Faculty

PHEE Soo Jay, Louis
Ph.D. (Scuola Superiore Sant'Anna, Pisa, Italy), M.Eng., B.Eng. (Mech., NTU)
Assistant Professor
Adjunct Scientist, National University Hospital, Singapore
Chair, IEEE Robotics & Automation Chapter, Singapore
Deputy Director, Mechatronics & Control Laboratory
B.Eng (Part Time) Lab/Project Coordinator

Research Interests

Medical & Surgical Robotics, Micromechantonics, Haptics Technology.

Projects

Publications

Patent:

1. L. Phee, K.Y. Ho, S.C. Low, S.W. Tang, S.C. Chung, "Surgical Robotic System for Flexible Endoscopy", US Provisional Application no. : 60/785,985, 27 Mar 2006.
2. L. Phee, A. Arena, A. Menciassi, P. Dario, "Endoscopic Device for Locomotion through the Gastro-intestinal Tract", U.S. Patent 6,939,291, September 2005.
3. L. Phee, R.E.Oakley, H.S. Lim, "Intuitive Control Device for Motorized Furniture", May 2003, (Patent Pending).
4. L. Phee, D. Xiao, J. Yuen, C.H. Thng, P.H. Tan, W.K.O Lau, H. Ho, W.S. Ng, C.W.S. Cheng, "System and Method for Accurate Percutaneous Needle Placement in Soft Tissue Under Ultrasound Guidance", April 2004, (U.S. Provisional Patent Application).
5. W.S. Ng, L. Phee, F. Seow-Choen, "Robotic Endoscope and an Autonomous Pipe Robot for Performing Endoscopic Procedures", U.S. Patent 6,162,171, December 2000.

 

Refereed Journal:

1. IEEE Transactions on Information Technology in Biomedicine, "Robotic System for No-Scar Gastrointestinal Surgery" (invited to submit by Apr 07)
2. L. Phee, J. Yuen, D. Xiao, C.F. Chan, H. Ho, C.H. Thng, P.H. Tan, C. Cheng, W.S. Ng, "Ultrasound Guided Robotic Biopsy of the Prostate", International Journal on Humanoid Robotics, Dec 2006, Vol. 3, No. 4, pp. 463-483.
3. S.C. Low, L. Phee, "A Review on Master-Slave Robotic Systems for Surgery", International Journal on Humanoid Robotics, Dec 2006, Vol. 3, No. 4, pp. 547-567.
4. S. Fan, K.V. Ling, L. Phee, W.S. Ng, D. Xiao, "Efficient 3D Prostate Surface Detection for Ultrasound Guided Robotic Biopsy", International Journal on Humanoid Robotics, Dec 2006, Vol. 3, No. 4, pp. 439-461.
5. L. Phee, D. Xiao, J. Yuen, C.F. Chan, H.S.S. Ho, C.H. Thng, P.H. Tan, C.W.S. Cheng, W.S. Ng, "Robotically Assisted Transperineal Biopsy of the Prostate with Ultrasound Guidance", IEEE Transaction of Robotics and Automation. (submitted Oct 06)
6. Kassim, L. Phee, W.S. Ng, G. Feng, P. Dario, C.A. Mosse, "A literature Review of Locomotion Techniques for Robotic Colonoscopy", IEEE Engineering in Medicine and Biology Magazine, May 2006, Vol. 25(3), pp. 49 – 56.
7. J. Yuen, L. Phee, D. Xiao, C.F. Chan, H.S.S. Ho, W.K. Lau, W.S. Ng, C.W.S. Cheng, "Transperineal Robot-Assisted Prostate Biopsy: Safe, Reproducible and Accurate Targeting", Journal of Urology. (Submitted Aug 05)
8. J. Yuen, C.H. Thng, P.H. Tan, L.W. Khin, L. Phee, D. Xiao, W.K.O Lau, W.S. Ng, C.W.S. Cheng, "Endorectal Magnetic Resonance Imaging And Spectroscopy For The Detection Of Tumour Foci In Men With Prior Negative Trus Prostate Biopsy", Journal of Urology, April 2004, Vol. 171, pp. 1482-1486.
9. M.C. Carrozza, P. Dario, L. Phee, "Micromechatronics in Surgery", Transactions of the Institute of Measurements and Control, England, Sep 2003, Vol. 25(4), pp. 309-327.
   Download:  [575 kb]
10. L. Phee, D. Xiao, J. Yuen, W. Lau, C. Cheng and W.S. Ng, "Advancement and Safety Aspects of Medical Robots for Treatment of Diseases of the Prostate", J. Systems and Control Engineering, England, July 2003, Vol. 217 Part I, pp. 155-167.
11. L. Phee, D. Accoto, A. Menciassi, C. Stefanini, M.C. Carrozza, P. Dario, "Analysis and Development of Locomotion Devices for the Gastrointestinal Tract", IEEE Transactions on Biomedical Engineering, U.S.A., June 2002, Vol. 49, No. 6, pp. 613-616.
    Download:  [216 kb]
12. W.S. Ng, L. Phee, S Seow, B L Davies, "Robotics in colonoscopy", (invited paper) in Digestive Endoscopy, the Official Journal of Japan Gastroenterological Endoscopy Society, Kanazawa, Japan, May 1999, Vol. 12, Issue 2, pp. 131-135.
13. L. Phee, W.S. Ng, I.M. Chen, F. Seow-Choen, and B.L. Davies, "Visual Control Aspects in Automation of Colonoscopy", IEEE Engineering in Medicine and Biology Magazine, U.S.A., March 1998, Vol. 17(3), pp. 81-88.
    Download:  [1.6 MB]
14. L. Phee, W.S. Ng, I.M. Chen, F. Seow-Choen, and B.L. Davies, "Locomotion and Steering Aspects in Automation of Colonoscopy", IEEE Engineering in Medicine and Biology Magazine, U.S.A., Nov 1997, Vol. 16(6), pp. 85-96.
    Download:  [1.9 MB]

