All of the author's pre or postprints are released with a Creative Commons Attribution Non-Commercial No-2023Derivatives License.

2024

• Lafreniere, S., Padasdao, B., and Konh, B. (2024) "Towards Design and Development of an MRI Conditional Robot to Enable Curvilinear Transperineal Prostate Biopsy" International Journal of Medical Robotics and Computer Assisted Surgery (accepted)

• Padasdao, B., Imanaka, R., and Konh, B. (2024) "Towards Design and Preliminary Evaluation of an MRI-Compatible Robot for Needle-Based Prostate Interventions – Enabling Needle Bending via a Tendon-Driven Notched Needle" International Mechanical Engineering Congress & Exposition (accepted)​

• Qian, Y., Washington, P., Podder, TK., and Konh, B. (2024) "A Linear Programming and Deep Reinforcement Learning Framework to Choose Dwell Positions and Dwell Time in High-Dose-Rate Prostate Brachytherapy using Curvilinear Catheters" International Mechanical Engineering Congress & Exposition (accepted)

• Padasdao, B., Imanaka, R., Podder, TK., and Konh, B. (2024) "Feasibility of Curvilinear Catheter Implantation for Prostate HDR Brachytherapy" American Association of Physicists in Medicine (AAPM) 66th Annual Meeting & Exhibition

• Konh, B. and Podder, TK., (2024) "Empowering Prostate HDR Brachytherapy by Curvilinear Catheter Implantation Using Active Needle Technology" World Congress of Brachytherapy

• Lafreniere, S., Padasdao, B., and Konh, B. (2024) "Closed-Loop Control of a Tendon-Driven Active Needle for Tip Tracking at Desired Bending Angle for High-Dose-Rate Prostate Brachytherapy" Robotica.

• Padasdao, B., Imanaka, R., Podder, TK., and Konh, B. (2024) "Curvilinear catheter implantation in HDR prostate brachytherapy: feasibility study" Medical Physics

• Lafreniere, S. and Konh, B. (2024) "Design Consideration and Development of an MRI-Compatible Robot For Prostate Interventions", Design of Medical Devices Conference

• Imanaka, R., Padasdao, B. and Konh, B. (2024) "An Innovative Needle Template for Initial Angulation in Needle-Based Procedures", Design of Medical Devices Conference

• Padasdao, B. and Konh, B. (2024) "A Mechanics-Based Model for a Tendon-Driven Active Needle Navigating inside a Multiple-Layer Tissue", Journal of Robotic Surgery

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2023​

• Padasdao, B. and Konh, B. (2023) "A Model to Predict Deflection of an Active Tendon-Driven Notched Needle Inside Soft Tissue", ASME Journal of Engineering and Science in Medical Diagnostics and Therapy

• Podder, R., Zheng, Y., Konh, B., Lyons K., Biswas, T., Ove, R., Traughber, B., and Podder, T., (2023) "Curvilinear-Needle Implantation: A New Technique for Prostate HDR Brachytherapy", American Association of Physicists in Medicine (AAPM) 65th Annual Meeting & Exhibition

• Padasdao, B. and Konh, B., (2023) "Systematic 12-Core transperineal prostate biopsy with minimal insertions in a patient prostate-size phantom", Design of Medical Devices Conference

• Lafreniere, S., Tran, K., and Konh, B., (2023) "Minimalistic design of an actuation device to manipulate an active flexible robotic tool", Design of Medical Devices Conference

• Lafreniere, S., Sprouse, O.L., Padilla, R.J., and Konh, B., (2023) "Design of an MRI-compatible robot for image-guided needle insertion procedures using active tendon-driven needles", Design of Medical Devices Conference

• Padasdao, B., Batsaikhan, Z., Lafreniere, S., Rabiei, M., and Konh, B., (2023) "Teleoperated and Automated Control of a Robotic Tool for Targeted Prostate Biopsy", IEEE Journal of Medical Robotics Research

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2022

• Rabiei, M., Ko, S. Y., Podder, T. K., Lederer, J., and Konh, B., (2022) "HDR Brachytherapy Planning using Active Needles – Preliminary Investigation on Dose Planning", IEEE International Conference on Biomedical Robotics and Biomechatronics

