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


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

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

Research Fellowship (Postdoctoral Fellowship) in Robotics Engineering (Tactile, Control & Mechatronics)

Project Description The Bimanual Dexterous Manipulation Consortium of the SINAPSE Institute is interested in recruiting well trained, talented, skilled and highly motivated individuals to work under diverse programs in the areas of Sensors, Robotics, Mechatronics, Control Systems and Signal Processing but with a common goal and theme.   Job Description       At the present time we have a need for several postdoctoral … Continue reading

Research Positions in Robotics at NUS

We are looking for qualified research assistants, research associates or research fellows who have strong interests of applying engineering approaches to medicine. Specifically, our group is focusing on Computer Integrated Interventional Systems (CIIS), Surgical Navigation and Planning systems, Robotic and Sensing in Medicine, and Biomedical Mechatronics. Interested applicants with strong background in Computer Engineering or Mechatronics please send application to … 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