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

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

Magnetically Actuated Guide-wire Steering

Project Goals Guide wires are commonly used to assist surgeons during vascular surgery. Guide wires are usually the first to be placed, eventually allowing easy exchange of surgical tools to the target site. The surgeon has to manually control and manipulate the guide wire to the target region. This process is complicated by the tortuous nature of the vasculature and … 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

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

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

ETH Image Based Visual Servoing to Guide Flexible Robots

Video Demo Eye-To-Hand Image Based Visual Servoing to Guide Flexible Robots Project goals Flexible robots including active cannula or cable driven continuum robots are typically suitable for such minimally invasive surgeries because they are able to present various flexible shapes with great dexterity, which strengthens the ability of collision avoidance and enlarges the reachability of operation tools. Using model based … Continue reading