• Padasdao, B., Batsaikhan, Z., Lafreniere, S., Rabiei, M., and Konh, B., (2022) "Modeling and Operator Control of a Robotic Tool for Bidirectional Manipulation in Targeted Prostate Biopsy", IEEE International Symposium on Medical Robotics

• Padasdao, B., Batsaikhan, Z., Brown, D., Moore, J., and Konh, B., (2022) "Estimation of Tissue Movement in Needle Insertion Tasks using an Active Needle", Design of Medical Devices Conference

• Rabiei, M., and Konh, B., (2022) "A Portable Robot to Perform Prostate Brachytherapy with Active Needle Steering and Robot-Assisted Ultrasound Tracking", Design of Medical Devices Conference

• Karimi, S., and Konh, B., (2022) "Kinematics Modelling and Dynamics Analysis of an SMA-Actuated Active Flexible Needle for Feedback-Controlled Manipulation in Phantom", Medical Engineering & Physics

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2021

• Konh, B., Batsaikhan, Z., Padasdao, B., and Lederer, J., (2021) "Steering a Tendon-Driven Needle in High-Dose-Rate Prostate Brachytherapy for Patients with Pubic Arch Interference", IEEE International Symposium on Medical Robotics

• Konh, B., Padasdao, B., Batsaikhan, Z., and Ko, S. Y., (2021) "Integrating Robot-Assisted Ultrasound Tracking and 3D Needle Shape Prediction for Real-Time Tracking of the Needle Tip in Needle Steering Procedures", The International Journal Of Medical Robotics And Computer Assisted Surgery

• Padasdao, B., Varnamkhasti, Z. K., and Konh, B., (2021) "3D steerable biopsy needle with a motorized manipulation system and ultrasound tracking to navigate inside tissue", Journal of Medical Robotics Research

• Konh, B., Batsaikhan, Z., Padasdao, B., (2021) "3D Shape Estimation of an Active Needle Inside Tissue using 2D Ultrasound Images", Design of Medical Devices Conference

 

2020

• Varnamkhasti, Z. K., and Konh, B., (2020) "Design, Fabrication, and Testing of a Flexible Three-Dimensional 1 Printed Percutaneous Needle with Embedded Actuators", ASME Journal of Medical Devices

• Varnamkhasti, Z. K., and Konh, B., (2020) "A compact 3D printed active flexible needle for percutaneous procedures", Surgical Innovation, Inventor’s Corner

• Padasdao, B., and Konh, B., (2020) "Shape Memory Alloy Actuators in an Active Needle - Modeling, Precise Assembly and Performance Evaluation", ASME Journal of Manufacturing Science and Engineering

• Konh, B., Berkelman, P., and Karimi, S., (2020) "Needle tip manipulation and control of a 3D steerable SMA-activated flexible needle", IEEE International Conference on Biomedical Robotics and Biomechatronics – BioRob2020, link to poster

• Karimi, S., and Konh, B., (2020) "Self-sensing electrical resistance feedback control of multiple interacting SMA actuators in a 3D steerable active needle", Journal of Intelligent Material Systems and Structures

• Varnamkhasti, Z. K., and Konh, B., (2020) "Cable-driven 3D steerable surgical needle for needle-based procedures", Design of Medical Devices Conference, link to presentation 

• Karimi, S., and Konh, B., (2020) "Dynamic characteristics analysis and FEM modeling of flexible joints of an SMA-activated flexible multi-joint needle", Design of Medical Devices Conference, link to presentation

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2019

• Varnamkhasti, Z. K., and Konh, B., (2019) "Design and performance study of a novel minimally invasive active surgical needle", ASME Journal of medical devices

• Konh, B., Sasaki, D., Podder, T. K., and Ashrafiuon, H., (2019) "3D manipulation of an active steerable needle via actuation of multiple SMA wires", Robotica

• Karimi, S., and Konh, B., (2019) "3D steerable active surgical needle", Design of Medical Devices Conference

• Varnamkhasti, Z. K., Konh, B., Maghsoudi, O. H., Yu, Y., and Liao, L., (2019) "Ultrasound needle tracking inside a soft phantom and methods to improve the needle tip visualization", Design of Medical Devices Conference

