Mihir Kumar Sutar

About

Mihir Kumar Sutar is a pioneering researcher in the field of medical robotics, with a focused expertise in the design and control of *in vivo* robots for gastrointestinal procedures, particularly biopsy. His work addresses critical limitations in traditional endoscopy, such as poor dexterity and maneuverability, by developing miniature, wire-actuated robotic manipulators that can operate inside the human body. Sutar’s major contributions include the geometric and forward/inverse kinematic modeling of a 4-link redundant robot, enabling precise tool positioning within the constrained environment of the stomach. His most influential work, "A geometric approach for inverse kinematics of a 4-link redundant In-Vivo robot for biopsy" (26 citations), provides a foundational solution for controlling these complex systems. He further advanced the field by proposing a hybrid trajectory/force control strategy to ensure safe tissue interaction during biopsy. With a cumulative citation count of 62 across his core publications, Sutar’s research has laid essential groundwork for the next generation of flexible, minimally invasive surgical tools, directly impacting the safety and efficacy of diagnostic procedures.

Research Focus

Key Achievements

Top Papers

1. 1
   A geometric approach for inverse kinematics of a 4-link redundant In-Vivo robot for biopsy

   26 citations · 2013
2. 2
   Design and Development of In Vivo Robot for Biopsy

   22 citations · 2014
3. 3
   Forward kinematic analysis of in-vivo robot for stomach biopsy

   9 citations · 2012
4. 4
   Inverse kinematics and control of 4-degree-of-freedom wire-actuated in vivo robot

   3 citations · 2014
5. 5
   Hybrid trajectory/force control strategy for the in vivo robot during stomach biopsy

   2 citations · 2019

Key Collaborators

Contact & Links