Publications

2024

Journal

• Huang, Z., Gunderman, A.L., Wilcox, S.E., Sengupta, S., Shah, J., Lu, A., Woodrum, D. and Chen, Y., 2024. Body-Mounted MR-Conditional Robot for Minimally Invasive Liver Intervention. Annals of Biomedical Engineering, pp.1-11.
• Gunderman, A.L., Sengupta, S., Huang, Z., Sigounas, D., Oluigbo, C., Godage, I.S., Cleary, K. and Chen, Y., 2024. Towards MR-Guided Robotic Intracerebral Hemorrhage Evacuation: Aiming Device Design and Ex Vivo Ovine Head Trial. IEEE Transactions on Medical Robotics and Bionics.
• Wang, Y., Hrovat, M., Kolandaivelu, A., Gunderman, A.L., Halperin, H.R., Schmidt, E.J. and Chen, Y., 2024. MR-Safe Cartesian Platform for Active Cardiac Shimming: Preliminary Validation. IEEE Transactions on Biomedical Engineering.
• Zhang, Z., Shen, J., Ha, J. and Chen, Y., 2024. Toward Extending Concentric Tube Robot Kinematics for Large Clearance and Impulse Curvature. IEEE Robotics and Automation Letters.
• Hrovat, M., Kolandaivelu, A., Wang, Y., Gunderman, A., Halperin, H.R., Chen, Y. and Schmidt, E.J., 2024. Balanced-force shim system for correcting magnetic-field inhomogeneities in the heart due to implanted cardioverter defibrillators. Frontiers in Medicine, 11, p.1225848.

Conference

• Nanziri, S.C., Yarmolenko, P., Hintz, L., Li, G., Talari, H.F., Cleary, K., Gunderman, A.L., Chen, Y. and Sigounas, D., 2024, March. MRI-compatible robot for intracerebral hemorrhage evacuation: sheep brain phantom study. In Medical Imaging 2024: Image-Guided Procedures, Robotic Interventions, and Modeling (Vol. 12928, pp. 13-18). SPIE.
• Wang, Y., Qiu, Z., Tokuda, J., Schmidt, E.J., Kolandaivelu, A. and Chen, Y., 2024, June. MR-conditional robotic actuation of concentric tendon-driven cardiac catheters.  In 2024 International Symposium on Medical Robotics (ISMR) (pp. 1-7). IEEE.
• Sommer, J., Gunderman, A.L., Sengupta, S., Huang, Z., Sigounas, D., Cleary, K. and Chen, Y., 2024, June. Concentric Tube Robot-Based Intracerebral Hemorrhage Evacuation in ex vivo Sheep Head: A Comparative Study. In 2024 International Symposium on Medical Robotics (ISMR) (pp. 1-7). IEEE.
• Wang, Y. and Chen, Y., 2024. Kinetostatic Path Planning for Continuum Robots By Sampling on Implicit Manifold. In 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE.
• Wilcox, S., Huang, Z., Gunderman, A., Sengupta, S., Shah, J., Lu, A., Woodrum, D., and Chen, Y. MR Conditional Robot for Liver Intervention. 2024 Interventional MRI Symposium. [Poster]

2023

Journal

• Shen, J., Wang, Y., Azizkhani, M., Qiu, D., and Chen, Y., 2023. Concentric tube robot redundancy resolution via velocity/compliance manipulability optimization. IEEE Robotics and Automation Letters.
• Huang, Z., Alkhars, H., Gunderman, A., Sigounas, D., Cleary, K. and Chen, Y., 2023. Optimal concentric tube robot design for safe intracerebral hemorrhage removal. Journal of Mechanisms and Robotics, pp.1-14.
• Gunderman, A.L., Azizkhani, M., Sengupta, S., Cleary, K. and Chen, Y., 2023. Modeling and control of an MR-safe pneumatic radial inflow motor and encoder (PRIME). IEEE/ASME Transactions on Mechatronics.
• Gunderman, A.L., Musa, M., Gunderman, B.O., Banovac, F., Cleary, K., Yang, X., and Chen, Y., 2023. Autonomous Respiratory Motion Compensated Robot for CT-Guided Abdominal Radiofrequency Ablations. IEEE Transactions on Medical Robotics and Bionics.
• Gunderman, A.L., Schmidt, E.J., Xiao, Q., Tokuda, J., Seethamraju, R.T., Neri, L., Halperin, H.R., Kut, C., Viswanathan, A.N., Morcos, M. and Chen, Y., 2023. MRI-Conditional Eccentric-Tube Injection Needle: Design, Fabrication, and Animal Trial. IEEE/ASME Transactions on Mechatronics.
• Azizkhani, M., Gunderman, A.L., Godage, I.S., and Chen, Y., 2023. Dynamic Control of Soft Robotic Arm: An Experimental Study. IEEE Robotics and Automation Letters,  8(4), pp. 1897-1904.
• Xiao, Q., Musa, M., Godage, I.S., Su, H. and Chen, Y., 2023. Kinematics and Stiffness Modeling of Soft Robot With a Concentric Backbone. Journal of Mechanisms and Robotics, 15(5), p.051011.
• Xiao, Q., Yang, X. and Chen, Y., 2023. Curvature-based force estimation for an elastic tube. Robotica, 41(6), pp.1749-1761.