 

Refereed Conferences:

1. Z.M. Thant, S.C. Low, S.W. Tang, L. Phee, K.Y. Ho, S.C. Chung, "Ergonomic Master Controller for Flexible Endoscopic Gastrointestinal Robot Manipulator", Proceedings of the International Conference on Biomedical and Pharmaceutical Engineering, Singapore, 11-13 Dec, 2006, pp. 575 – 579.
2. L. Phee, S.C. Low, Z.M. Thant, K.Y. Ho and S.C. Chung, "Robotic System for No-Scar Gastrointestinal Surgery", IEEE International Special Topic Conference on Information Technology in Biomedicine, 26-28 Oct 2006, Ioannina, Greece.
3. S.C. Low, S.W. Tang, Z.M. Thant, K.Y. Ho, S.C. Chung, L. Phee, "Master-Slave Robotic System for Therapeutic Gastrointestial Endoscopic Procedure", Proceedings of the 28th IEEE EMBS Annual International Conference, New York, USA, Aug 30-Sep 3, 2006, pp. 3850-3853.
4. B.K. Lee, L. Phee, "Feasibility Study of a Force Feedback Controlled Robotic System for Bone Milling", IEEE International Conference on Cybernetics and Intelligent Systems, Bangkok, Thailand, Jun 2006, pp. 732 – 737.
5. D. Xiao, L. Phee, J. Yuen, C.F. Chan, F. Liu, W.S. Ng, Ho, C.H. Thng, P.H. Tan, C. Cheng, "Software Design of Transperineal Prostate Needle Biopsy Robot", IEEE Conference on Control Applications, Toronto, Canada, Aug 2005, pp. 13-18.
6. C.H. Thng, L. Gao, Y.S.P. Yuen, P.H. Tan, L. Phee, D. Xiao, H.Y. Ma, C.F. Chan, H. Ho, W.K.O. Lau, W.S. Ng, C.W.S. Cheng, "Endorectal Magnetic Resonance Imaging And Spectroscopy For The Detection Of Tumor Foci Before Transrectal Ultrasound-Guided Biopsy Of The Prostate", 105th Annual Meeting of the American Roentgen Ray Society, May 15-20, 2005, in New Orleans, USA, pp. 62-68.
7. L. Phee, D. Xiao, J. Yuen, C.F. Chan, H. Ho, C.H. Thng, C. Cheng, W.S. Ng, "Ultrasound Guided Robotic System for Transperineal Biopsy of the Prostate", IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005, pp.1327-1332.
8. C.H. Thng, L. Gao, Y.S.P. Yuen, P.H. Tan, L. Phee, D. Xiao, H.Y. Ma, C.F. Chan, H. Ho, W.K.O. Lau, W.S. Ng, C.W.S. Cheng, "Direct Correlation of MRI and MRS with Histology for Prostate Carcinoma", 14th Singapore Radiological Society Annual Scientific Meeting, Singapore, 19-20 Feb 2005, pp. 183-189.
9. S.C. Low, L. Phee, "A Review of Master-Slave Robotic Systems for Surgery", IEEE Conference on Robotics, Automation and Mechatronics, Singapore, Dec 2004, pp. 37-42.
10. H.Y. Ma, L. Phee, C.H. Thng, P.H. Tan, J. Yuen, W.S. Ng, C. Cheng, "A Novel Device for Sectioning Prostate in Correlation to MRI", The IASTED International Conference on Biomechanics, BioMech 2004, Hawaii, USA, August 2004, pp. 156-161.
11. F. Chan, J. Yuen, C. H. Thng, H. Ma, L. Phee, W. S Ng,. "Pathologic Validation of Prostate Slicer using MRI", Poster Presentation at Urology Fair 2004, Feb 2004, Singapore.
12. Kassim, W.S. Ng, G. Feng, L. Phee, P. Dario, C.A. Mosse, "Review of Locomotion Techniques for Robotic Colonoscopy", IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 2003, pp. 1089-1091.
13. C.K. Ng, W.S. Ng, L. Phee, C. Cheng, "A HIFU Robot for Transperineal Treatment of Prostate Cancer", 7th International Conference on Control, Automation, Robotics and Vision, Singapore, Dec. 2002, vol. 2, pp. 560-565.
14. L. Phee, A. Menciassi, S. Gorini, G. Pernorio, A. Arena, P. Dario, "An Innovative Locomotion Principle for Minirobots Moving in the Gastrointestinal Tract", IEEE International Conference on Robotics and Automation, U.S.A., May 2002, pp. 1125-1130.
    Download:  [718 kb]
15. L. Phee, D. Accoto, A. Menciassi, C. Stefanini, P. Dario, "Analysis of Robotic Locomotion Devices for the Gastrointestinal Tract", Proceedings of the 10th International Symposium of Robotics Research, Australia, November 2001.
16. L. Phee, D. Accoto, A. Menciassi, C. Stefanini, P. Dario, "Analysis of Robotic Locomotion Devices for the Gastrointestinal Tract", 10th International Symposium of Robotics Research, Australia, Nov. 2001.
17. L. Phee, A. Arena, S. Gorini, A. Menciassi, P. Dario, Y.K. Jeong, J.O. Park, "Development of Microrobotic Devices for Locomotion in the Human Gastrointestinal Tract", International Conference on Computational Intelligence, Robotics and Autonomous Systems, Singapore, Nov. 2001.
18. D. Accoto, C. Stefanini, L. Phee, A. Arena, G. Pernorio, A. Menciassi, M.C. Carrozza, P. Dario, "Measurements of the friction properties of the gastrointestinal tract", 2nd AIMETA International Tribology Conference, Austria, September 2001.
19. P. Dario, A. Menciassi, D. Accoto, L. Phee, C. Stefanini, "Medical Micro-Robotics", The 10th International Conference on Advanced Robotics, Hungary, August 2001.
20. L. Phee, C. Stefanini, A. Arena, D. Accoto, A. Menciassi, G. Pernorio, M. Boccadoro, P. Dario, "Mechanical Clamping Mechanisms for Locomotion in the Gastrointestinal Tract", 2nd International Conference of EUSPEN, Japan, May 2001.
21. Menciassi, A. Arena, L. Phee, D. Accoto, C. Stefanini, G. Pernorio, S. Gorini, M. Boccadoro, M. C. Carrozza, P. Dario, "Locomotion Issues and Mechanisms for Microrobots in the Gastrointestinal Tract", 32nd International Symposium on Robotics, Korea, April 2001.
22. Menciassi, L. Phee, A. Arena, C. Stefanini, D. Accoto, G. Pernorio, P. Dario, "Microsystems For Minimally Invasive Diagnosis And Therapy In The Gastrointestinal Tract", AISEM 2001, the 6th National Conference on Sensors and Microsystems, Italy, February 2001.
23. Ng WS, Kassim MI, Phee SJ, Nadier OK, Teng MH, Tan IC, Seow Choen, F, Davies, BL, "Colonoscopy with automated locomotion", SGH Proceedings (2001), Volume 9, Issue 3, Pages 163-169.
24. L. Phee, W.S. Ng, I.M. Chen, F. Seow-Choen, "Development of New Locomotive Concepts to be used in Automation of Colonoscopy", 9th International Conference for BioMedical Engineering, Singapore, Dec 1997.

