Research on medical robot design, control and tele-operation. The main study including:

• Soft robot manipulator design

• Soft surgery robot system design

• Control of the cable-driven soft rbot

• Avoiding obstacles, positioning and surgery in thoracic cavity

Representative work:

Soft robot surgery system for minimally invasive surgery on beating heart (Medical engineering project of Shanghai Jiao Tong University)

A soft robot surgery system is designed for minimally invasive surgery on beating heart to overcome disadvantages of current surgery robot. There are surgical tool and medical camera embedded in the soft robot manipulator to perform heart surgery on beating heart. The soft robot surgery is controlled by surgeon and the condition of the operation can be captured and feedback by the medical camera.