Michael Wai Shing Lau

Learn More
Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a method that allows for performing complex operations via natural orifices without skin incisions. Its main tool is a flexible endoscope. Cable-Conduit Mechanisms (CCMs) are often used in NOTES because of its simplicity, safety in design, and easy transmission. Backlash hysteresis nonlinearities(More)
Minimally Invasive Surgery (MIS) has established a revolution in surgical communities, with its many advantages over open surgery. The need of more simplicity and high maneuverability makes the tendon sheath a very suitable mechanism in flexible endoscopic systems. Due to the restriction on size constraints and sterilization problems, traditional sensors(More)
In this paper, we present a novel algorithm for odometry computation based on ceiling vision. The main contribution in this algorithm is the introduction of principal direction detection that can greatly reduce error accumulation problem present in most visual odometry estimation approaches. The principal direction is defined based on the fact that our(More)
Cable-conduit mechanism (CCM) or tendon-sheath mechanism (TSM) is widely used in many flexible robotic systems such as prosthetic hand robots, rehabilitation robots, and surgical robots because it offers efficient transmission of forces/torques from the external actuator to the end effector with light weight and high flexibility. However, the accurate(More)
—In this study, a new position control scheme for the tendon-sheath mechanism (TSM) which is used in flexible medical devices is presented. TSM is widely used in dexterous robotic applications because it can flexibly work in limited space, in constrained environments, and provides efficient power transmission from the external actuator to the distal joint.(More)
good dynamics model is essential and critical for the successful design of navigation and control system of an underwater vehicle. However, it is difficult to determine the hydro-dynamics forces, especially the added mass and the drag coefficients. In this paper, a new experimental method has been used to find the hydrodynamics forces for the ROV II, a(More)