Research

Research Interest

1. Medical Robotics, including active capsule endoscope, flexible surgical robot, etc.

2. Biomimetics in design, locomotion, sensing, actuation, etc.

3. Assistive technology for the aging society

Ongoing Projects

[6] A novel soft-tethered magnetic-pneumatic steered endoscope system for single-port VATS (2020-2022) - This project aims to explore a new kind of miniature endoscope system for minimally invasive surgery, particularly single-port video assisted thoracic surgery.

[5] A Novel Magnetic Stabilized Snake-like Flexible Robot for NOTES (2019-2021) - This project aims to study the tip stabilization method for flexible structures and apply in the NOTES robot.

[4] A Novel Snail-like Soft Robot for Effective Locomotion in the Soft Viscoelastic Environment (2018-2020) - This project aims to study the snail locomotion and evaluate its efficacy in soft viscoelastic environment, such as GI tract.

[3] Development of a Novel Brain Biopsy System with Enhanced Safety (2019-20) - This project aims to develop a safe biopsy system for brain biopsy.

[2] A Soft-tethered Magnetic Actuated Capsule Endoscope for GI Tract Screening and Primary Treatment (2018-19) - This project aims to develop a new kind of system for GI tract screening and primary treatment.

[1] A Novel Flexible Mechanism for Minimally Invasive Surgical Robots (2017-2019) - This study aims to fully study a novel flexible mechanism named concentric wire-driven mechanism and find its potential application in minimally invasive surgery.

Past Projects

[14] Soft-tethered Capsule Endoscope for GI tract Screening and Primary Therapy (2017-18, 18-19) - This project aims to study a soft-tethered CE based method for comfortable GI tract screening and therapy.

[13] Ex vivo locomotion study of a soft earthworm-like robot for GI tract inspection (2016-2017) - This study aims to study the locomotion of soft robot in viscoelastic environment, e.g. GI tract.

[12] Soft Robotic Hand as Rehabilitation and Assistive Device (2016-2018) - This study aims to develop a soft robotic hand for rehabilitation and assistive device for persons after stroke.

[11] Key technologies in Bio-inspired Soft Robot Targeted for GI Tract Inspection and Therapy (2015-2017) - Soft robots are intrinsically safe in human-robot interaction. In this project, we intend to investigate the key technologies,including design, fabrication and locomotion of the soft robot in GI tract inspection and therapy. The robot will mimic the locomotion of the soft-bodied creatures in nature. It is named as the GISoftBot. We expect that in the future, sensors and end-effectors will be integrated to the GISoftBot to perform GI tract inspection and therapeutic tasks.

[10] Development of a Class of Low Cost Hyper Dexterous Flexible Instruments for Single Port Access Surgery (2015-2017) - The objective of this research is to develop a class of low cost hyper dexterous flexible instruments for single port access surgery. The developed instruments are also suited to conventional laparoscopic surgery. The developed low cost, hyper dexterous, stiffness controllable, ergonomic flexible instruments will help surgeons performing single port access surgeries easier and reduce the operation time. On the other hand, patients will also benefit from the recuced cost, less pain and faster recovery time than traditional minimally invasive surgery.

[9] Development of a Novel Flexible Surgical Robot with Haptic Sensation (2015-2017) - Robot assisted MIS brings to patient multiple benefits, including shorter hospital stay, less post-operative pain, less blood loss, better cosmesis, etc. In the market, the da Vinci robot is the dominant player in MIS. It is equipped with slender rigid arms and lacks of tactile sensation which is crucial in surgical interventions. The rigid arms pivot about the trocar and lack of dexterity inside the body. Also, the pivoting creates a large sweeping motion, which may cause damages to vital structures. Flexible robot is intrinsically safer. However, their payload capacity is small due to the low stiffness. The sweeping motion generated by the arm bending remains significant. Also, the workspace and dexterity are limited due to the lack of control in either the length or the curvature of the bending section. In this project, a novel constrained tendon-driven serpentine mechanism (CTSM) will be employed to design the proposed flexible surgical robot. In the CTSM both the length and curvature of the bending section are controllable, which gives the robot much improved dexterity and larger workspace. A shape reconstruction based force sensing method will be developed to enable the robot’s tactile sensation. What’s more, a tension based stiffness control method will be implemented to endow controllable stiffness to the flexible robot. Therefore, the payload capability can be actively adjusted based on the surgical task. As a summary, the developed robot will integrate the following advantages: tactile sensation, much reduced sweeping motion, controllable stiffness, enhanced dexterity, and expanded workspace.

[8] "Handheld Flexible Surgical Instrument" (2014) - Designed, modeled, prototyped and tested a novel handheld flexible endoscope with controllable bending section, including both length and angulation. Compared with existing counterparts,  this flexible endoscopes is much more dexterous inside the body, thus enabling much wider scope of vision. Results from ex-vivo tests and pig tests show that this flexible endoscope is very helpful in minimally invasive surgeries, such as cardiac surgery. Similar technology is applying to other flexible surgical instruments, including forceps, grasper, scissors, etc. Potential applications of these instruments include laparascopic surgery, cardiathoraic surgery, ENT surgery, gynecological surgery, etc.

