Liao Wu

Liao Wu
UNSW Sydney | UNSW · School of Mechanical and Manufacturing Engineering

Ph.D. in Mechanical Engineering

About

81
Publications
35,380
Reads
How we measure 'reads'
A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. Learn more
1,293
Citations
Additional affiliations
January 2019 - present
UNSW Sydney
Position
  • Lecturer
January 2016 - January 2019
Queensland University of Technology
Position
  • Fellow
December 2013 - January 2016
National University of Singapore
Position
  • Research Associate

Publications

Publications (81)
Preprint
Full-text available
p>Endoscopic cameras attached to miniaturised snakelike continuum robotic arms can improve dexterity, accessibility, and visibility in minimally invasive surgical tasks. This steerable camera can expand the field of view and enhance the surgical experience with additional degrees of freedom. However, it also creates more control options that compli...
Preprint
Full-text available
p>Endoscopic cameras attached to miniaturised snakelike continuum robotic arms can improve dexterity, accessibility, and visibility in minimally invasive surgical tasks. This steerable camera can expand the field of view and enhance the surgical experience with additional degrees of freedom. However, it also creates more control options that compli...
Article
Full-text available
Capacitive sensors have advanced rapidly to create new applications including wearable sensors for human health monitoring, integrated sensors for intelligent surgical devices, tactile interfaces for robots. Compared to other types of pressure or strain sensors, capacitive sensors require low power consumption and offer excellent linearity and fast...
Article
Full-text available
Artificial perception technologies capable of sensing and feeling mechanical stimuli like human skins are critical enablers for electronic skins (E‐Skins) needed to achieve artificial intelligence. However, most of the reported electronic skin systems lack the capability to process and interpret the sensor data. Herein, a new design of artificial p...
Preprint
Full-text available
Current minimally invasive surgical robots are lacking in force sensing that is robust to temperature and electromagnetic variation while being compatible with micro-sized instruments. This paper presents a multi-axis force sensing module that can be integrated with micro-sized surgical instruments such as biopsy forceps. The proposed miniature sen...
Article
Full-text available
In recent years, advances in modern technology have altered the practice of surgery from open to minimally invasive surgery (MIS) aided by robots. Teleoperated surgical robotic systems (TSRSs) provide numerous significant benefits for MIS over traditional approaches, including improved safety, more efficient and precise surgery, better cosmesis, sh...
Article
Full-text available
Endoscopic cameras attached to miniaturized snake-like continuum robotic arms can improve dexterity, accessibility, and visibility in minimally invasive surgical tasks. This steerable camera can expand the field of view and enhance the surgical experience with additional degrees of freedom. However, it also creates more control options that complic...
Article
Full-text available
Many robotic surgical systems have been developed with microsized forceps for tissue manipulation. However, these systems often lack force sensing at the tool side and the manipulation forces are roughly estimated and controlled relying on the surgeon's visual perception. To address this challenge, we present a vision-based module to enable the mic...
Article
Full-text available
Stiffness-adjustable snake-like robots have been proposed for various applications, including minimally invasive surgery. Based on a variable neutral-line mechanism, previous works proposed a class of snake-like robots that can adjust their stiffness by changing the driving cables’ tensions. A constant curvature hypothesis was used to formulate suc...
Article
Full-text available
Keyhole surgery requires highly dexterous snake-like robotic arms capable of bending around anatomical obstacles to access clinical targets that diverge from the direct port-of-access. Design optimization for these robots under patient-specific anatomical constraints is still lacking, particularly concerning the critical metric of dexterity. In thi...
Article
Full-text available
Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignment have not been fully investigated for eye-in-hand systems–systems that have the camera ( eye ) mounted to the end-effector ( hand ) to gain compactness in confined...
Preprint
Full-text available
In minimally invasive surgery, miniaturisation and in situ adjustable stiffness of robotic manipulators are desired features. Previous research proposed a simple and effective tendon-driven curve-joint manipulator design using a variable neutral-line mechanism, which highly satisfies both criteria. A kinematic model was developed for such a manipul...
