Microsurgical Robots

We are building robots for teleoperated and automated microsurgery.

The Da Vinci Surgical System achieves remarkable success in assisting surgeons to perform delicate manipulations during minimally invasive surgery. However, it is not yet suitable for performing microsurgery in fields such as ophthalmology, dentistry, and pediatrics. To address this need, we are devoted to designing microsurgical robots based on the knowledge in mechanism design, system integration, and precise motion control.

DentiBot: Robot-Assisted Endodontic Treatment

H. F. Cheng, Y. C. Li, Y. C. Ho, and C. W. Chen, “Force-Guided Alignment and File Feedrate Control for Robot-Assisted Endodontic Treatment,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, Oct. 2022.

infant Cardiac Robotic Surgical System (iCROSS)

P. C. Chen, P. A. Hsieh, J. Y. Huang, S. C. Huang, and C. W. Chen, “Design and Evaluation of the infant Cardiac Robotic Surgical System (iCROSS),” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, Oct. 2022.

intraOcular RoBotic Interventional System (iORBIS)

C. W. Chen, H. C. Chen, H. Y. Yang, X. Y. Zeng, X. H. Wu, and P. C. Chen, “intraOcular RoBotic Interventional System (iORBIS): Mechanical Design for Distally-Actuated Instrument Insertion and Automatic Tool Change,” Mechanism and Machine Theory, 167, pp. 104568, 2022. https://doi.org/10.1016/j.mechmachtheory.2021.104568