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Seminar - Development of a Collaborative Surgical Robot Assistant for Laparoscopic Hysterectomy by Tiffany Hiu Man YIP
日期:2018 年 08 月 23 日 ( 星期四)
Time:11:00 am – 12:00 pm


Robot-assisted surgery is gaining more and more popularity and awareness in recent decades. Various surgical robotic systems have been developed to enhance the surgeon’s ability or assist in supportive tasks during the surgery. In this work, a novel robotic solution to take up the uterus manipulation task during laparoscopic hysterectomy, a task which is performed by a human assistant in the current clinical practice, is presented.

For safety reasons, the robot is designed to have a common remote-centre-of-motion (RCM) to be placed at the patient’s cervix during uterus manipulation. A new arc-based RCM mechanism, namely the linearly-actuated arc-guided (LAAG) RCM mechanism, is proposed to drive one of the degrees of freedom of the robot. Joint motions are decoupled under the spherical coordinate system to reduce the control complexity. Mechanical-based passive safety mechanisms are also introduced to enhance safety. Various user-interfaces such as hand-controlled, foot-controlled, and eye-controlled interfaces are integrated into the system to for human-in-the-loop robot control. In addition, a semi-automated image-based adaptive uterus manipulation approach is proposed. Experiments, including in-lab experiments, cadaveric and clinical studies are conducted to evaluate the proposed designs and approaches.


Tiffany Hiu Man YIP was born in Hong Kong in 1988. She received the BEng degree, MPhil degree, and PhD degree in mechanical and automation engineering from the Chinese University of Hong Kong, in 2010, 2013, and 2017, respectively. Currently, she is a Postdoctoral Fellow at the CUHK T Stone Robotics Institute. Her research interests include the design of mechanisms, mechatronic system integration, medical robotics, human-robot interaction, and vision-assisted robot control. She is particularly interested in cross-disciplinary research and studies such as collaborations with medical experts, social and computer scientists. She has been involved in multiple ITF/RGC/QEF projects on robotics. Her work has been published in the best academic conferences and journals in robotics, such as Robotics and Biomimetics, IROS, ICRA, RCAR, ROBIO, TRO, TMECH. She has received the Best Student Paper Award in RCAR 2017.