Preprint
Full-text available
Telerobotic systems combined with miniaturised snake-like or elephant-trunk robotic arms can improve the ergonomics and accessibility in minimally invasive surgical tasks such as knee arthroscopy. Such systems, however, are usually designed in a specific and integral approach, making it expensive to adapt to various procedures or patient anatomies....
Preprint
Full-text available
Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignment have not been fully investigated for eye-in-hand systems - systems that have the camera (eye) mounted to the end-effector (hand) to gain compactness in confined space...
Article
Deep-learning-based segmentation methods have shown great success across many medical image applications. However, the custom training paradigms suffer from a well-known constraint of the requirement of pixel-wise annotations, which is labor-intensive, especially when they are required to learn new classes incrementally. Contemporary incremental le...
Article
Full-text available
Robotic-assisted orthopaedic procedures demand accurate spatial joint measurements. Tracking of human joint motion is challenging in many applications, such as in sport motion analyses. In orthopaedic surgery, these challenges are even more prevalent, where small errors may cause iatrogenic damage in patients – highlighting the need for robust and...
Chapter
As intraocular surgery progressed, the tools in use have shrunk in size, from 20- to 25-gauge and beyond. The reduction in light intensity caused by this has pushed light pipe advancement in the direction of brighter and brighter light sources. Despite these advances, the rigid nature of regular light pipes still limits the range of illumination, e...
Preprint
Full-text available
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for tracking of the femur, tibia and surgical instruments. Anatomical points inside the leg are measured using Computed...
Article
The distributed sense of touch forms an essential component that defines real-time perception and situational awareness in humans. Electronic skins are an emerging technology in conferring artificial sense of touch for smart human-machine interfaces. However, assigning conformably distributed sense of touch over a large area has been challenging to...
Article
Full-text available
In the past decade, medical robotics has gained significant traction within the surgical field. While the introduction of fully autonomous robotic systems for surgical procedures still remains a challenge, robotic assisted interventions have become increasingly more interesting for the scientific and clinical community. This happens especially when...
Preprint
Full-text available
Tendon-driven snake-like arms have been used to create highly dexterous continuum robots so that they can bend around anatomical obstacles to access clinical targets. In this paper, we propose a design algorithm for developing patient-specific surgical continuum manipulators optimized for oriental dexterity constrained by task-space obstacles. The...
Preprint
Full-text available
Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance has the advantages in terms of increasing the force transmission ability and improving safety with monitored fo...
Preprint
Full-text available
Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance has the advantages in terms of increasing the force transmission ability and improving safety with monitored fo...
Article
Full-text available
Minimally invasive procedures have gained everincreasing popularity due to their advantages of smaller incisions, faster recoveries, fewer complications, and reduced scarring to name a few. With the force exertion and curvilinear flexibility at their distal end effectors, continuum tubular robots have the potential to perform robot-assisted trans-o...
Article
Full-text available
Efficient and robust visual place recognition is of great importance to autonomous mobile robots. Recent work has shown that features learned from convolutional neural networks (CNNs) achieve impressed performance with efficient feature size, where most of them are pooled or aggregated from a convolutional feature map. However, convolutional filter...
Preprint
Full-text available
While the Product of Exponentials (POE) formula has been gaining increasing popularity in modeling the kinematics of a serial-link robot, the Denavit-Hartenberg (D-H) notation is still the most widely used due to its intuitive and concise geometric interpretation of the robot. This paper outlines the development of an analytical solution to automat...
Article
Full-text available
In this paper, 7 revolutions with 6 degrees of freedom (7R 6-DOF) robots having non-spherical wrist are widely used in automatic coating of automobiles and aircrafts. These robots do not follow the Pieper rule; thus, a large amount of time is spent using numerical algorithms to calculate the inverse kinematic (IK) solutions. There- fore, this paper...
Research
