Design of an endoscopic stitching device for surgical obesity treatment using a N.O.T.E.S approach. - Kai Xu 001; Jiangran Zhao; James D. Geiger; Albert J. Shih; Minhua Zheng (IROS, 2011)

Development of an Endoscopic Continuum Robot to Enable Transgastric Surgical Obesity Treatment. - Kai Xu 001; Jiangran Zhao; Albert J. Shih (ICIRA (1), 2012)

Design and postural synergy synthesis of a prosthetic hand for a manipulation task. - Kai Xu 001; Jiangran Zhao; Yuheng Du; Xinjun Sheng; Xiangyang Zhu (AIM, 2013)

An endoscopic continuum testbed for finalizing system characteristics of a surgical robot for NOTES procedures. - Jiangran Zhao; Xidian Zheng; Minhua Zheng; Albert J. Shih; Kai Xu 001 (AIM, 2013)

Mechanical Implementation of Postural Synergies of an Underactuated Prosthetic Hand. - Kai Xu 001; Yuheng Du; Huan Liu 009; Xinjun Sheng; Xiangyang Zhu (ICIRA (1), 2013)

Design of a Stereo Handheld Camera Tool for Single Port Laparoscopy. - Kai Xu 001; Zhengchen Dai; Bo Feng; Jiangran Zhao (ICIRA (2), 2014)

An experimental kinestatic comparison between continuum manipulators with structural variations. - Kai Xu 001; Minxiao Fu; Jiangran Zhao (ICRA, 2014)

Mechanical implementation of postural synergies using a simple continuum mechanism. - Kai Xu 001; Huan Liu 009; Yuheng Du; Xinjun Sheng; Xiangyang Zhu (ICRA, 2014)

A foldable stereo vision unit for Single Port Access Laparoscopy. - Kai Xu 001; Jiangran Zhao; Zhengchen Dai (ICRA, 2014)

Design of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy. - Kai Xu 001; Minxiao Fu; Jiangran Zhao (ROBIO, 2014)

Design of an underactuated anthropomorphic hand with mechanically implemented postural synergies. - Kai Xu 001; Huan Liu 009; Yuheng Du; Xiangyang Zhu (Adv. Robotics, 2014)

Dexterity and functionality enhancement of the SJTU Unfoldable Robotic System. - Kai Xu 001; Zhengchen Dai; Jiangran Zhao; Wukun Mei (AIM, 2015)

A single-actuator prosthetic hand using a continuum differential mechanism. - Kai Xu 001; Huan Liu 009; Zenghui Liu; Yuheng Du; Xiangyang Zhu (ICRA, 2015)

Configuration comparison among kinematically optimized continuum manipulators for robotic surgeries through a single access port. - Kai Xu 001; Jiangran Zhao; Xidian Zheng (Robotica, 2015)

A Comparative Study for Postural Synergy Synthesis Using Linear and Nonlinear Methods. - Kai Xu 001; Huan Liu 009; Yuheng Du; Xiangyang Zhu (Int. J. Humanoid Robotics, 2016)

Continuum Differential Mechanisms and Their Applications in Gripper Designs. - Kai Xu 001; Huan Liu 009 (IEEE Trans. Robotics, 2016)

Preliminary Development of a Continuum Dual-Arm Surgical Robotic System for Transurethral Procedures. - Kai Xu 001; Bo Liang; Zhengchen Dai; Jiangran Zhao; Bin Zhao; Huan Liu 009; Liang Xiao; Yinghao Sun (ICIRA (2), 2017)

Design of a Robotic Laparoscopic Tool with Modular Actuation. - Kai Xu 001; Huichao Zhang; Jiangran Zhao; Zhengchen Dai (ICIRA (2), 2017)

An insertable low-cost continuum tool for shape sensing. - Kai Xu 001; Yuyang Chen; Zhaoyu Zhang; Shu'an Zhang; Nianzeng Xing; Xiangyang Zhu (ROBIO, 2017)

Design of a haptic master device for teleoperation applications. - Kai Xu 001; Bin Zhao; Shu'an Zhang; Zhaoyu Zhang; Nianzeng Xing (ROBIO, 2017)

A Single-Actuator Gripper with a Working Mode Switching Mechanism for Grasping and Rolling Manipulation. - Huan Liu 009; Zhaoyu Zhang; Xiangyang Zhu; Kai Xu 001 (AIM, 2018)

Continuum Delta Robot: a Novel Translational Parallel Robot with Continuum Joints. - Zhixiong Yang; Xiangyang Zhu; Kai Xu 001 (AIM, 2018)

FABRIKc: an Efficient Iterative Inverse Kinematics Solver for Continuum Robots. - Weihao Zhang; Zhixiong Yang; Tianlai Dong; Kai Xu 001 (AIM, 2018)

