Nirav Patel

Contact Information


Research Interests

About Me

I am a 5th year PhD student in Robotics engineering program at Worcester Polytechnic Institute. I am part of the AIM Lab where I work on MRI compatible robotics and its applications in percutaneous interventions. My research is focused on enabling technologies for closed-loop percutaneous interventions under MRI guidance. I have been working on MRI guided procedure for prostate biopsy, brain tumor ablation and needle steering. I have developed various software and hardware modules for guiding the interventions using an MRI compatible robots. Major modules of the system I work on are for surgical navigation, robot control and low level motion control. In my spare time and spend lots of time programming in JAVA, python and MATLAB.


Refereed Journal Publications

  1. Moreira P, Patel N, Wartenberg Marek, Li G, Tuncali K, Heffter T, Burdette EC, Iordachita I, Fischer GS, Hata N, Tempany CM, Tokuda J, Evaluation of Robot-Assisted MRI-Guided Prostate Biopsy: Needle Path Analysis During Clinical Trials, Physics in Medicine and Biology, Vol 63, No 20, Oct 2018. IOP, PubMed
  2. Wartenberg M, Schornak J, Gandomi K, Carvalho PA, Nycz CJ, Patel N, Iordachita I, Tempany C, Hata N, Tokuda J, Fischer GS, Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion, Annals of Biomedical Engineering (ABME), Vol 46, No 10, pp 1582-1594, Oct 2018. Springer, PubMed
  3. MacDonell J, Patel N, Fischer GS, Burdette EC, Qian J, Chumbalkar V, Ghoshal G, Heffter T, Williams E, Gounis M, King R, Thibodeau J, Bogdanov G, Brooks OW, Langan E, Hwang R, Pilitsis JG, Robotic Assisted MRI-Guided Interventional interstitial MR Guided Focused Ultrasound Ablation in a Swine Model, Neurosurgery, June 2018. Neurosurg, PubMed
  4. Patel NA, Li G, Shang W, Wartenberg M, Heffter T, Burdette EC, Iordachita I, Tokuda J, Hata N, Tempany CM, Fischer GS, System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy, Journal of Medical Robotics Research (JMRR), May 2018. WorldSci
  5. MacDonell J, Patel N, Rubino S,Goshal G, Fischer GS, Burdette EC, Hwang R, Pilitsis JG, Magnetic Resonance-guided Interstitial High-intensity Focused Ultrasound for Brain Tumor Ablation, Journal of Neurosurgery (JNS) Neurosurgical Focus, Vol 44, No 2, pp E11, Feb 2018. JNS, PubMed
  6. Frank T, Krieger A, Leonard S, Patel NA, Tokuda J, ROS-IGTL-Bridge: An Open Network Interface for Image-guided Therapy using the ROS Environment, International Journal of Computer Assisted Radiology and Surgery, May 2017. Springer
  7. Eslami S, Shang W, Li G, Patel N, Fischer GS, Tokuda J, Hata N, Tempany CM, Iordachita I,, In-Bore Prostate Transperineal Interventions with an MRI-guided Parallel Manipulator: System Development and Preliminary Evaluation, Int. Journal of Medical Robotics and Computer Assisted Surgery, Vol 12, No 2, pp 199-213, June 2016. Wiley

Refereed Conference Proceedings

  1. Wartenberg M, Gandomi KY, Carvalho PA, Schornak J, Patel N, Iordachita I, Tempany CM, Hata N, Tokuda J, Fischer GS, In-Bore Experimental Validation of Active Compensation and Membrane Puncture Detection for Targeted MRI-Guided Robotic Prostate Biopsy, Proceedings of the 2018 International Symposium on Experimental Robotics - ISER 2018, Buenos Aires, Argentina, Nov 2018, Published Jan 2020. Springer, eBook
  2. Nycz CJ, Gondokaryono R, Carvalho P, Patel N, Wartenberg M, Pilitsis JG, Fischer GS, Mechanical Validation of an MRI Compatible Stereotactic Neurosurgery Robot in Preparation for Pre-Clinical Trials, IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2017, Vancouver, BC, Canada, Sept 2017. IEEE
  3. Wartenberg M, Schornak J, Carvalho PA, Patel NA, Iordachita I, Tempany CM, Hata N, Tokuda J, Fischer GS, Closed-loop Autonomous Needle Steering during Cooperatively Controlled Needle Insertions for MRI-guided Pelvic Interventions, Hamlyn Symposium, London, UK, July 2017.
  4. Wartenberg M, Patel N, Li G, Fischer GS, Towards Synergistic Control of Hands-on Needle Insertion with Automated Needle Steering for MRI-Guided Prostate Interventions, IEEE EMBC 2016, Orlando, FL, USA, pp 5116-5119, Aug. 2016. IEEE
  5. Patel N, van KatwijK T, Li G, Moreira P, Shang W, Misra S, Fischer GS, Closed-loop Asymmetric-tip Needle Steering Under Continuous Intraoperative MRI Guidance, IEEE EMBC 2015, Milan, Italy, Aug. 2015. IEEE, PubMed

Conference Abstracts, Workshops and Non Peer-Reviewed Papers

  1. Gandomi KS, Nycz CJ, Carvalho PA, Zhao Z, Patel NA, Burdette EC, Fischer GS, Development of a Real-Time Thermo-Acoustic Model for Interstitial Ultrasonic Conformal Ablation, Focused Energy Delivery and Precision Intervention Workshop at Hamlyn Symposium, London, UK, June 2019. Workshop
  2. Moreira P, Patel N, Wartenberg M, Li G, Heffter T, Burdette EC, Iordachita I, Fischer GS, Hata N, Tempany CM, Tokuda J, Transperineal MR-Guided Prostate Biopsy: The Contribution of Needle Deflection to the Targeting Error, International Symposium on Biomedical Imaging - ISBI'18, Washington, DC, April 2018.
  3. Fischer GS, Wartenberg M, Patel NA, Tokuda J, Tempany CM, Hata N, Towards Cooperative Control of MRI-guided Pelvic Needle Placement Procedures, 9th NCIGT Image Guided Therapy Workshop, Bethesda, MD, Mar 2017.
  4. Tokuda J, Tuncali K, Li G, Patel N, Heffter T, Fischer GS, Iordachita I, Burdette EC, Hata N, Tempany CM, In-Bore MRI-Guided Transperineal Prostate Biopsy using 4-DOF Needle-Guide Manipulator, 24th Scientific Meeting and Exhibition of the International Society of Magnetic Resonance in Medicine - ISMRM 2016, Singapore, May 2016.
  5. Tokuda J, Tuncali K, Shang W, Patel N, Li G, Heffter T, Fischer GS, Iordachita I, Burdette EC, Hata N, Tempany CM, Clinical Application of Needle Guiding Manipulator for MRI-Guided Transperineal Prostate Biopsy, IEEE EMBC 2015, Milan, Italy, Aug. 2015.
  6. Li G, Patel N, Shang W, Fischer GS, Introducing a Gaussian-Based Continuous Rotation Approach to Underactuated Control of Asymmetric Tip Needle Steering, International Conference on Robotics and Automation - ICRA 2015, Seattle, WA, USA, May 2015. ICRA

Lab Members