Full-text available
Liao Wu CV
Article
Full-text available
The Denavit-Hartenberg (D-H) model and the product of exponentials (POE) model have been two popular methods for modeling the kinematics of a serial-link robot. While these two models are equivalent in essence, no study has revealed how to convert from the POE model to the D-H model. The conversion enables direct utilization of established algorith...
Article
Full-text available
Continuum robots are increasingly used in minimally invasive surgeries. To date, the concentric tube mechanism and the cable-driven mechanism have been two prevalent mechanisms for constructing continuum robots. As these two mechanisms complement each other, it is worth exploring the possibility of combining them together. In this paper, we investi...
Article
Full-text available
Purpose: To determine the perceptions of surgeons at both consultant and resident level to the difficulties of performing knee arthroscopy and to determine their willingness to adopt robotic technology. Methods: A questionnaire was designed to discern the attitude of orthopaedic consultants and residents to the technical challenges of performing...
Conference Paper
Full-text available
Conventional concentric tube robots (CTRs) have low dexterity at the tip, which does not fit the requirements of complicated operations in minimally invasive surgery. A 2mm diameter cable-driven micro end effector is designed and fabricated for CTRs to increase dexterity in confined spaces. The end-effector is made by a simple fabrication procedure...
Article
Full-text available
Minimally invasive surgery-based nasopharyngeal cancer treatment is promising, but currently, it is not a common treatment choice because of the absence of suitable tools. In this paper, a multi-channel concentric tube robot is proposed for the treatment of nasopharyngeal cancer based on natural orifice translumenal endoscopic surgery. The proposed...
Article
Full-text available
Traditional posterior nasopharyngeal biopsy using a flexible nasal endoscope has the risks of abrasion and injury to the nasal mucosa and thus causing trauma to the patient. Recently, a new class of robots known as continuum tubular robots (CTRs) provide a novel solution to the challenge with miniaturized size, curvilinear maneuverability, and capa...
Article
Full-text available
Multirobot comanipulation shows great potential in surpassing the limitations of single-robot manipulation in complicated tasks such as robotic surgeries. However, a dynamic multirobot setup in unstructured environments poses great uncertainties in robot configurations. Therefore, the coordination relationships between the end-effectors and other d...
Article
Full-text available
When a robot is required to perform specific tasks defined in the world frame, there is a need for finding the coordinate transformation between the kinematic base frame of the robot and the world frame. The kinematic base frame used by the robot controller to define and evaluate the kinematics may deviate from the mechanical base frame constructed...
Conference Paper
Full-text available
Light pipe is a tool providing illumination for delicate operations inside the eyeball in an eye surgery. Traditional light pipes with straight shafts have to be reoriented in order to enlarge its illustration range, which implies more risk of damage to the sclera and requires greater operation space for the handle. In order to overcome these limit...
Conference Paper
Full-text available
Continuum tubular robots, which are constructed by telescoping pre-curved elastic tubes, are capable of balancing the force application and steerability during minimally invasive surgeries. These devices are able to reach the desired surgical sites in body cavities without colliding with critical blood vessels, nerves and tissues. However, the moti...
Conference Paper
Full-text available
Comprised of multiple precurved concentric tubes, continuum tubular robots are capable to reach surgical targets while bypassing critical anatomical obstacles during minimally invasive surgeries, such as transnasal and transoral surgeries. To automatically track the surgical target and compensate undesired disturbance, an eye-in-hand image-based vi...
Article
Full-text available
This paper proposes an algorithm for robotic kinematic calibration based on a minimal product of exponentials (POE)-based model for the applications where only position measurements are required. Both joint zero-offset errors and initial frame twist error can be involved in this model. Analysis of the identifiability of these errors shows that at m...
Article
Full-text available
A robot system proposed in this paper can be used to automatic spraying for aircraft and other products with large-scale free-form surfaces. The mechanical structure and control system structure of the spray system are described. The spraying operation process is analyzed in details, and the technologies related to the spraying operation planning,...