My research interests are in device design, human-machine interaction and control as applied to medical applications. My research involves robotically assisted minimally invasive surgery, image-guided therapies and architecture for surgical systems. I am working with Dr. Bradford Wood, Senior Investigator at NIH on some of these.

I graduated from The Center for Computer Integrated Surgical Systems and Technology (CISST), Department of Computer Science, The Johns Hopkins University in August 2007. Here, I worked with my advisor Prof. Russell H. Taylor and also Dr. Peter Kazanzides and Prof. Nabil Simaan on Computer Integrated Surgical Systems.

Earlier, I did by B.S. from Birla Institute of Technology and Science, Pilani, India, in Mechanical and Electrical and Electronics Engineering.

EDUCATION

• Ph.D.,  Computer Science, Johns Hopkins University, USA. 2007
• M.S., Computer Science, Johns Hopkins University, USA. 2006
• B.S., Mechanical Engineering, Birla Institute of Technology and Sceince, Pilani, India. 2000
• B.S., Electrical and Electronics Engineering, Birla Institute of Technology and Sceince, Pilani, India. 2000

RESEARCH

MRI Guided Surgical Interventions

(In collaboration with Ming Li and Dumitru Mazilu in NHLBI)

Needle Based Procedures

Robotic Assisted Surgical Systems

Human-Machine Interaction

Control and Planning for Medical Applications

Modular Software

PUBLICATIONS

Book Chapters

1. M. Li, A. Kapoor and R. H. Taylor, Telerobot Control by Virtual Fixtures for Surgical Applications, in Advances in Telerobotics Human Interfaces, Bilateral Control and Applications, Eds. Manuel Ferre et al, Springer, 2006

Refereed Journal Publications

2. N. Simaan, K. Xu, A. Kapoor, W. Wei, P. Kazanzides, R. H. Taylor. Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat. International Journal of Robotics Research. In press.
3. A. T. Hillel, A. Kapoor, N. Simaan, R. H. Taylor, P. Flint. Applications of robotics for laryngeal surgery. Otolaryngologic Clinics of North America, pp 781-991, 41(4), 2008.

Refereed Conference Publications

4. A. Kapoor, B. Wood, D. Mazilu, K. Horvath and M. Li. MRI-compatible Hands-on Cooperative Control of a Pneumatically Actuated Robot, In Proceedings, IEEE International Conference on Robotics and Automation, 2009.
5. A. Kapoor, S. Shah, P. Guion, B. J. Wood, J. Ding, D. Petrisor, D. Stoianovici, J. Karanian, W. F. Pritchard, and K. Cleary. Robotically assisted needle driver: safety release, force profiles, and needle spin in an in-vivo swine model, Conference of International Society of Computer Aided Surgery, 2008
6. S. Shah, A. Kapoor, K. Sharma, P. Guion, D. Mazilu, B. J. Wood. Semi-Automated Laser Guidance for Needle Alignment during CT guided Interventional Procedures.  Annual Meeting of Society of Interventional Radiologists, 2008
7. A. Kapoor, R. H. Taylor. A Constrained Optimization Approach to Virtual Fixtures for Multi-Handed Tasks. In Proceedings, IEEE International Conference on Robotics and Automation, 2007.
8. B. Mitchell, J. Koo, I. Iordachita, P. Kazanzides, A. Kapoor, J. Handa, G. Hager and R. H. Taylor. Development and Application of a New Steady-Hand Manipulator for Retinal Surgery. In Proceedings, IEEE International Conference Robotics and Automation, pp. 623-629, 2007
9. A. Kapoor, M. Li, and R. H. Taylor. Constrained Control for Surgical Assistant Robots. Presented at IEEE International Conference on Robotics and Automation, pp. 231 - 236, 2006. [bib | pdf] | [presentation ppt / pdf]
10. A. Kapoor, A. Deguet, and P. Kazanzides. Software components and frameworks for medical robot control. Presented at IEEE International Conference Robotics and Automation, pp. 3813- 3818, 2006. [bib | pdf] | [presentation ppt / pdf]
11. A. Kapoor, K. Xu, W. Wei, N. Simaan, and R. H. Taylor. Telemanipulation of Snake-Like Robots for Minimally Invasive Surgery of the Upper Airway. In Proceedings, MICCAI Medical Robotics Workshop, 2006. [bib | pdf] | [presentation ppt / pdf]
12. I. Iordachita, A. Kapoor, B. Mitchell, P. Kazanzides, G. Hager, J. Handa, and R. Taylor. Steady-Hand Manipulator for Retinal Surgery. In Proceedings, MICCAI  Medical Robotics Workshop, 2006. [bib | pdf]
13. M. Li, A. Kapoor, and R. H. Taylor. A Constrained Optimization Approach to Virtual Fixtures. Presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1408 - 1413, 2005. [bib | pdf] | [presentation ppt / pdf]
14. P. Kazanzides, A. Deguet, A. Kapoor, O. Sadowsky, A. LaMora, and R. H. Taylor. Development of open source software for computer-assisted intervention systems. In Proceedings, The Insight Journal - MICCAI Open-Source Workshop, 2005. [bib | pdf]
15. A. Kapoor, N. Simaan, and R. H. Taylor. Suturing in Confined Spaces: Constrained Motion Control of a Hybrid 8-DoF Robot. Presented at International Conference on Advanced Robotics, pp. 452 - 459, 2005. [bib | pdf] | [presentation ppt / pdf]
16. A. Kapoor, M. Li, and R. H. Taylor. Spatial Motion Constraints for Robot Assisted Suturing using Virtual Fixtures. In Proceedings, International Conference on Medical Image Computing and Computer Assisted Intervention, 2005. [bib | pdf]
17. A. Kapoor, N. Simaan, and P. Kazanzides. A System for Speed and Torque Control of DC Motors with Application to Small Snake Robots. Presented at IEEE/APS Mechatronics and Robotics, 2004. [bib | pdf] | [presentation ppt / pdf]
18. R. Kumar, A. Kapoor, and R. H. Taylor. Preliminary Experiments in Robot/Human Cooperative Microinjection. In Proceedings, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3186 - 3191, 2003. [bib | pdf]
19. A. Kapoor, R. Kumar, and R. H. Taylor. Simple Biomanipulation Tasks With "Steady Hand" Cooperative Manipulator. Presented at International Conference on Medical Image Computing and Computer Assisted Intervention, 2003. [bib | pdf] | [presentation ppt / pdf]