Conference

• Qiu, A., Young, C., Gunderman, A.L., Azizkhani, M., Chen, Y. and Hu, A.P., 2023, May. Tendon-driven soft robotic gripper with integrated ripeness sensing for blackberry harvesting. In 2023 IEEE International Conference on Robotics and Automation (ICRA) (pp. 11831-11837). IEEE.
• Gunderman, A.L., Azizkhani, M., Sengupta, S., Cleary, K., Chen, Y., 2023. Open Source MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME): Design and Manufacturing Guidelines. International Symposium on Medical Robotics (ISMR).
• Gunderman, A.L., Donsante, A., Boulis, N.M. and Chen, Y., 2023, July. Concentric Tube Robot for Intrathecal Drug Administration. In 2023 International Conference on Advanced Robotics and Mechatronics (ICARM) (pp. 61-66). IEEE.

2022

Journal

• Musa, M., Sengupta, S. and Chen, Y., 2022. Design of a 6-DoF Parallel Robotic Platform for MRI Applications. Journal of Medical Robotics Research, 7(02n03), p.2241005.
• Zhang, Y., Dai, X., Tian, Z., Lei, Y., Chen, Y., Patel, P., Bradley, J.D., Liu, T. and Yang, X., 2022. Liver motion tracking in ultrasound images using attention guided mask R-CNN with long-short-term-memory network. In Medical Imaging 2022: Ultrasonic Imaging and Tomography (Vol. 12038, pp. 156-161). SPIE.
• Myers, A., Gunderman, A., Threlfall, R. and Chen, Y., 2022. Determining Hand-harvest Parameters and Postharvest Marketability Impacts of Fresh-market Blackberries to Develop a Soft-robotic Gripper for Robotic Harvesting. HortScience, 57(5), pp.592-594.
• Musa, M.J., Carpenter, A.B., Kellner, C., Sigounas, D., Godage, I., Sengupta, S., Oluigbo, C., Cleary, K. and Chen, Y., 2022. Minimally Invasive Intracerebral Hemorrhage Evacuation: A review. Annals of biomedical engineering, pp.1-22.
• Azizkhani, M., Godage, I.S. and Chen, Y., 2022. Dynamic control of soft robotic arm: A simulation study. IEEE Robotics and Automation Letters, 7(2), pp.3584-3591.
• Musa, M., Sengupta, S. and Chen, Y., 2022. MRI-Compatible Soft Robotic Sensing Pad for Head Motion Detection. IEEE Robotics and Automation Letters, 7(2), pp.3632-3639.
• Gunderman, A., Collins, J., Myers, A., Threlfall, R. and Chen, Y., 2022. Tendon-Driven Soft Robotic Gripper for Blackberry Harvesting. IEEE Robotics and Automation Letters,7(2), pp.2652-2659.
• Sengupta, S., Yan, X., Hoyt, T.L., Drake, G., Gunderman, A. and Chen, Y., 2022. Minimal artifact actively shimmed metallic needles in MRI. Magnetic Resonance in Medicine, 87(1), pp.541-550.

Conference

• Cleary, K., Sharma, K., Fischer, E., Dumoulin, C., Li, G., Fritz, J., Gunderman, A.L., Chen, Y., Monfaredia, R., Stoianovici, D., Iordachita, I., 2022. MRI-Compatible Low Profile Robots for In-Bore Interventions. In the 13th Intervention MRI Symposium.
• Gunderman, A.L., Sengupta, S., Sigounas, D., Cleary, K., Chen, Y., 2022. Towards an MRI-Conditional Robot for Intracerebral Hemorrhage Evacuation. In 2022 Hamlyn Symposium on Medical Robotics, (pp. 97-98).
• Azizkhani, M., and Chen, Y., 2022. Supervised Adaptive Fuzzy Control of LVAD with Pulsatility Ratio Modulation. In 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), (pp. 2429-2434). 

