BN2204 FUNDAMENTALS OF BIOMECHANICS 2016/2017, Semester 2  Engineering (Biomedical Engineering) Modular Credits: 4 Class Size: 95 Learning Outcomes The module aims to introduce students to the applications of engineering statics and dynamics to perform simple force analysis of the musculoskeletal system; give an appreciation of kinematics and kinetics of human motions; apply the fundamentals of mechanics, i.e. stress and strain in … Continue reading

Force/Torque Sensor for Tele-operated Catheterization Procedures

Abstract A tele-operated robotic catheterization system can significantly alleviate the surgeons from radiation exposure and fatigue resulted from long standing time with protective suits. Proximal force/torque signals imply the critical information about the contact forces between the catheter and its surrounding structures. This paper presents a compact, cost-effective force and torque sensing device suitable for catheterization procedures to measure the … Continue reading

Surgical Manipulator based on Parallel Mechanism

Abstract We presents a 5-DOF manipulator which consists of three parts, 1-DOF translational joint, a bendable skeleton (2-DOF for Omni-directional bending motion), and a rotatable forceps gripper (1-DOF for rotation, 1-DOF for opening/closing). The bendable segment in the manipulator achieves two orthogonal bending DOFs by pulling or pushing three parallel universal-joint-based shaft chains. Forward and inverse kinematics of the bendable … Continue reading

Data-driven Learning Intelligent Control for Flexible Surgical Manipulators

Abstract Automate Surgical Tasks for A Flexible Serpentine Manipulator via Learning Actuation Space Trajectory from Demonstration Background: Accurate motion control of flexible surgical manipulators is crucial in tissue manipulation tasks. Tendon-driven serpentine manipulator (TSM) is one of the most widely adopted flexible mechanisms in MIS for its enhanced maneuverability in torturous environment. TSM, however, exhibits high nonlinearities and conventional analytical … Continue reading


Abstract: We present a novel flexible endoscope (FE) which is well suited to minimally invasive cardiac surgery (MICS). It is named the cardioscope. The cardioscope is composed of a handle, a rigid shaft, a steerable flexible section, and the imaging system. The flexible section is composed of an elastic tube, a number of spacing disks, a constraint tube, and four … Continue reading

Shape Morphing Microscale Soft Robotic Actuators

Abstract The micro actuator has been studied for its application in micro operations such as manipulating cellular aggregate, the tissues or drug delivery. The traditional actuation methods include thermo-mechanical actuation, electromagnetic actuation, electrostatic actuation and pneumatic actuation. Among these actuation methods, pneumatic actuation has the advantage of not generating heat and current during actuation. We investigate 1) a streamlined and … Continue reading

ICBME 2016 Special Symposium in surgical navigation and robotics

ICBME 2016 Special Symposium on Surgical Robotics and Navigation Symposium Organizing Chairs: Hongliang Ren (Singapore), Etsuko Kobayashi (Japan) Themes Computer-Assisted Surgery Flexible Robotics and navigation in Surgery Artificial Intelligence in Robotic Surgery Date: Dec 7, 2016 U-Town Gallery         Speakers and Topics Keynote speaker: SAKUMA, Ichiro, University of Tokyo COMPUTER AIDED SURGERY FOR ASSISTING MINIMALLY INVASIVE THERAPIES Abstract Minimally invasive … Continue reading


BN3101: Biomedical Engineering Design Module Description : Preparation of formal engineering reports on a series of engineering analysis and design problems illustrating methodology from various branches of applied mechanics as applied to bioengineering problems. Statistical analysis. A term project and oral presentation are required. Students are exposed to the entire design process: design problem definition, generation of a design specification, … Continue reading

Motion Planning of Flexible Manipulators by Learning from Human Expert Demonstrations

Abstract Motion Planning of Multiple-segment flexible soft, and continuum Flexible Manipulators by Learning from Human Expert Demonstrations Multiple-segment flexible and soft robotic actuators exhibit compliance but suffer from the difficulty of path planning due to their redundant degrees of freedom, although they are promising in complex tasks such as crossing body cavities to grasp objects. We propose a learning from … Continue reading

Ultrasound Assisted Guidance with Force Cues for Intravascular Interventions

Project Goals Image guidance during minimally invasive cardiovascular interventions is primarily achieved based on X-ray fluoroscopy, which has several limitations including limited 3D imaging, significant doses of radiation to operators, and lack of contact force measurement between the cardiovascular anatomy and interventional tools. Ultrasound imaging may complement or possibly replace 2D fluoroscopy for intravascular interventions due to its portability, safety, … Continue reading