 

Invited Talks:

1. "Robotics in Gastroenterology", National University Hospital Grand Rounds, NUH, Singapore, 26 Jan 2007.
2. "Robotics in Gastroenterology", A*Star Workshop on "Emerging Medical Technologies: Therapeutic Ingestible Capsules and Neurorobotic Machines", A*Star, I²R, 12 Dec 2006
3. "Introduction to Medical Robotics", School of MAE, NTU, Singapore, 10 Mar 2005.
4. "Surgical Robotics in Gastroenterology and Urology", Seminar at Carnegie Mellon University, Pittsburgh, U.S.A., 8 Dec 2004.
5. "Surgical Robotics in Gastroenterology and Urology", Seminar at Johns Hopkins University, Baltimore, U.S.A., 9 Dec 2004.
6. "Mechatronics and Medical Robotics in the Fields of Gastroenterology and Urology", Seminar at School of MPE, NTU, Singapore, 10 Jan 2003.
7. "Computer Aided Medical Intervention for Urology, Colonoscopy and Orthopedic Surgery", France-Singapore Workshop on Medical Imaging and Robotics, Singapore, 2 Dec. 2002.
8. "Advancement of Medical Robotics in the Fields of Gastroenterology and Urology", Seminar at School of ME, NUS, Singapore, 28 Nov 2002.

Research Grants