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2018

• Karimi, S., Konh, B., and Ashrafiuon, H., (2018) “SMA wire characterization for 3D steerable active devices”, Design of Medical Devices Conference 

• Konh, B., (2018) “Finite element studies of triple actuation of shape memory alloy wires for surgical tools”, Design of Medical Devices Conference

• Konh, B., Karimi, S., and Miller, S., (2018) “Feasibility study of an active soft catheter actuated by SMA wires”, SPIE Smart Structures/NDE Conference

• Karimi, S., Konh, B., and Seidi, E., (2018) “Towards the development of a triple SMA actuated vertical tube”, SPIE Smart Structures/NDE Conference

 

2017

• Konh, B., and Podder, T. K., (2017) “Design and Fabrication of a Robust Active Needle using SMA Wires”, Design of Medical Devices Conference (pending publication as a technical brief in Journal of Medical Devices)

• Konh, B., Honarvar, M., Darvish, K., and Hutapea, P., (2017) “Simulation and experimental studies in needle-tissue Interactions”, Journal of Clinical Monitoring and Computing

• Konh, B., Woo, R. K., and Miller, S., (2017) “Design and Fabrication of a MirtaClip Locator Prototype for Percutaneous Transcatheter Mitral Valve Repair System”, Design of Medical Devices Conference (invited for a talk in Advances in Cardiovascular Medical Devices, and selected for top ten accepted papers for Three-in-Five Competition)

• Konh, B., Motalleb, M., and Ashrafioun, H., (2017) “A Portable Integrated System to Control the Active Needle”, SPIE Smart Structures/NDE Conference

• Konh, B., and Motalleb, M., (2017) “Evaluating the Performance of an Advanced Smart Needle Prototype Inside Tissue”, SPIE Smart Structures/NDE Conference

• Konh, B., and Podder, T. K., (2017) “Finite Element Analyses of a Dual Actuated prototype of a Smart Needle”, SPIE Smart Structures/NDE Conference

 

2016​

• Sahlabadi, M., Valiollahi, A., Konh, B., and Soltani, N., (2016) “Evaluating J-Q parameter in High Density Polyethylene using a Combined Experimental Finite Element Method”, Fatigue & Fracture of Engineering Materials & Structures

 

2015

• Konh, B., Honarvar, M., and Hutapea, P., (2015) “Design Optimization Study of a Shape Memory Alloy Active Needle for Biomedical Applications”, Medical Engineering and Physics

• Honarvar, M., Konh, B., Podder, T.K., Dicker, A.P., Yu, Y., and Hutapea, P., (2015) “X-ray Diffraction Investigations of Shape Memory NiTi Wire”, Journal of Materials Engineering and Performance

• Konh, B., Lee, H. H., Martin, V. P., Zhao, V., and Hutapea, P., (2015) “Robotic Needling System for Brachytherapy Procedure”, International Conference on Automation, Cognitive Science, Optics, Micro Electro-Mechanical System, and Information Technology

• Zhao, V., Lee, H. H., Martin, V. P., Konh, B., and Hutapea, P., (2015) “Nitinol Based Flexible Smart Needle Design” 41st Annual Northeast Bioengineering Conference

• Konh, B., Lee, H., Lee, H. H., Zhao, V., Martin, V., and Hutapea, P., (2015) “Design, Development and Evaluation of a Two Way Actuated Steerable Needle”, ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (best student paper)

• Konh, B., and Hutapea, P., (2015) “A Real-Time Simulation for Path Planning in Needle Insertion Tasks”, ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems

• Konh, B., Lee, H., Lee, H. H., Zhao, V., Martin, V., and Hutapea, P., (2015) “Towards the Design and Development of an Active Needle for Therapeutic Procedures”, 41th Annual Northeast Bioengineering Conference (invited for an oral presentation in Biomaterials session)

• Konh, B., and Hutapea, P., (2015) “Finite Element Studies of Needle-Tissue Interactions for Percutaneous Procedures”, ASME Journal of Medical Devices (technical brief, invited for a talk in computation: design and ideation session)

• Konh, B., Honarvar, M., and Hutapea, P., (2015) “Simulation and Experimental Studies of the SMA-Activated Needle Behavior Inside the Tissue”, SPIE Smart Structures/NDE Conference

