7 accepted papers
Continuum robots employed in flexible gastrointestinal endoscopy require the capability of transitioning between the flexible and the rigid states. Phase-change-material-based variable stiffness (VS) methods exhibit a significant stiffness change ratio but are typically time-consuming. Besides, thes…
This work introduces a novel compact 7-degree-of-freedom (7-DOF) microsurgical robot with position-orientation decoupling capacity for microvascular anastomosis. The proposed system employs a modular architecture combining a proximal displacement platform for 3D small-stroke translation and a distal…
This work introduces a novel compact 7-degree-of freedom (7-DOF) microsurgical robot with position-orientation decoupling capacity for microvascular anastomosis. The proposed system employs a modular architecture combining a proximal displacement platform for 3D small-stroke translation and a distal
Continuum robots in flexible gastrointestinal endoscopy require transitioning between flexible and rigid states. Phase-change-material-based variable stiffness (VS) methods exhibit a significant stiffness change ratio but are typically time-consuming. These materials are commonly fabricated as simpl
Colon endoscopic robots represent a promising screening modality for the visualization of colon cancers with high sensitivity. However, current colonoscopy robots are often characterized by intricate and bulky mechanical structures, which pose practical challenges when moving through the complex and…
This paper reports the latest progress of an ongoing project utilizing a ducted-fan propulsion system to improve a humanoid robot's ability to step over a broad ditch with a height difference between the two sides. This work focuses on the methods of calculating the boundary and optimizing stepping…
This paper reports the first robotic system for vitrification of mammalian embryos. Vitrification is a technique for preserving oocytes and embryos in clinical IVF (in vitro fertilization). The procedure involves multiple steps of stringently timed pick-and-place operation for processing an oocyte/e…