A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery. - Iulian Iordachita; Zhenglong Sun 001; Marcin Balicki; Jin U. Kang; Soo Jay Phee; James Handa; Peter Gehlbach; Russell H. Taylor (Int. J. Comput. Assist. Radiol. Surg., 2009)

Interventional navigation systems for treatment of unresectable liver tumor. - Soo Jay Phee; Kai Yang (Medical Biol. Eng. Comput., 2010)

Towards haptics enabled surgical robotic system for NOTES. - Zhenglong Sun 001; Zheng Wang 002; Soo Jay Phee (RAM, 2011)

Nonlinear Modeling and Parameter Identification of Dynamic Friction Model in Tendon Sheath for Flexible Endoscopic Systems. - Thanh Nho Do; Tegoeh Tjahjowidodo; M. W. S. Lau; Soo Jay Phee (ICINCO (2), 2013)

Haptic feedback and control of a flexible surgical endoscopic robot. - Zheng Wang 002; Zhenglong Sun 001; Soo Jay Phee (Comput. Methods Programs Biomed., 2013)

Modeling tendon-sheath mechanism with flexible configurations for robot control. - Zheng Wang 002; Zhenglong Sun 001; Soo Jay Phee (Robotica, 2013)

Adaptive Control of Position Compensation for Cable-Conduit Mechanisms Used in Flexible Surgical Robots. - Thanh Nho Do; Tegoeh Tjahjowidodo; M. W. S. Lau; Soo Jay Phee (ICINCO (1), 2014)

Adaptive Tracking Approach of Flexible Cable Conduit-Actuated NOTES Systems for Early Gastric Cancer Treatments. - Thanh Nho Do; Tegoeh Tjahjowidodo; Michael Wai Shing Lau; Soo Jay Phee (ICINCO (Selected Papers), 2014)

Design and control of a novel mechatronic tracheostomy tube-inserted suction catheter for automated tracheal suctioning. - Thanh Nho Do; Tian En Timothy Seah; Soo Jay Phee (RAM/CIS, 2015)

Enhanced performances for cable-driven flexible robotic systems with asymmetric backlash profile. - Thanh Nho Do; Tegoeh Tjahjowidodo; Michael Wai Shing Lau; Soo Jay Phee (TePRA, 2015)

Modeling and motion compensation of a bidirectional tendon-sheath actuated system for robotic endoscopic surgery. - Zhenglong Sun 001; Zheng Wang 002; Soo Jay Phee (Comput. Methods Programs Biomed., 2015)

A magnetic soft endoscopic capsule for non-surgical overweight and obese treatments. - Thanh Nho Do; Phuoc Thien Phan; Khek Yu Ho; Soo Jay Phee (IROS, 2016)

Design and Control of a Mechatronic Tracheostomy Tube for Automated Tracheal Suctioning. - Thanh Nho Do; Tian En Timothy Seah; Soo Jay Phee (IEEE Trans. Biomed. Eng., 2016)

Towards active variable stiffness manipulators for surgical robots. - Huu Minh Le; Thanh Nho Do; Lin Cao 002; Soo Jay Phee (ICRA, 2017)

Performance Control of Tendon-Driven Endoscopic Surgical Robots With Friction and Hysteresis. - Thanh Nho Do; Tegoeh Tjahjowidodo; Michael Wai Shing Lau; Soo Jay Phee (CoRR, 2017)

Future of Flexible Robotic Endoscopy Systems. - Tian En Timothy Seah; Thanh Nho Do; Nobuyoshi Takeshita; Khek Yu Ho; Soo Jay Phee (CoRR, 2017)

Position Control of Asymmetric Nonlinearities for a Cable-Conduit Mechanism. - Thanh Nho Do; Tegoeh Tjahjowidodo; Michael Wai Shing Lau; Soo Jay Phee (IEEE Trans Autom. Sci. Eng., 2017)

Distal End Force Sensing with Optical Fiber Bragg Gratings for Tendon-Sheath Mechanisms in Flexible Endoscopic Robots. - Wenjie Lai; Lin Cao 002; Zhilin Xu; Phuoc Thien Phan; Ping Shum 001; Soo Jay Phee (ICRA, 2018)

A Novel Robotic Suturing System for Flexible Endoscopic Surgery. - Lin Cao 002; Xiaoguo Li; Phuoc Thien Phan; Anthony Meng Huat Tiong; Jiajun Liu; Soo Jay Phee (ICRA, 2019)

Pneumatically Actuated Deployable Tissue Distension Device for NOTES for Colon. - Muneaki Miyasaka; Jiajun Liu; Lin Cao 002; Soo Jay Phee (ICRA, 2019)

