Papers
10
Total Citations
170
H-Index
9
About
Achraj Sarma is a robotics and biomedical engineering researcher specializing in continuum robot design, medical device development, and minimally invasive endovascular interventions. His work centers on the design, modeling, and control of robotically steerable guidewire systems, with a particular focus on the COAST guidewire robot — a platform he has helped develop and refine across multiple landmark studies. Sarma's most impactful contribution lies in advancing intelligent, sensor-integrated guidewire systems capable of navigating tortuous vasculature with precision. His research on simultaneous shape and tip force sensing (32 citations) and Jacobian-based kinematic control (26 citations) addresses critical limitations of manual guidewire placement, including vessel perforation risk and imprecise tip motion. His work on real-time fluoroscopic pose tracking (21 citations) and 3D environment reconstruction with automated path planning (15 citations) further bridges robotics and clinical imaging to enhance procedural safety and outcomes. Notably, Sarma has pioneered the integration of forward-viewing ultrasound with steerable guidewires, offering a radiation-reducing alternative to fluoroscopy for treating chronic total occlusions. With over 170 cumulative citations across his publications, his research is meaningfully shaping the future of robotic-assisted cardiovascular surgery, improving both surgeon ergonomics and patient safety in increasingly complex endovascular procedures.
Research Focus
Key Achievements
Top Papers
- 1Simultaneous Shape and Tip Force Sensing for the COAST Guidewire Robot32 citations · 2023
- 2Kinematic Modeling and Jacobian-Based Control of the COAST Guidewire Robot26 citations · 2022
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- 5Model-Based Design of the COAST Guidewire Robot for Large Deflection16 citations · 2023
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