A5082980666- Soft Robotics and Applications
- Robotics and Sensor-Based Localization
- Robotic Mechanisms and Dynamics
- Micro and Nano Robotics
- Gastrointestinal Bleeding Diagnosis and Treatment
- Modular Robots and Swarm Intelligence
- Advanced Vision and Imaging
- Brain Tumor Detection and Classification
- Advanced Measurement and Metrology Techniques
- Augmented Reality Applications
- Advanced Neural Network Applications
- Robotic Path Planning Algorithms
- Hydraulic and Pneumatic Systems
- Surgical Simulation and Training
- Teleoperation and Haptic Systems
- Medical Image Segmentation Techniques
Chinese University of Hong Kong
2021-2025
Prince of Wales Hospital
2023
Conventional colonoscopy using a flexible colonoscope remains two major limitations, including patient discomfort and difficult manipulations for surgeons. Robotic colonoscopes have been developed to conduct in patient-friendly manner. However, most robotic still maintain nonintuitive manipulations, which limits their clinical applications. In this paper, we demonstrated visual servo-based semi-autonomous of an electromagnetic actuated soft-tethered (EAST) colonoscope, aims lower...
In minimally invasive surgery (MIS), the field of view (FOV) plays a vital role. To enhance stability FOV and lighten burden on surgeons, robot-assisted laparoscope systems have been developed introduced into surgery. However, most existing automatic surgical tool tracking schemes with robotic laparoscopes either do not consider depth direction or remote center motion (RCM) constraints. tackle these problems, this article presents an autonomous three-dimensional instrument framework for...
In this paper, we proposed an autonomous robotic flexible endoscope system for the laparoscopic bariatric surgery (LBS). This comprises a UR5 robot and equipped with novel continuum joint, named reinforced double helix mechanism. Compared simple structure, compressional torsional stiffness of joint are improved significantly. To automate endoscope, image-based visual servoing technique is employed. A deep learning algorithm TernausNet-16 incorporated into control framework to detect surgical...
Laparoscopic surgery (LS) has become an effective and widely accepted therapy for patients. However, performing LS requires advanced training skills, as it demands high precision dexterity due to visual feedback depending on the collaboration between surgeon endoscope assistant, restricted field of view, limited inside body. Thus, a flexible holder system with automatic control scheme is proposed assist performance, allowing perform solo LS. A DNA‐inspired helix‐based structure wide‐angle...
Colorectal cancer incidence has been steadily rising worldwide. Magnetic colonoscopes provide new approaches to conduct colon inspection and treatment. This paper presents a novel electromagnetically actuated soft-tethered colonoscope achieve precise stable orientation control. An inflated balloon is designed eliminate the unpredictable disturbance of floating tether. A 2OR Pseudo-Rigid-Body (PRB) model soft tether developed analyze relationship between deflection applied force torque....
Conventional colonoscopy using a flexible colono-scope remains two major limitations, including patient discomfort and nonintuitive manipulations for surgeons. To address these robotic colonoscopes have been developed to provide new approaches conducting colon diagnosis therapy. However, low autonomy level of most leads difficult manipulations, which limits their applications in clinical practice. In this paper, we demonstrate semi-autonomous an electro-magnetic actuated soft-tethered (EAST)...
Despite benefits brought by recent neurosurgical robots, surgical safety and surgeon-robot collaboration remain significant challenges. In this article, we analyze address these problems in the context of brain biopsy, proposing a semi-autonomous system.A robotic module is designed for automation all biopsy procedures, cannula with tissue blocker developed to avoid excess haemorrhage. addition, two methods are proposed enhancement. First, priority-based control framework neuronavigation...
This paper is concerned with the issue of kinematic model-based bending control for magnetically actuated robotic endoscope and its application automatic retroflexion. By utilization Cosserat rod theory transformation in magnetic tip endoscope, comprehensive model magnetically-actuated established. Afterward, a scheme motion proposed by co-developing an error feedback PID strategy approach. Moreover, as one unique kind motion, retroflexion taken into account, aimed at bid compact space...
Surgical robot assistant systems have been widely applied in surgical operations to improve the efficiency of surgeons. However, crowded and unstructured operation room, improper configuration, layout, pose can cause collision easily, affecting surgeon's performance increasing setup time. Therefore, optimization system is necessary, which still missing literature. Hence, a capability map (CM) with reachable manipulability information for proposed this work, provides reference optimize robot....
Kinematic calibration is crucial to improve the positioning accuracy of serial robots. This paper proposes a novel algorithm for robotic kinematic based on an augmented product exponentials (POE)-based model using Gaussian mixture models (GMMs) with only position data. In this algorithm, non-geometric errors that cannot be fitted by varying parameters within traditional robot are also considered and compensated. approach involving three-stage process which used identify train GMMs will...