A Subject-Specific Four-Degree-of-Freedom Foot Interface to Control a Robot Arm. - Yanpei Huang; Etienne Burdet; Lin Cao 002; Phuoc Thien Phan; Anthony Meng Huat Tiong; Soo Jay Phee (CoRR, 2019)

Performance evaluation of a foot-controlled human-robot interface. - Yanpei Huang; Etienne Burdet; Lin Cao 002; Phuoc Thien Phan; Anthony Meng Huat Tiong; Pai Zheng; Soo Jay Phee (CoRR, 2019)

Performance Evaluation of a Foot Interface to Operate a Robot Arm. - Yanpei Huang; Etienne Burdet; Lin Cao 002; Phuoc Thien Phan; Anthony Meng Huat Tiong; Pai Zheng; Soo Jay Phee (IEEE Robotics Autom. Lett., 2019)

Joint Rotation Angle Sensing of Flexible Endoscopic Surgical Robots. - Wenjie Lai; Lin Cao 002; Phuoc Thien Phan; I-Wen Wu; Swee Chuan Tjin; Soo Jay Phee (ICRA, 2020)

A Three-limb Teleoperated Robotic System with Foot Control for Flexible Endoscopic Surgery. - Yanpei Huang; Wenjie Lai; Lin Cao 002; Jiajun Liu; Xiaoguo Li; Etienne Burdet; Soo Jay Phee (CoRR, 2020)

Sewing up the Wounds: A Robotic Suturing System for Flexible Endoscopy. - Lin Cao 002; Xiaoguo Li; Phuoc Thien Phan; Anthony Meng Huat Tiong; Hung Leng Kaan; Jiajun Liu; Wenjie Lai; Yanpei Huang; Huu Minh Le; Muneaki Miyasaka; Khek Yu Ho; Philip Wai Yan Chiu; et al. (IEEE Robotics Autom. Mag., 2020)

Trimanipulation: Evaluation of human performance in a 3-handed coordination task. - Yanpei Huang; Jonathan Eden; Ekaterina Ivanova; Soo Jay Phee; Etienne Burdet (SMC, 2021)

Flexible and Deployable Colon Support Structure for Endoluminal Interventions. - Muneaki Miyasaka; Jiajun Liu; Lin Cao 002; Wenjie Lai; Xiaoguo Li; Anthony Meng Huat Tiong; Cheng Le Gerald Lim; Banjamin Wei Jian Quek; Huang Leng Kaan; Dmitrii Dolgunov; Khek Yu Ho; Soo Jay Phee (IEEE Access, 2021)

Can the Shape of a Planar Pathway Be Estimated Using Proximal Forces of Inserting a Flexible Shaft? - Jiajun Liu; Lin Cao 002; Soo Jay Phee (Frontiers Robotics AI, 2021)

Design and Evaluation of a Foot-Controlled Robotic System for Endoscopic Surgery. - Yanpei Huang; Wenjie Lai; Lin Cao 002; Etienne Burdet; Soo Jay Phee (IEEE Robotics Autom. Lett., 2021)

A Low-Cost, Point-of-Care Test for Confirmation of Nasogastric Tube Placement via Magnetic Field Tracking. - Muneaki Miyasaka; Hao Li; Kon Voi Tay; Soo Jay Phee (Sensors, 2021)

A Detachable FBG-Based Contact Force Sensor for Capturing Gripper-Vegetable Interactions. - Wenjie Lai; Jiajun Liu; Bing Rui Sim; Joel Ming Rui Tan; Chidanand Hegde; Shlomo Magdassi; Soo Jay Phee (ICRA, 2024)

Smart Grow-and-Twine Gripper for Vegetable Harvesting in Vertical Farms. - Jiajun Liu; Wenjie Lai; Bing Rui Sim; Joel Ming Rui Tan; Shlomo Magdassi; Soo Jay Phee (RoboSoft, 2024)

A Flexible FBG-Based Contact Force Sensor for Robotic Gripping Systems. - Wenjie Lai; Huu Duoc Nguyen; Jiajun Liu; Xingyu Chen; Soo Jay Phee (CoRR, 2025)

Transurethral Surgical Robot: Achieving Efficient En Bloc Resection of Bladder Tumor. - Muneaki Miyasaka; Jiajun Liu; Wenjie Lai; Yu Xi Terence Law; Cheng Le Gerald Lim; Banjamin Wei Jian Quek; Ziting Wang; Qing Hui Wu; Edmund Chiong; Soo Jay Phee (IEEE Robotics Autom. Mag., 2025)