Continuum Manipulator with Redundant Backbones and Constrained Bending Curvature for Continuously Variable Stiffness. - Bin Zhao; Weihao Zhang; Zhaoyu Zhang; Xiangyang Zhu; Kai Xu 001 (IROS, 2018)

Design and Validation of Multi-Layer Brakes for a Lockable Stand for a Surgical Robotic SystemBehaviors. - Tianlai Dong; Yuyang Chen; Lingyun Zeng; Zenghui Liu; Kai Xu 001 (ROBIO, 2018)

Reach-to-Grasp Planning for a Synergy-Controlled Robotic Hand Based on Grasp Quality Prediction. - Zenghui Liu; Zhonghao Wu; Tianlai Dong; Xiangyang Zhu; Kai Xu 001 (ROBIO, 2018)

Kinematic Optimization of a Continuum Surgical Manipulator. - Shu'an Zhang; Yuyang Chen; Qi Li; Bin Zhao; Kai Xu 001 (ROBIO, 2018)

Design of a Sliding-Pin Needle Driver for a Continuum Surgical Robot. - Zhaoyu Zhang; Zhonghao Wu; Lingyun Zeng; Weihao Zhang; Kai Xu 001 (ROBIO, 2018)

CombX: Design of a Haptic Device for Teleoperation. - Bin Zhao; Shu'an Zhang; Zhonghao Wu; Qi Li; Kai Xu 001 (ROBIO, 2018)

The MERO Hand: A Mechanically Robust Anthropomorphic Prosthetic Hand using Novel Compliant Rolling Contact Joint *. - Huan Liu 009; Kai Xu 001; Bruno Siciliano; Fanny Ficuciello (AIM, 2019)

Model-Based Estimation of the Gravity-Loaded Shape and Scene Depth for a Slim 3-Actuator Continuum Robot with Monocular Visual Feedback. - Yuyang Chen; Shu'an Zhang; Lingyun Zeng; Xiangyang Zhu; Kai Xu 001 (ICRA, 2019)

Design of a Cable Driven Floating Robotic Arm with Continuum Joints. - Zhonghao Wu; Marco Cederle; Elisa Rosalinda Giani; Kai Xu 001 (RCAR, 2019)

Mobility Characteristics Analysis of a Dual-Continuum-Joint Translator. - Lingyun Zeng; Xu Liu 036; Yang Zheng; Kai Xu 001 (RCAR, 2019)

Closed Loop Control of a Continuum Surgical Manipulator for Improved Absolute Positioning Accuracy. - Qi Li; Haozhe Yang; Yuyang Chen; Kai Xu 001 (ROBIO, 2019)

Dimension Reduced Instantaneous Inverse Kinematics for Configuration Variable Limits of Continuum Manipulators. - Zhonghao Wu; Haozhe Yang; Xu Liu 036; Kai Xu 001 (ROBIO, 2019)

A Closed-Loop Controller for Cable-Driven Hyper-Redundant Manipulator with Joint Angle Sensors. - Baibo Wu; Lingyun Zeng; Yang Zheng; Shu'an Zhang; Xiangyang Zhu; Kai Xu 001 (ROBIO, 2019)

Design of a Modular Continuum-Articulated Laparoscopic Robotic Tool With Decoupled Kinematics. - Zhonghao Wu; Qi Li; Jiangran Zhao; Jiangping Gao; Kai Xu 001 (IEEE Robotics Autom. Lett., 2019)

Configuration Transition Control of a Continuum Surgical Manipulator for Improved Kinematic Performance. - Shu'an Zhang; Qi Li; Haozhe Yang; Jiangran Zhao; Kai Xu 001 (IEEE Robotics Autom. Lett., 2019)

ParaMaster: Design and Experimental Characterizations of a Haptic Device for Surgical Teleoperation. - Xu Liu 036; Baibo Wu; Zhonghao Wu; Lingyun Zeng; Kai Xu 001 (AIM, 2020)

A Closed-Loop Controller for a Continuum Surgical Manipulator Based on a Specially Designed Wrist Marker and Stereo Tracking. - Haozhe Yang; Baibo Wu; Xu Liu 036; Kai Xu 001 (AIM, 2020)

Design and Kinematic Modeling of a Novel Steerable Needle for Image-Guided Insertion. - Yuyang Chen; Haozhe Yang; Xu Liu 036; Kai Xu 001 (ICRA, 2020)

A Continuum Manipulator with Closed-form Inverse Kinematics and Independently Tunable Stiffness. - Bin Zhao; Lingyun Zeng; Baibo Wu; Kai Xu 001 (ICRA, 2020)

A Sample-Based Color Correction Method for Laparoscopic Images. - Longfei Wang; Qi Li; Haozhe Yang; Jia Huang; Kai Xu 001 (RCAR, 2020)

Reach to Grasp Planning for a Synergy-Controlled Robotic Hand based on Pesudo-Distance Formulation. - Zenghui Liu; Yuyang Chen; Xiangyang Zhu; Kai Xu 001 (Int. J. Humanoid Robotics, 2020)

