leader motion. The design, kinematics, statics models, and a controller for this robot are presented. The capability of the robot to accurately navigate through phantom anatomical bifurcations and tortuous angles is also demonstrated in phantom vascular structures. This talk also introduces the design, analysis and control of a meso-scale (Outer Diameter: 1.93 mm) two degree-of-freedom robotic bipolar electrocautery tool for the treatment of pediatric hydrocephalus. A static model and disturbance-observer based controller are developed for this tool to provide precise force control and compensate for joint hysteresis.

Dr. Yash Chitalia is an Assistant Professor in Mechanical Engineering and the director of the Healthcare Robotics and Telesurgery (HeaRT) Laboratory at the University of Louisville. He received his Ph.D. in Mechanical Engineering from the Georgia Institute of Technology, an MS in Electrical Engineering from the University of Michigan at Ann Arbor, and his BE in Electrical Engineering from the University of Mumbai, India. His research vision is to revolutionize the field of minimally invasive surgery by designing semi-autonomous micro-and meso-scale surgical robots. Surgical success today depends heavily on our ability to detect, reach, and remove any cause of morbidity. In each of these sub-requirements, surgeons would benefit from dexterous intelligent robotic tools. Dr. Chitalia's research aims to design such tools using micro-scale machining, 3D-printing, modeling of super-elastic structures and joints to control dexterous continuum robots. He collaborates with interventional radiologists and neurosurgeons from the University of Louisville Neurosurgery, Emory University Hospital, Winship Cancer Center and Children’s Healthcare of Atlanta (CHOA) to design some of the smallest surgical robots in the world today.

For more information please contact Dr. Hangjian Ling, MNE Seminar Coordinator (

All are welcome.

Students taking MNE-500 are REQUIRED to attend!

All other MNE BS and MS students are encouraged to attend.

EAS students are also encouraged to attend.
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