Natural Orifice Transluminal Endoscopic Surgery (NOTES)

• Designed endoscopic tools capable of navigating through tortuous paths and performing complex surgical tasks
• Incorporated novel technologies to navigate to surgical target, change stiffness, and actuate dexterous surgical manipulators
• Integrated miniature surgical tools with the necessary dexterity to conduct surgical tasks
  
  

Robotic Laser Tissue Welding

• Integrated laser tissue welding with robotic surgery
  • Breakthrough in size, dexterity, and precision of laparoscopic tools
• Improved performance of laser tissue welding bonds
  • Precise tissue apposition
  • Consistent solder delivery
  • Consistent power delivery
    
    

M7 Robotic Surgery Manipulator

• Designed dual 7-DOF lightweight arms for open surgery
• Implemented master-slave control and autonomous operation
• Developed high-definition haptic control with full stereo video

Modular Robotic Surgical Platform

• Designed open robotic surgery platform with a master/slave configuration
  • Enables interchangeable hardware
  • Communicates over Ethernet
  • Made portable for field deployment and installation
  • Tested platform in extreme environments

Robotic Microsurgery System

• Designed high resolution manipulators (7 um)
• Used standard microsurgery tools and custom miniature tools
• Scaled of motion, force, vision
  • Eliminates tremor
  • Enhances dexterity
  • Increases force feedback to operator
    
    

Miniature Surgical Tools

• Designed multidegree-of-freedom miniature surgical tools
• Embedded miniature motor drives