• Konh, B., and Hutapea, P., (2015) “Computational Design Optimization of a SMA-Based Active Steerable Needle”, SPIE Smart Structures/NDE Conference

• Honarvar, M., Konh, B., and Hutapea, P., (2015) “Investigation of Crystal Structure of One-Way Shape Memory Nitinol Wire Actuators for Active Steerable Needle”, SPIE Smart Structures/NDE Conference

 

2014

• Konh, B., Datla, N. V., and Hutapea, P., (2014) “Feasibility of SMA Wire Actuation for an Active Steerable Cannula”, Journal of Medical Devices

• Honarvar, M., Datla, N. V., Konh, B., Podder, T. K., Dicker, A.P., Yu, Y., and Hutapea, P., (2014) “Study of Unrecovered Strain and Critical Stresses in One-Way Shape Memory Nitinol”, Journal of Materials Engineering and Performance

• Felix, M. O., Kumar, M., Franz, K., Konh, B., Hutapea, P., Zhao, Y., Dicker, A. P., Yu, Y., and Podder, T. K., (2014) “Control of Shape Memory Alloy Actuated Flexible Needle using Multimodal Sensory Feedbacks”, Journal of Automation and Control Engineering, the 3rd International Conference on Control, Robotics and Information (ICCRI)

• Zhao, Y., Konh, B., Honarvar, M., Felix, M. O., Podder, T. K., Hutapea, P., Dicker, A. P., and Yu, Y., (2014) “3D Motion Planning for Robot-Assisted Active Flexible Needle Based on Rapidly-Exploring Random Trees”, Journal of Automation and Control Engineering, the 3rd International Conference on Control, Robotics and Information (ICCRI) (best oral presentation award)

• Konh, B., Datla, N.V., and Hutapea, P., (2014) “Analysis Driven Design Optimization of SMA Based Steerable Active Needle”, ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems

• Datla, N.V., Konh, B., and Hutapea, P., (2014) “Studies with SMA Actuated Needle for Steering within Tissue”, ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems

• Konh, B., Datla, N.V., and Hutapea, P., (2014) “Dynamic Estimation of an Active Surgical Needle Deflection for Brachytherapy Procedures”, 40th Annual Northeast Bioengineering Conference

• Datla, N.V., Konh, B., and Hutapea, P., (2014) “A Flexible Active Needle for Steering in Soft Tissues”, 40th Annual Northeast Bioengineering Conference

 

2013

• Datla, N. V., Konh, B., Honarvar, M., Podder, T. K., Dicker, A.P., Yu, Y., and Hutapea, P., (2013) “A Model to Predict Deflection of Bevel-Tipped Active Needle Advancing in Soft Tissue”, Medical Engineering & Physics

• Datla, N. V., Konh, B., Koo, J., Choi, D. J. W., Yu, Y., Dicker, A.P., Podder, T. K., Darvish, K., and Hutapea, P., (2013) “Polyacrylamide Phantom for Self-Actuating Needle-Tissue Interaction Studies”, Medical Engineering & Physics

• Konh, B., and Shams, M., (2013) “Numerical Simulation of Roughness in Microchannels by Using the Second-Order Slip Boundary Condition”, Journal of Nanoscale and Microscale Thermophysical Engineering

• Konh, B., Honarvar, M., and Hutapea, P., (2013) “Application of SMA Wire for an Active Steerable Cannula”, ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (best student paper)

• Konh, B., and Hutapea, P., (2013) “Finite Element Simulation of an Active Surgical Needle for Prostate Brachytherapy”, ASME/FDA 1st Annual Frontier in Medical Devices: Applications of Computer Modeling and Simulation

• Honarvar, M., Konh, B., Datla, N.V., Devlin, S., and Hutapea, P., (2013) “Size Effect on the Critical Stress of Nitinol Wires”, ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems

 

2012

• Datla, N.V., Honarvar, M., Nguyen, T. M., Konh, B., Darvish, K., Yu, Y., Dicker, A.P., Podder, T. K., and Hutapea, P., (2012) “Towards a Nitinol Actuator for an Active Surgical Needle”, ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems