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Yash Kulkarni

11 accepted papers

2026

A Single-Fiber Optical Frequency Domain Reflectometry (OFDR)-Based Shape Sensing of Concentric Tube Steerable Drilling Robots

Yash Kulkarni, Mobina Tavangarifard, Daniyal Maroufi, Mohsen Khadem, Justin E. Bird, Jeff Siewerdsen +1
ICRA 2026poster

This paper introduces a novel shape-sensing approach for Concentric Tube Steerable Drilling Robots (CT-SDRs) based on Optical Frequency Domain Reflectometry (OFDR). Unlike traditional FBG-based methods, OFDR enables continuous strain measurement along the entire fiber length with enhanced spatial re…

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2026

Systematic Characterization of Drilling Parameters in Concentric Tube Steerable Drilling Robots: A Comparative Study

Daniyal Maroufi, Yash Kulkarni, Vibhu Kanna Rajesh Kanna, Jordan P. Amadio, Mohsen Khadem, Justin E. Bird +2
ICRA 2026poster

To establish a foundational understanding for creating J-shaped trajectories with Concentric Tube Steerable Drilling Robots (CT-SDRs), this paper presents a systematic characterization of two operational factors: drill feed rate and rotational speed. We developed and compared a custom High-Speed Dri…

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2025

A New Concept for Reconstruction of Volumetric Muscle Loss Injuries Using Spatial Robotic Embedded Bioprinting: A Feasibility Study

Omid Rezayof, Mohammad Rafiee Javazm, Yash Kulkarni, Meenakshi Kamaraj, Maryam Tilton, Johnson v. John +1
IROS 2025

In this study, we introduce a new concept for reconstruction of Volumetric Muscle Loss (VML) injuries and propose the spatial robotic embedded bioprinting technique. As opposed to the traditional layer-by-layer printing, we leverage the support-free nature of embedded bioprinting to print spatial an

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2025

Augmented Bridge Spinal Fixation: A New Concept for Addressing Pedicle Screw Pullout via a Steerable Drilling Robot and Flexible Pedicle Screws

Yash Kulkarni, Susheela Sharma, Omid Rezayof, Siddhartha Kapuria, Jordan P. Amadio, Mohsen Khadem +2
IROS 2025

To address the screw loosening and pullout limitations of rigid pedicle screws in spinal fixation procedures, and to leverage our recently developed Concentric Tube Steerable Drilling Robot (CT-SDR) and Flexible Pedicle Screw (FPS), in this paper, we introduce the concept of Augmented Bridge Spinal

Cited by 3Source ↗Scholar ↗
2025

Design and Integration of an Optical Frequency Domain Reflectometry (OFDR) Sensor with a Flexible Pedicle Screw for Biomechanical Evaluation

Yash Kulkarni, Mobina Tavangarifard, Jordan P. Amadio, Farshid Alambeigi
IROS 2025

Spinal fixation procedures rely on pedicle screws to stabilize the vertebral column, but conventional rigid pedicle screws (RPS) face challenges such as misplacement, pullout, and loosening, particularly in patients with low bone mineral density (BMD). To overcome these limitations, we recently prop

Cited by 1Source ↗Scholar ↗
2025

S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures

Daniyal Maroufi, Xinyuan Huang, Yash Kulkarni, Omid Rezayof, Susheela Sharma, Vaibhav Goggela +3
IROS 2025

In this paper, we introduce S<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup>D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures. S<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w

Cited by 4Source ↗Scholar ↗
2025

Towards Design and Development of a Concentric Tube Steerable Drilling Robot for Creating S-shape Tunnels for Pelvic Fixation Procedures

Yash Kulkarni, Susheela Sharma, Sarah Go, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
IROS 2025

Current pelvic fixation techniques rely on rigid drilling tools, which inherently constrain the placement of rigid medical screws in the complex anatomy of pelvis. These constraints prevent medical screws from following anatomically optimal pathways and force clinicians to fixate screws in linear tr

Cited by 4Source ↗Scholar ↗
2024

A Generic Modeling Framework For the Design of Tendon-Driven Continuum Manipulators with Flexure Patterns

Yang Liu, Hansoul Kim, Yash Kulkarni, Farshid Alambeigi
ICRA 2024poster

In this paper, a novel mathematical framework is introduced for modeling deformation behavior of Tendon-Driven Continuum Manipulators (TD-CMs) featuring discontinuous cross-sectional geometries (i.e., having flexural patterns). Leveraging this framework, we also introduce the concept of design space…

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2024

Order-Based Pre-training Strategies for Procedural Text Understanding

Abhilash Nandy, Yash Kulkarni, Pawan Goyal, Niloy Ganguly
NAACL 2024short

In this paper, we propose sequence-based pre-training methods to enhance procedural understanding in natural language processing. Procedural text, containing sequential instructions to accomplish a task, is difficult to understand due to the changing attributes of entities in the context. We focus o…

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2024

Robot-Enabled Machine Learning-Based Diagnosis of Gastric Cancer Polyps Using Partial Surface Tactile Imaging

Siddhartha Kapuria, Jeff Bonyun, Yash Kulkarni, Naruhiko Ikoma, Sandeep Chinchali, Farshid Alambeigi
IROS 2024poster

In this paper, to collectively address the existing limitations on endoscopic diagnosis of Advanced Gastric Cancer (AGC) Tumors, for the first time, we propose (i) utilization and evaluation of our recently developed Vision-based Tactile Sensor (VTS), and (ii) a complementary Machine Learning (ML) a…

Cited by 2Source ↗Scholar ↗
2024

Spatial Spinal Fixation: A Transformative Approach Using a Unique Robot-Assisted Steerable Drilling System and Flexible Pedicle Screw

Susheela Sharma, Yash Kulkarni, Sarah Go, Jeff Bonyun, Jordan P. Amadio, Maryam Tilton +2
IROS 2024poster

Spinal fixation procedures are currently limited by the rigidity of the existing instruments and pedicle screws leading to fixation failures and rigid pedicle screw pull out. Leveraging our recently developed Concentric Tube Steerable Drilling Robot (CT-SDR) in integration with a robotic manipulator…

Cited by 0Source ↗Scholar ↗