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

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

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

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