ICIRA 2021 Invited Speech Given by Prof. Kai Xu

2021-08-12 15:06:30


Towards a General Robotic Surgical Platform for Multi and Single Port Laparoscopy



Prof. Kai Xu


October 23, 2021, Yantai





Abstract: Robot-assisted laparoscopic Minimally Invasive Surgery has gained substantial attentions due to its distal dexterity, high precision and intuitive eye-hand coordination. In these procedures, stick-like surgical tools with distal wrists are usually manipulated by several patient-side manipulators. These patient-side manipulators shall realize Remote-Center-of-Motion movements and are subject to risks of mutual collisions. On the other hand, continuum surgical manipulators, often with multiple segments, usually have several DoFs (Degrees of Freedom) for the movements in a patient's cavity, and only need a lockable bedside stand, rather than a manipulator. This talk will present the efforts to design and implement a general robotic surgical platform for multi and single port laparoscopy. Kinematics design, configuration transition control and system integration will be introduced. Mockup simulation, animal experiments and clinical trials will be reported, demonstrating the effectiveness of the system.



Biography: Kai Xu, received a B.E. and an M.S. from the Department of Precision Instruments and Mechanology, Tsinghua University, Beijing, China, and a Ph.D. (with distinction) from the Department of Mechanical Engineering, Columbia University, New York, NY. He is now a full professor with the School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China, as the director of the Robotics Innovation and Intervention Laboratory. His research interests include surgical robots, prosthetic hands, flexible manipulators, special industrial robots and continuum mechanisms. Prof. Xu has served as a national expert of China for IEC/ISO JWG9 on medical robotic equipment and systems since 2012, and was an Associate Editor for IEEE T-RO. He was selected into the NCET program by Ministry of Education, China, in 2010, the Pujiang Scholar program and the Rising Star program by the Shanghai metropolitan government in 2011 and 2013, respectively, and received the National Science Fund for Excellent Young Scholars in 2017.