Sarvesh Saini

2 accepted papers

2026

Autonomous Robot-Assisted Ureteroscopy (ARA-URS) for the Treatment of Kidney Stones

Sarvesh Saini, Julio Ojalvo, Jonathan Katz, Ubbo Visser

ICRA 2026poster

We present a supervised autonomous robot-assisted ureteroscopy (ARA-URS) system for the treatment of kidney stones, integrated with a digital-twin (DT). A three degrees of freedom (3-DOF) robotic system was developed to actuate a Wolf disposable ureteroscope, enabling the ARA-URS to autonomously pos…

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2025

Towards a Steerable Neurosurgical Robot for Debulking of Brain Mass Lesions

Sarvesh Saini, Saeed Rezaeian, Arshia Akbari, Behnam Badie, Jun Sheng

RA-L 2025

Minimally invasive surgery is regarded as a safer approach than open craniotomy to removing deep intracerebral mass lesions such as hematomas. It is usually performed by introducing a straight suction tool, sometimes combined with accessories for tissue debridement and irrigation, into the brain. Si

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