Publications

ExoNav II: Design of a Robotic Tool with Follow-the-Leader Motion Capability for Lateral and Ventral Spinal Cord Stimulation (SCS)
B Moradkhani, P Kheradmand, H Jella, J Klein, A Zemmar, Y Chitalia
Journal of Medical Robotics Research. 2025.

Tendon-Actuated Concentric Tube Endonasal Robot (TACTER)
KK Yamamoto, TJ Zachem, P Kheradmand, P Zheng, J Abdelgadir, JL Bailey, K Pieter, PJ Codd, Y Chitalia
Journal of Medical Robotics Research. 2025.

Towards a Tendon-Assisted Magnetically Steered (TAMS) Robotic Stylet for Brachytherapy
P Kheradmand, B Moradkhani, H Jella, K Sowards, SR Silva, Y Chitalia
IEEE Robotics and Automation Letters. 2024.

ExoNav: A Novel Robotic Steering and Latching Mechanism for Spinal Cord Stimulation Electrodes
H Jella, B Moradkhani, P Kheradmand, A Zemmar, Y Chitalia
IEEE/ASME Transactions on Mechatronics. 2024.

An FBG-based Stiffness Estimation Sensor for In-vivo Diagnostics
B Moradkhani, P Kheradmand, H Jella, KK Yamamoto, A Tofangchi, PJ Codd, Y Chitalia
2024 International Symposium on Medical Robotics (ISMR). 2024.

Towards the Development of a Tendon-Actuated Galvanometer for Endoscopic Surgical Laser Scanning
KK Yamamoto, TJ Zachem, B Moradkhani, Y Chitalia, PJ Codd
2024 International Symposium on Medical Robotics (ISMR). 2024.

Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots
Y Wang, M McCandless, A Donder, G Pittiglio, B Moradkhani, Y Chitalia, PE Dupont
2024 International Symposium on Medical Robotics (ISMR). 2024.

EP100/# 119 CURVED TRAJECTORIES IN STEREOTACTIC NEUROSURGERY: EPOSTER VIEWING: AS13-NON-AND LESS-INVASIVE BRAIN STIMULATION
A Zemmar, J Neimat, Y Chitalia
Neuromodulation: Technology at the Neural Interface. 2023.

Using robotics to move a neurosurgeon’s hands to the tip of their endoscope
K Price, J Peine, M Mencattelli, Y Chitalia, D Pu, T Looi, S Stone, J Drake, PE Dupont
Science Robotics. 2023.

Model-based design of the COAST guidewire robot for large deflection
Y Chitalia, A Sarma, TA Brumfiel, NJ Deaton, M Sheft, JP Desai
IEEE Robotics and Automation Letters. 2023.

Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions
G Pittiglio, M Mencattelli, A Donder, Y Chitalia, PE Dupont
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023.

Workspace Characterization for Hybrid Tendon and Ball Chain Continuum Robots
G Pittiglio, M Mencattelli, A Donder, Y Chitalia, PE Dupont
The Hamlyn Symposium on Medical Robotics: proceedings. 2023.

Modeling Tendon-actuated Concentric Tube Robots
Y Chitalia, A Donder, PE Dupont
2023 International Symposium on Medical Robotics (ISMR). 2023.

Kinematic Modeling and Jacobian-Based Control of the COAST Guidewire Robot
A Sarma, TA Brumfiel, Y Chitalia, JP Desai
IEEE Transactions on Medical Robotics and Bionics. 2022.

Modeling Telescoping Tendon-Actuated Continuum Robots
Y Chitalia, A Donder, P Dupont
EasyChair 2022.

Steerable and flexible robotic endoscopic tools for minimally invasive procedures
JP Desai, Y Chitalia, S Jeong, JJ Chern
US Patent App. 17/433,165.

Non-Surgical Removal of Partially Absorbable Bionic Implants
V Del Bono, J Peine, M Finocchiaro, KD Price, M Mencattelli, Y Chitalia, VH Ko, L Yu, J Secor, A Pan, Z Machaidze, M Puder, A Artoni, P Dupont
IEEE Transactions on Medical Robotics and Bionics. 2022.