Feedforward Neural Network Assisted Configuration Transition Control of Continuum Surgical Manipulators. - Yifan Wang; Chuanxiang Zhu; Yue Ding 001; Bo Feng; Kai Xu 001 (M2VIP, 2021)

Inverse Kinematics Formulations of a Continuum Endoscope for a View Adjustment Similar to the da Vinci Endoscope. - Lifei Deng; Zhonghao Wu; Yifan Wang; Linhui Wang; Kai Xu 001 (RCAR, 2021)

Manipulability-Oriented Configuration Transition Control of Continuum Surgical Manipulators Based on Velocity Polytopes. - Yifan Wang; Yang Zheng; Longfei Wang; Bin Xu; Kai Xu 001 (ROBIO, 2021)

Design and Modeling of a Reloadable Coil-Delivery Instrument for Aneurysm Embolization. - Chuanxiang Zhu; Yifan Wang; Yue Ding 001; Xiang Wang; Kai Xu 001 (ROBIO, 2021)

A Variable Curvature Model for Multi-Backbone Continuum Robots to Account for Inter-Segment Coupling and External Disturbance. - Yuyang Chen; Baibo Wu; Jiabin Jin; Kai Xu 001 (IEEE Robotics Autom. Lett., 2021)

Closed-Loop Pose Control and Automated Suturing of Continuum Surgical Manipulators With Customized Wrist Markers Under Stereo Vision. - Baibo Wu; Longfei Wang; Xu Liu 036; Linhui Wang; Kai Xu 001 (IEEE Robotics Autom. Lett., 2021)

Incorporating Trocar Clearance in the Kinematics of Multi-Backbone Continuum Robots for Single-Port Surgery. - Yue Ding 001; Xiang Wang; Haomin Kuang; Kai Xu 001 (ROBIO, 2022)

A Novel Electrode Arrangement for Bipolar Electrosurgical Instruments to Reduce Thermal Spread and Tissue Adhesion: A Proof-of-Concept Study. - Yue Ding 001; Baibo Wu; Chuanxiang Zhu; Kai Xu 001 (ROBIO, 2022)

FABRIKc Delta: Extending the FABRIKc Algorithm to Solve the Forward Kinematics of a Continuum Delta Robot. - Xiang Wang; Yue Ding 001; Chang Zhou; Kai Xu 001 (ROBIO, 2022)

Design and Implementation of a Self-Calibration Method for a Dual-Arm Haptic Device. - Baibo Wu; Xu Liu 036; Chuanxiang Zhu; Kai Xu 001 (ROBIO, 2022)

FC-DenseNet-Based Photometric Stereo for Endoscopes with Close-range Non-parallel Light Illumination. - Chang Zhou; Longfei Wang; Yulin Zhang; Xinjun Sheng; Kai Xu 001 (ROBIO, 2022)

Inverse Kinematics and Dexterous Workspace Formulation for 2-Segment Continuum Robots With Inextensible Segments. - Yifan Wang; Zhonghao Wu; Longfei Wang; Bo Feng; Kai Xu 001 (IEEE Robotics Autom. Lett., 2022)

Automatic Parking for a Surgical Robotic Patient-Side Cart Using Monocular Vision. - Yulin Zhang; Baibo Wu; Chang Zhou; Kai Xu 001 (ROBIO, 2023)

Vision-Based Markerless Tracking for Continuum Surgical Instruments in Robot-Assisted Minimally Invasive Surgery. - Longfei Wang; Chang Zhou; Yuzhen Cao; Ren Zhao; Kai Xu 001 (IEEE Robotics Autom. Lett., 2023)

Towards Ultrasonic Scalpel for Single-Port Robotic Surgery: Design of a Miniature Langevin Ultrasonic Transducer. - Yuzhen Cao; Yue Ding 001; Chuanxiang Zhu; Haomin Kuang; Ren Zhao; Kai Xu 001 (AIM, 2024)

A Markerless 3D Tracking Framework for Continuum Surgical Tools Using a Surgical Tool Partial Pose Estimation Network Based on Domain Randomization. - Chang Zhou; Longfei Wang; Baibo Wu; Kai Xu 001 (Adv. Intell. Syst., 2024)

Proof-of-Concept Development of the Distal Module of a Cystoscope Transurethral Continuum Surgical Robotic System. - Haomin Kuang; Xiang Wang; Chen Zhao; Chuanxiang Zhu; Kai Xu 001 (IEEE Robotics Autom. Lett., 2024)

Closed-Loop Cooperative Manipulation of Deformable Tissue via Visual Feedback Using Multiple Continuum Surgical Manipulators. - Xiang Wang; Haomin Kuang; Chuanxiang Zhu; Kai Xu 001 (IEEE Robotics Autom. Lett., 2025)