2021

Journal

• Dai, X., Lei, Y., Roper, J., Chen, Y., Bradley, J.D., Curran, W.J., Liu, T. and Yang, X., 2021. Deep learning‐based motion tracking using ultrasound images. Medical Physics, 48(12), pp.7747-7756.
• Chen, Y., Wang, L., Galloway, K., Godage, I., Simaan, N. and Barth, E., 2021. Modal-based kinematics and contact detection of soft robots. Soft Robotics, 8(3), pp.298-309.
• Gunderman, A., Schmidt, E., Morcos, M., Tokuda, J., Seethamraju, R.T., Halperin, H., Viswanathan, A. and Chen, Y., 2021. MR-Tracked Deflectable Stylet for Gynecologic Brachytherapy. IEEE/ASME Transactions on Mechatronics.
• Musa, M., Sharma, K., Cleary, K., and Chen, Y., 2021, Respiratory Compensated Robot for Liver Cancer Treatment: Design, Fabrication, and Benchtop Characterization, IEEE/ASME Transactions on Mechatronics.
• Li, Y., Liu, Y., Yamazaki, K., Bai, M., and Chen, Y., 2021, Development of a Soft Robot-Based Photodynamic Therapy for Pancreatic Cancer, IEEE/ASME Transactions on Mechatronics

Conference

• Musa, M., Sengupta, S. and Chen, Y., 2021, November. Design of a 6 DoF Parallel Robot for MRI-guided Interventions. In 2021 International Symposium on Medical Robotics (ISMR) (pp. 1-7). IEEE.
• Arachchige, D.D., Chen, Y., Walker, I.D. and Godage, I.S., 2021, August. A novel variable stiffness soft robotic gripper. In 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE) (pp. 2222-2227). IEEE.

2020

Journal

• Xiao, Q., Monfaredi, R., Musa, M., Cleary, K. and Chen, Y., 2020. MR-Conditional Actuations: A Review. Annals of Biomedical Engineering
• Yu, S., Huang, T., Yang, X., Jiao, C., Yang, J., Chen, Y., Yi, J., and Su, Hao, 2020, Quasi Direct Drive Actuation for a Lightweight Hip Exoskeleton with High Backdrivability and High Bandwidth, IEEE/ASME Transactions on Mechatronics 
• Chen, Y., Wang, L., Galloway, K., Godage, I.S., Simaan, N., and Barth, E.J., 2020, Modeling, Contact Detection and Estimation for a Pneumatic Soft Robot. Soft Robotics.

Conference

• Liu, Y., Yamazaki, K., Zhang, D., Li, Y., Su, M., Xie, Q., Chen, Y. and Bai, M., 2020, Minimally invasive intraperitoneal photodynamic therapy using a new soft robot system. In Optical Methods for Tumor Treatment and Detection: Mechanisms and Techniques in Photodynamic Therapy, International Society for Optics and Photonics.
• Gunderman, A.L., Schmidt, E.J., Viswanathan, A.N., Halperin, H.R., Tokuda, J., Seethamraju, R.T. and Chen, Y., 2020, November. Mr-guided tissue puncture with on-line imaging for high-resolution theranostics. In 2020 International Symposium on Medical Robotics (ISMR) (pp. 57-61). IEEE.
• Schmidt, E.J., Chen, Y., Gunderman, A. L., Tokuda, J., Seethamraju, R. T., Halperin, H. R., and Viswanathan, A. N., 2020, A Deflectable Positionally-Localized Virtual Biopsy “Gun”: Construct and Initial Testing, International Society for Magnetic  Resonance in Medicine
• Musa, M., Sharma, K., Cleary, K., and Chen, Y., 2020, Design and Workspace Analysis of a Patient Mounted Liver Ablation Robot, IGT: 11th National Image-Guided Therapy Workshop.