Systems and Methods for Steering Guidewires
JP Desai, Y Chitalia
US Patent App. 16/491,680.

Towards a Robotically Steerable System for High Dose Rate Brachytherapy
NJ Deaton, Y Chitalia, P Patel, JP Desai
Experimental Robotics: The 17th International Symposium. 2021.

Towards the Development of an Ultrasound-Guided Robotically Steerable Guidewire
A Sarma, GC Collins, N Nayar, Y Chitalia, S Jeong, BD Lindsey, JP Desai
2020 International Symposium on Medical Robotics (ISMR). 2020.

Modeling and Control of a 2-DoF Meso-Scale Continuum Robotic Tool for Pediatric Neurosurgery
Y Chitalia, S Jeong, KK Yamamoto, JJ Chern, JP Desai
IEEE Transactions on Robotics. 2020.

Design, Modeling, and Control of a Coaxially Aligned Steerable (COAST) Guidewire Robot
S Jeong, Y Chitalia, JP Desai
IEEE Robotics and Automation Letters. 2020.

Miniature Force Sensor Based on Dual-Photointerrupter With High Linearity and Disturbance Compensation
S Jeong, Y Chitalia, JP Desai
IEEE Sensors Journal. 2020.

Towards FBG-Based Shape Sensing for Micro-Scale and Meso-Scale Continuum Robots With Large Deflection
Y Chitalia, NJ Deaton, S Jeong, N Rahman, JP Desai
IEEE robotics and automation letters. 2020.

Design and Kinematics Analysis of a Robotic Pediatric Neuroendoscope Tool Body
Y Chitalia, S Jeong, N Deaton, JJ Chern, JP Desai
IEEE/ASME Transactions on Mechatronics. 2020.

Design and Analysis of a Bidirectional Notch Joint for a Robotic Pediatric Neuroendoscope
Y Chitalia, X Wang, V Nguyen, S Melkote, J Chern, JP Desai
Proceedings of the 2018 International Symposium on Experimental Robotics. 2020.

Towards the design and development of a pediatric neuroendoscope tool
Y Chitalia, S Jeong, J Bok, V Nguyen, S Melkote, JJ Chern, JP Desai
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2019.

A system for bedside assistance that integrates a robotic bed and a mobile manipulator
AS Kapusta, PM Grice, HM Clever, Y Chitalia, D Park, CC Kemp
Plos one. 2019.

3D Human Pose Estimation on a Configurable Bed from a Pressure Image
HM Clever, A Kapusta, D Park, Z Erickson, Y Chitalia, CC Kemp
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2018.

Design, modeling and control of a 2-dof robotic guidewire
Y Chitalia, X Wang, JP Desai
2018 IEEE International Conference on Robotics and Automation (ICRA). 2018.

Data-driven thermal recognition of contact with people and objects
T Bhattacharjee, J Wade, Y Chitalia, CC Kemp
2016 IEEE Haptics Symposium (HAPTICS). 2016.

Autobed: Open hardware for accessible web-based control of an electric bed
PM Grice, Y Chitalia, M Rich, HM Clever, CC Kemp
Georgia Institute of Technology. 2016.

Autobed: A Web-Controlled Robotic Bed
PM Grice, Y Chitalia, M Rich, H Clever, H Evans, J Evans, CC Kemp
Georgia Institute of Technology. 2016.

Collaboration Between a Robotic Bed and a Mobile Manipulator May Improve Physical Assistance for People with Disabilities
A Kapusta, Y Chitalia, D Park, CC Kemp
Georgia Institute of Technology. 2016.

A revisit-based mixed-initiative nested classification scheme for Unmanned Aerial Vehicles
Y Chitalia, W Zhang, B Hyun, A Girard
2014 American Control Conference. 2014.

Prioritization schemes for reference and command governors
U Kalabić, Y Chitalia, J Buckland, I Kolmanovsky
2013 European Control Conference (ECC). 2013.

Publications

2025

Journal Papers

2024

Journal Papers

Conference Papers

2023

Journal Papers

Conference Papers

2022

2021

2020

2019

2018

2016

2014

2013