Contemporary surgical robotics enhances precision in procedures like needle biopsies and minimally invasive spinal surgeries (MISS). Despite advancements, a key gap remains: the lack of motion-planning algorithms for collaborative robots in complex, multi-needle interventions. This research develops a robust, computationally efficient motion planner designed to navigate obstacle-rich surgical environments, advancing the safety and efficacy of robotic-assisted MISS.

Key topics : 

1. Serial robot modeling 
2. Kinematic & Velocity analysis of serial robots 
3. Optimal layout and workspace identification 
4. Collision modeling, detection, and avoidance during intraoperative surgery 
5. Motion planning algorithms for multi-needle insertions 
6. Kinematic calibration - TCP & DH parameters

Force control in serial robotic arms is critical for tasks requiring delicate manipulation, such as soft tissue dissection, organ retraction, and bone drilling, as well as industrial processes like grinding and polishing. This research proposes a novel force control strategy that leverages advanced algorithms and sensor fusion to ensure consistent, adaptive force application in dynamic environments, enhancing precision, safety, and versatility in both surgical and industrial contexts.

Key topics : 

1. Serial robot modeling
2. Kinematic & Velocity analysis of serial robots
3. Dynamics of serial robots
4. Controller design
5. Sensor fusion 
6. Signal processing
7. Reinforcement learning

Maternal health in developing regions is hindered by limited access to antenatal ultrasound, inadequate infrastructure, and a shortage of skilled practitioners. This research develops a robot-assisted antenatal ultrasound system with autonomous
scanning capabilities, integrating motion-planning and hybrid position-force control to optimize probe precision. Real-time visual servoing dynamically adjusts scanning trajectories based on image feedback, ensuring high-quality ultrasound imaging. By combining advanced robotics and control algorithms, this system aims to expand access to essential prenatal diagnostics and improve maternal care quality.

The initial prototype was demonstrated to technology and academia experts at MEDICA 2022 as a part of the KUKA Innovation Award. 

Key topics : 

1. Ultrasound Imaging 
2. Robotic ultrasound image acquisition using compliance control
3. Autonomous robot manipulation 
4. Visual servoing
5. 3D Surface reconstruction

In the rapidly evolving landscape of assistive and autonomous robotics, environment awareness has emerged as a pivotal paradigm. This transformative concept revolves around equipping robots with the ability to not only perceive but also seamlessly interact with their surroundings. To achieve this level of perception and interaction, advanced algorithms play a crucial role in enhancing both visual and tactile sensing technologies, enabling high levels of environmental awareness. Such systems require the integration of a multitude of sensors and techniques, including sensor fusion, machine learning, and real-time signal/data processing. Alongside these, algorithms that perform real-time 3D reconstruction of the environment—leveraging both visual information and force data—play a crucial role in providing a more accurate understanding of the robot's surroundings.  Our research focuses on the development of robust algorithms for robotic self-awareness, thus facilitating seamless collaboration with humans.

Key topics : 

1. Real-time motion planning with dynamic obstacle detection and avoidance 
2. Adaptive force control techniques for robots
3. 3D scene understanding - Reconstruction, detection, segmentation, and tracking 
4. Robust models for human-robot collaborations

Developing concepts and designs for new robotic and mechatronic systems. This work encompasses multiple disciplines, including mechanical design, electronics design, and software development, all seamlessly integrated into a comprehensive system.

Key aspects :

1. Mechatronic systems design and development
2. Robot controller design
3. Calibration