Medical/Surgical Robotics
Intelligent Handheld Instrument for Microsurgery & Biotech Micromanipulation
To enhance human positioning tasks requiring micro level accuracy (e.g. microsurgery and cell micromanipulation). The intelligent instrument will detect motion, distinguish undesired and intended motion and provide real-time active error compensation by deflecting its tip to compensate physiological tremor and other erroneous movement components. [read more ...]
Vision Guided Cell Micromanipulation
A vision-guided robotic approach is proposed to replace human intervention. A 3 degree-of-freedom piezoelectric-driven robotic manipulator is used to hold a micropipette. A high speed camera with a embedded processor captures images of the cells and the micropipette tip under a conventional microscope, processes the images, and controls the robotic manipulator in real-time to perform the intended task. [read more ...]
Micro-Motion Sensing System
Detecting micro motion of a microsurgical instrument in real time to aid training of new surgeons and discover more findings about tremor nature of human's hand. [read more ...]
Assessment and Training System for Micromanipulation Tasks in Surgery
Human accuracy limitations due to physiological tremor is a concern in microsurgery (e.g., eye, hand and neuro-surgery). This restricts the types of feasible microsurgical procedures, making it necessary to train apprentice surgeons and assess their performances. This project will investigate the causes of non-voluntary deviations hindering the quality of interventions, and develop a virtual reality based training system for training microsurgeons to perform manipulation tasks under a microscope. [read more ...]
Real-Time Image Stabilizer
Design a zero-phase adaptive filter to accurately separate voluntary and involuntary camera movements in real-time. Filtering of erroneous motion allows to compensate for it while preserving the user's intentional movements. [read more ...]
Robotic Colonoscopy (Completed)
Devices for semi-autonomous or autonomous locomotion in the GI tract, based on inchworm mechanism. Introduced into the anus or mouth and will carry the vision system and other endoscopic tools to the area of interest without causing discomfort to the patient. [read more ...]
Development of Robotic System to Enchance Therapeutic Gastrointestinal (GI) Endoscopic Procedures
To develop a robotic system which enables the endoscopist to perform technically demanding therapeutic procedures (currently possible only with open surgery) using conventional flexible endoscopes. The robotic system consists of a master console and a slave. The latter is a cable driven robotic manipulator which can be inserted into tool channel of existing endoscopes. [read more ...]
Endoscopic Submucosal Dissecion (ESD) Using a Computer-Controlled Master-Slave Robot
This is one of the experiments conducted for the DEVELOPMENT OF ROBOTIC SYSTEM TO ENHANCE THERAPEUTIC GASTROINTESTINAL (GI) ENDOSCOPIC PROCEDURES. [read more ...]
Natural Orifice Transluminal Endoscopic Surgery (NOTES) Segmental Hepatectomy Using a computer-controlled master-slave robot
This is one of the experiments conducted for the DEVELOPMENT OF ROBOTIC SYSTEM TO ENHANCE THERAPEUTIC GASTROINTESTINAL (GI) ENDOSCOPIC PROCEDURES. [read more ...]
Intra-operative Ultrasound Guided Liver Tumor Localization System
The objective is to aid the surgeon in locating the tumor during liver resection, which is a current problem especially with small tumors. [read more ...]
Assessing a Neurosurgical Robot (NEUROBOT) in In-Vitro and In-Vivo (Animal/Cadaveric) Models for Accuracy, Safety and It's Potential Clinical Utility
Adapt an industrial robot into an intelligent surgical robot, capable of performing neurosurgical procedures while maintaining safety. The robot's clinical utility will be assessed in Stereotactic Tumour Biopsies, Depth-Electrode Placements, Neuroendoscopies, Oestemies and Mastoidectomie. [read more ...]
Applications of Shape Memory Polymers in Surgery
To develop a novel suturing thread that would untie or tie itself into a knot autonomously. The outcome of this project would be used in conjunction with other ongoing medical robotics project to enable miniature robotic manipulators to be inserted into the human body non-invasively or minimally invasively to perform therapeutic intervention. [read more ...]
Ultrasound Guided Robotic System for Transperineal Biopsy of the Prostate (Completed)
A robotic system that can perform accurate percutaneous biopsy of the prostate via the transperineal route under ultrasound guidance. [read more ...]
Rehabilitation Robotics
Active Pathological Tremor Compensation Using Functional Electrical Stimulations
We use the sensed physical motion and EMG signals from the upper limb to attenuate the pathological tremor in real time manner. A filtering algorithm will be developed to differentiate the intended motion and the tremor. [read more ...]
Design and Implementation of a Functional Electrical Stimulation Controller for Upper Limb Tremor Attenuation
The scope of this Master thesis is to make a system analysis to develop a musculoskeletal model of the wrist joint. On this basis, a controller for the electrically stimulated muscle is to be designed. The implementation of the developed controller and subject trails finishes this thesis. [read more ...]
FLATS - Future living with Assistive Technology In Singapore
Future Living with Assistive Technology in Singapore (FLATS) is a project that integrates intelligent assistive technology, human factors engineering, and architectural universal design to provide intuitive assisted-living solutions for people with special needs. This project explores ways to improve the quality of life of the disabled and elderly by allowing them to live independently and age in place with the use of assistive technology in smart homes. A prototype smart home would be built and evaluated for large scale implementation. [read more ...]
Multi-Flexor
A compact, modular and portable continuous passive motion (CPM) device for wrist and elbow therapy. [read more ...]
Motivation Driven Stroke Rehabilitation via Bio-Signal Control System
Restore voluntary motor function by bridging gap in damaged/diseased parts of nervous system. A brain-computer interface senses surface electroencephalogram signals elicited by motor imagery & processes it into semantic signals to control functional electrical stimulation of skeletal muscles. [read more ...]
DEFROST (DEvice for FROzen Shoulder Therapy)
A mechatronic chain and sprocket trainer system that enhances the effectiveness and usability of the shoulder pulley kit for frozen shoulder therapy at the Singapore General Hospital (Department of Physiotherapy). More control over the plane and range of patients' arm motion during exercises. Provides real-time auditory and visual performance feedback. Records important performance indicators in an exercise session. [read more ...]
Pro-Balancer
A mechatronic system provides neuromuscular and vestibular training for rehabilitation patients to improve balancing ability. Has 5 adjustable level of difficulty. 3 different modes of exercise and assessment – multi-axial balancing, anterior-posterior balancing and left-right balancing. Provides real-time visual performance feedback. Records important performance indicators in an exercise session. [read more ...]