APOLLON:   Bed-mounted Laparoscopic Surgical Robot System

 A single port surgical robot system with novel elbow joint mechanism for high force transmission

Bed-mounted laparoscopic surgical robot system with novel positioning arm mechanism

Endo-Trainer: a low-cost training system for da Vinci robotic surgery

MSR:  Micro-Surgical Robot System

A novel microsurgery robot mechanism with mechanical motion scalability for intraocular and reconstructive surgery

Master Controller Design

A master manipulator with a remote-center-of-motion kinematic structure for a minimally invasive robotic surgical system

A Highly Intuitive and Ergonomic Redundant Joint Master Device for 4-Degrees of Freedom Flexible Endoscopic Surgery Robot

Gravity Compensation Mechanism

Gravity Compensation Mechanism for Roll-Pitch Rotation of a Robotic Arm

A 3-Degrees-of-Freedom Gravity-Compensated Robotic Arm with Roll-Pitch-Translational Motion for Remote Center of Motion