2019

Journal

• Alipour, A., Meyer, E. S., Watkins, R. D., Elahi, H., Loew, W., Schweitzer, J., Olson, G., Chen, Y., Tao, S., Guttman, M., Kolandaivelu, A., Halperin, H. R., and Schmidt, E. J., 2019, MRI-conditional actively-tracked metallic electrophysiology catheters and guidewires with miniature floating radio-frequency traps: Theory, Design and Validation, IEEE Transactions on Biomedical Engineering.
• Chen, Y., Howard, J., Godage, I., and Sengupta, S., 2019, Closed Loop Control of an MR-Conditional Robot with Wireless Tracking Coil Feedback, Annals of Biomedical Engineering, pp. 1-12.
• Galloway, K. C., Chen, Y., Templeton, E., Rife, B., Godage, I. S., and Barth, E. J., 2019, Fiber Optic Shape Sensing for Soft Robotics, Soft Robotics.
• Chen, Y., Godage, I., Su, H., Song, A., and Yu, H., 2019, Stereotactic Systems for MRI-Guided Neurosurgeries: A State-of-the-Art Review, Annals of Biomedical Engineering, pp.1-19.
• Wineland, A., Chen, Y., Boland, B., Chan, K., Tse, Z., 2019, Magnetic Resonance Conditional Microinjector, Journal of Imaging, 5(1), 4.

Conference

• Godage, I.S., Chen, Y., Galloway, K.C., Templeton, E., Rife, B., and Walker, I., 2019, Real-time Dynamic Models for Soft Bending Actuators, IEEE ROBIO.

2018

Journal

• Chen, Y., Godage, I. S., Sengupta, S., Liu, C. L., Weaver, K. D., and Barth, E. J., 2018, MR-conditional steerable needle robot for intracerebral hemorrhage removal, International journal of computer assisted radiology and surgery, 1-11.
• Luo, Y. J., Chen, J. B., Wang, X. F., Zhao, Y. X., Zhang, A. B., Xie, C., Chen, Y., and Du, J. K., 2018, A micromechanical model to study the closure stress effect on fatigue life of Ti6Al4V subjected to laser shock peening, Engineering Fracture Mechanics, pp. 327-338.
• Seifabadi, R., Li, M., Xu, S., Chen, Y., Squires, A., Negussie, A.H., Bakhutashvili, I., Choyke, P., Turkbey, I.B., Tse, Z.T.H., Wood, B.J., 2018, MRI Robot for Prostate Focal Laser Ablation: An Ex Vivo Study in Human Prostate, Journal of Imaging, 4(12), p.140.
• Tse, Z. T. H., Chen, Y., Hovet, S., Ren, H., Monfaredi, R., Xu, S., Cleary, K., 2018, Soft Robotics in Medical Applications, Journal of Medical Robotics Research, 1-10.
• Chen, Y., Godage, I.S., Tse, Z.T.H., Webster III, R.J. III and Barth, E.J., 2017, Characterization and Control of a Pneumatic Motor for MR-conditional Robotic Applications, IEEE/ASME Transactions on Mechatronics, 22(6), 2780-2789.
• Chen, Y., S. Xu, A. Squires, R. Seifabadi, I. B. Turkbey, P. A. Pinto, P. Choyke, B. Wood & Z. T. H. Tse, 2018, MRI-Guided Robotically Assisted Focal Laser Ablation of the Prostate Using Canine Cadavers. IEEE Transactions on Biomedical Engineering, 65(7), 1434-1442.

Conference

• Chen, Y., Godage, I.S., and Sengupta, S., 2018, Efficient Reduced-Order Models for Soft Actuators, IROS ATPN.
• I. S. Godage, Y. Chen, and I. D. Walker., 2018, Dynamic Control of Pneumatic Muscle Actuators.
• Chen, Y., Sengupta, S., and Howard, J, 2018, Close Loop Control of an MR-conditional Robot with  Active Tracking Coils, IGT: 10th National Image-Guided Therapy Workshop.
• Chen, Y., Galloway, K., and Godage, I.S., 2018, Efficient Reduced-Order Models for Soft Actuators, IROS SRMC.
• Yin, M., Chen, Y., Lee, K. H., Fu, D. K., Tse, Z. T. H., & Kwok, K. W., 2018, Dynamic Modeling and Characterization of the Core-XyCartesian Motion System, IEEE International Conference on Real-time Computing and Robotics.
• Poorman,M. E., Chen, Y., Webster III, R. J., Barth, E. J., and Grissom,W. A., 2018, MR Imaging Simulator and Optimized Multi-echo Z-shimmed Sequence for Temperature Mapping Near Metallic Ablation Probes, in 26th Meeting of the International Society for Magnetic Resonance in Medicine.