[7] "Tele-operated Flexible Surgical Robot Arm" (2014) - Designed, analysed, developed and tested a novel flexible surgical robot arm targeted for minimally invasive ENT surgery. Compared with existing flexible surgical robots, this design provides larger reachable workspace, more dexterous manipulation, better path following, and controllable stiffness. All of these are crucial in performing MIS. A haptic input device is used in the tele-operation. Two control modes, i.e. direct mapping and incremental mode, are implemented. Test results show that the direct mapping enables quick locating, and the incremental modes provides fine movement. The learning curve of this robot is very short. In the future, functional tools will be equipped to the robot arm and ex-vivo, in-vivo tests will be performed. 

[6]. “Bio-inspired Underactuated Wire-Driven Robot Fish” (2012-13) - Designed, modeled, prototyped and tested six novel underactuated wire-driven robot fishes and a double hull boat with  wire-driven flapping propulsors. The first robot has a continuous oscillatory flapping propulsor (COFP); the second one has a serpentine oscillatory flapping propulsor (SOFP); the third robot is with a serpentine undulatory flapping propulsor (SUFP), the fourth robot is actuated by a flapping propulsor with vector propulsion (FPVP), the fifth robot fish swims by the tail twisting, and the sixth robot fish has a pair of pectoral fins. Compared with existing designs, these robot fishes employ less actuator but could better resemble the fish swimming body curve and improve the propulsion efficiency (max 92.8%). The FPVP robot fish could swim in both shark form and dolphin form. It can provide thrust in any desired direction, hence, improving robot’s maneuverability. Potential applications: water inspection, underwater exploration, surveillance, ship propulsion, entertainment, etc.

Youtube links: 

Double Hull Boat http://www.youtube.com/watch?v=mJEB9OYApOg

COFP Robot Fish http://www.youtube.com/watch?v=bCRzBwdu8IM

SOFP Robot Fish http://www.youtube.com/watch?v=4uzQTG3XMjQ

SUFP Robot Fish http://www.youtube.com/watch?v=8f96ntePBFg

FPVP Robot Fish http://www.youtube.com/watch?v=2XvOphW0GOE

Robot Fish with Twisting Tail http://www.youtube.com/watch?v=c0YxXQaLagk

Robot Fish with Pectoral Fins http://www.youtube.com/watch?v=6SB7MxiG_7Y

Wire-driven Flapping Propulsor http://www.youtube.com/watch?v=ttWycyeKVp0

[5]. “Biomimetic Underactuated Wire-Driven Flexible Robot Arm” (2011) - Designed and analyzed the biomimetic wire-driven mechanism (WDM); developed the kinematics, statics, dynamics and workspace model; proposed the novel idea of expanding workspace by obstacles; prototyped two flexible robot arms. The WDM structure follows the snake’s skeleton. It can be serpentine or continuum. The actuation is inspired by octopus arm muscle arrangement. The WDM can bend in all directions and is well suited to confined space. Potential applications: Minimally invasive surgery robot, nuclear reactor inspection robot, space robot, etc.

Youtube link: http://www.youtube.com/watch?v=hUlw-LJEAsM

[4]. “Indoor Lighter than air vehicle (LTAV) – Flying Octopus” (2011) - Designed, modeled, prototyped and tested an indoor LTAV (Flying Octopus) with four independently controlled flapping wings. It could fly or hover in 3D space freely. Compared with fixed wing aircraft or helicopter it is energy efficient, while compared with other LTAVs it is more agile. Potential application: aerial imaging, transportation, advertising, entertainment, etc.

Youtube link: http://www.youtube.com/watch?v=Qi6g7_3DBcw

 [3]. “Feature based Force simulation in NC machining” (2010) - Categorized five basic structure features (straight line, arc, sharp corner, round corner, ramp), built machining force model for each feature, programmed a software to extract features from tool path, and predicting machining forces for arbitrary planar workpiece; verified the simulation with experiment measurements carried out in industries, such as Chengdu Aviation Co., Chang’an Motor Co, etc.. This is the first software able to predict forces of cutting arbitrary planar parts in China.

[2]. “NC Machining Parameter Optimization” (2009) - Developed a constraint optimization model for NC machining process, with the optimization targets material removal rate and machining time, the constraints are cutting force, cutting temperature, vibration, etc. Programed the software (OptiCut) in both Matlab and VC. It could help operators finding the optimal cutting parameter combination. OptiCut is licensed and owns over 70 industry users.

[1]. “Machine Tool Dynamic Measurement and Chatter prediction” (2007-2008) - Developed a chatter prediction model in both frequency domain and time domain; built and tested a virtual instrument using Labview to collect audio signal and perform chatter detection and prediction. Improved a machine tool dynamic measurement toolkit (DynaCut); carried out dynamic measurements on 3-axis machining center, 5-axis machining center, parallel machine tool and analyzed the modal frequencies, damping ratio, stiffness, modal mass by transfer function. Carried out cutting tests to identify the coefficients in the regenerate chatter model; developed a program to predict the chatter lobes and improved the simulation software (SimuCut). Helped to promote DynaCut and SimuCut. During the period, gained over 100 industry users such as Shenyang Machine Tool Co., Shenyang Aviation Co..