Speech Title: Miniaturized Flexible Access Instruments for Minimally Less Invasive Surgical Robot and Intelligent Control
Time of Speech: December 9th 12:10-12:30
Biography
Dr. Weibang Bai is now a postdoctoral Research Associate with the Hamlyn Center at the Department of Computing, Imperial College London. He received his Bachelor's degree from Sichuan University and Ph.D. from the School of Mechanical Engineering, Shanghai Jiao Tong University. His research was mainly focusing on robotics theory, medical robotics, robotic design and intelligent control, teleoperation robot systems, artificial intelligence. He has participated and acted as main researchers in a few projects about developing minimally invasive surgical robot systems for traditional multi-key-hole laparoscopic surgery, next-generation single port surgery, spinal surgery, and rehabilitation et al., won a few national and provincial level awards, published over 10 international journal and conference papers and applied for over 10 China National Invention patents.
Abstract
Miniatured flexible access surgical robots are reshaping the next generation technologies for minimally invasive surgery, and the requirements for miniaturization, strength, flexibility, dexterity and accuracy are needed to be addressed while navigating inside a confined human anatomy and performing complicated surgical tasks. Systematic and innovative design and integration of applicable instruments or robotic manipulators based on reliable mechanisms are of great importance. And tendon driven external actuation scheme is extensively adopted in this situation due to its strengths in flexible, compact and lightweight actuation and transmission. But its intrinsic nonlinearities and characteristics including imprecise dynamics, complicated friction, slippage, backlash hysteresis and transmission coupling et al. may cause intricate problems for accurate manipulating. Thus, intelligent control strategies and architectures to achieve excellent performance need to be investigated and studied as well.
