Body-Attached Soft Robot for Ultrasound Imaging

Project Goals Ultrasound imaging procedures are deemed as one of the most convenient and least invasive medical diagnostic imaging modalities and have been widely utilized in health care providers, which are expecting semiautomatic or fully-automatic imaging systems to reduce the current clinical workloads. This paper presents a portable and wearable soft robotic system which has been designed with the purpose … Continue reading

Soft Robotic Manipulators: fabrication & applications

Abstract Flexible robotic manipulators have been widely used in minimally invasive surgery (MIS) and many other applications requiring closer inspection and operation. Although a variety of manipulators enabled by different mechanism have been developed, few of them can preserve softness, thinness and decent bending capability simultaneously. We develop miniature soft robotic manipulators made of hyper-elastic silicone rubber. Along with the … Continue reading

Multi-channel iTubot-BAT

Objective The overall objective of this project is to develop and evaluate the key technologies of Transnasal Artificial Tentacles, a new approach involving research on the tentacle-like robotic and sensing technologies. This is aiming to create a compliant, flexible, multiple-sensorized, immersive, intraoperative targeting and guidance system for constrained transnasal endoscopic surgeries in a confined workspace. Minimally invasive surgery-based nasopharyngeal cancer … Continue reading

A compact continuum tubular robotic system for transnasal procedures

Video [kad_youtube url=”” ] Project Goals Nasopharynx cancer, or nasopharyngeal carcinoma (NPC), is a tumor that originates in the nasopharynx, the uppermost region of the pharynx where the nasal passage and the throat join. It is a common disease occurring to ethnic Chinese people living in or emigrating from southern China; it is also the eighth most frequently occurred cancer among Singaporean men. Traditional posterior nasopharyngeal … Continue reading

FYP: Towards Magnetic Actuated Drug Delivery

Project Goals The objectives of this project are to design and evaluate the performance of an electromagnetic actuated (EMA) drug delivery system and explore the related issues. Approaches The EMA system consists of magneto-responsive microcapsules as drug carriers, a coil system with controlled currents flowing through, as well as a tracking algorithm for close loop feedback control. The magneto-responsive and … Continue reading

Tracking Magnetic Particles under Ultrasound Imaging using Contrast-Enhancing Microbubbles

Abstract Magnetic microbubbles which can be controlled by an external magnetic field have been explored as a method for precise and efficient drug delivery. In this paper, a technique for the fabrication of microbubble encapsulated magnetic spheres is presented. The resultant magnetic spheres were subsequently imaged using ultrasound and the encapsulated microbubbles proved to appear as bright spots and resulted in enhanced ultrasound … Continue reading

Tele-Operation and Active Visual Servoing of a Compact Portable Continuum Tubular Robot

Demo Videos – tele-operation, visual servoing and hybrid control (Summery) – EIH VS in free space – EIH VS inside a skull model – Eye-to-hand Visual Servoing Project goals Trans-orifice minimally invasive procedures have received more and more attention because of the advantages of lower infection risks, minimal scarring and shorter recovery time. Due to the ability of retaining force … Continue reading

Simultaneous Hand-Eye, Tool-Flange and Robot-Robot Calibration for Co-manipulators by Solving AXB=YCZ Problem

Abstract Multi-robot co-manipulation shows great potential to address the limitations of using single robot in complicated tasks such as robotic surgeries. However, the dynamic setup poses great uncertainties in the circumstances of robotic mobility and unstructured environment. Therefore, the relationships among all the base frames (robot-robot calibration) and the relationships between the end-effectors and the other devices such as cameras (hand-eye calibration) … Continue reading


This is a local copy of the website: Home-Based Self-Administered Nasopharynscopy Nasopharynscope is a valuable tool in diagnosing Nasopharyngeal carcinoma in patients since 84% of patients display ulcerations. Aim: To provide a home-based, affordable and easy-to-use diagnosing kit for detecting Nasopharyngeal Carcinoma Key features of 5th Generation Clear viewing with a specially designed camera lens Secure extension and contraction lock … Continue reading

Tendon-driven Flexible Manipulator

Project goals This project aims to develop a flexible manipulator for transnasal/transoral surgery. Compared with existing surgical manipulators, the developed one should have better performance in workspace and dexterity, thus better facilitate the surgical operation. Approaches A constrained tendon-driven serpentine manipulator (CTSM) is designed as shown in Figure 1. It includes an underactuated tendon-driven flexible section, a constraint and a … Continue reading