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. 2003
• 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, D. Mazilu, A. Kapoor and K. A. Horvath. MRI Compatible Robot Systems for Medical Intervention, in Advances in Robot Manipulators, Eds. Ernest Hall, IN-TECH, pp. 443-458, 2010.
2. 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, pp. 381-402, 2006.

Journal Articles

3. M. Li, A. Kapoor, D. Mazilu and K. A. Horvath. Pneumatic Actuated Robotic Assistant System for Aortic Valve Replacement under MRI Guidance. IEEE Transactions on Biomedical Engineering. pp 443-451, 58(2), 2010. [pdf]
4. G. Jones, F. Hunter, H. A. Hancock, A. Kapoor, M. J. Stone, B. J. Wood, J. Xie, M. R. Dreher, and V. Frenkel. In Vitro Investigations Into Enhancement of tPA Bioavailability in Whole Blood Clots Using Pulsed-High Intensity Focused Ultrasound Exposures. IEEE Transactions on Biomedical Engineering. pp 33-36, 57(1), 2010.
5. N. Simaan, K. Xu, A. Kapoor, W. Wei, P. Kazanzides and R. H. Taylor. Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat. International Journal of Robotics Research, pp. 1134-1153, 28(9), 2009.[pdf]
6. A. T. Hillel, A. Kapoor, N. Simaan, R. H. Taylor and P. Flint. Applications of robotics for laryngeal surgery. Otolaryngologic Clinics of North America, pp. 781-991, 41(4), 2008.
7. S. Shah, A. Kapoor, P. Guion, B. J. Wood, J. Ding, D. Petrisor, D. Stoianovici, J. Karanian, W. F. Pritchard, and K. Cleary. Robotically assisted needle driver: evaluation of safety release, force profiles, and needle spin in a swine model. International Journal of Computer Assisted Radiology and Surgery, pp. 173-179, 3(1-2), 2008.

Refereed Conference Papers

8. M. Li, A. Kapoor, D. Mazilu, B. J. Wood and K. A. Horvath. Cardiac Interventions under MRI Guidance using Robotic Assistance. In Proceedings, IEEE International Conference on Robotics and Automation, pp. 2574-2579, 2010. [pdf]
9. 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, pp. 2681-2686, 2009. [pdf]
10. 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.
11. A. Kapoor and R. H. Taylor. A Constrained Optimization Approach to Virtual Fixtures for Multi-Handed Tasks. In Proceedings, IEEE International Conference on Robotics and Automation, pp. 3401-3406, 2007. [pdf]
12. 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.
13. 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 pdf]
14. 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 pdf]
15. 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 pdf]
16. 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]
17. 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 pdf]
18. 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]
19. 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 pdf]
20. 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]
21. 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 pdf]
22. 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]
23. 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 pdf]

Abstracts

24. A. Kapoor, M. Li, and B. J. Wood. Mixed variable optimization for radio frequency ablation planning. SPIE Medical Imaging, 2011.
25. S. Billings, A. Kapoor, B. J. Wood, and E. Boctor. A Hybrid Surface/Image Based Approach to Enabling Ultrasound/CT Registration. SPIE Medical Imaging, 2011.
26. M. Li, D. Mazilu, B. J. Wood, K. Horvath, and A. Kapoor. A robotic assistant system for cardiac interventions under MRI guidance. SPIE Medical Imaging, 2010.
27. V. Saxena, A. Beck, A. Kapoor and B. J. Wood. Accuracy of RFA Probe Insertion Using Camera-on-Needle versus Electromagnetic Tracking. Annual Meeting of Society of Interventional Radiologists, 2010.
28. R. Faezeh, A. Kapoor, N. Glossop, J. Kruecker, S. Xu, A. Viswanathan, O. A. Chiesa, J. W. Karanian, W. Pritchard, E. Levy, A. Venkatesan, L. Solbiati and B. J. Wood. A comparison of methods for tracking RFA probes and sensitivity to RF field and temperature. Annual Meeting of Society of Interventional Radiologists, 2010.
29. D. Mazilu, M. Li, A. Kapoor, and K. Horvath. Robotically assisted minimally invasive aortic valve replacement under MRI guidance. Conference of International Society of Computer Aided Surgery, 2009.
30. S. Shah, A. Kapoor, K. Sharma, P. Guion, D. Mazilu and B. J. Wood. Semi-Automated Laser Guidance for Needle Alignment during CT guided Interventional Procedures. Annual Meeting of Society of Interventional Radiologists, 2008.