关于北京术锐机器人股份有限公司

北京术锐机器人股份有限公司（Beijing Surgerii Robotics Company Limited）由上海交通大学徐凯教授依据“科技成果、自主转化”相关政策创立。术锐®机器人是一家致力于自主研发、生产及商业化具备全球领先优势的微创腔镜手术机器人系统及配套器械产品的高科技医疗器械企业，公司已完成北京、上海两地布局，生产制造基地位于北京，创新中心位于上海。

北京术锐机器人股份有限公司以中国原创智造，着眼全球战略布局，逐步成为全球手术机器人领域的技术先行者，满足日益增长的高端精准医疗需求，推动卫生健康事业发展。

 一、 发展历程

2004年——术锐创始人徐凯博士于哥伦比亚大学参与喉部微创手术机器人研制

2007年——术锐创始人徐凯博士担任哥伦比亚大学单孔腹腔镜手术机器人研发项目主设计师

2009年——世界首套单孔腹腔镜手术机器人实验室样机IREP系统研制成功

2010年——术锐创始人徐凯博士回国受聘上海交通大学继续相关研究

2013年——术锐创始人徐凯教授成功发明颠覆性的“对偶连续体机构” 

2014年——上海交大单孔腔镜机器人SURS问世，一举超越哥伦比亚大学的IREP系统

2016年——术锐创始人徐凯教授确立以“术锐”为载体实施腔镜手术机器人产业化

2017年——术锐完成天使轮融资，北京总部、上海分部落成

2018年——分体式术锐®手术机器人在全国双创周首秀

2019年——分体式术锐®手术机器人在“世界机器人大会”亮相

2020年——术锐®腔镜手术机器人成为通过创新医疗器械特别审查程序的首套单孔手术机器人产品

2021年——徐凯教授向总理汇报术锐®手术机器人自主可控关键技术进展同年，术锐完成国投招商和顺为资本B轮融资、美敦力B+轮融资

2022年——术锐完成全球首项泌尿外科单孔手术机器人随机对照多中心注册临床试验，同年术锐完成C轮融资，由上海生物医药基金领投

2023年——术锐完成C+轮融资并完成股改，由正心谷领投；术锐®腔镜手术机器人成为国内首个获准上市的单孔手术机器人，采用国际首创技术，有效填补国内空白

2024年——成为国内首个可应用于泌尿外科及妇科腹腔镜手术操作的单孔手术机器人

二、 核心产品

术锐徐凯教授历经近二十年打磨，潜心研发腔镜手术机器人核心关键技术，设计出搭载镍钛合金蛇形手术器械的术锐®单孔腔镜手术机器人，继2020年成为中国首台通过创新医疗器械特别审查程序的单孔手术机器人之后，于2023年6月获得国家药品监督管理局（NMPA）的上市批准（注册证号：国械注准20233010833）并于2024年2月获得适用范围的变更批准，用于泌尿外科及妇科腹腔镜手术操作，是国内首款也是目前唯一一款能够同时覆盖泌尿外科和妇科腹腔镜手术操作的多科室单孔腔镜手术机器人。

术锐®单孔腔镜手术机器人采用国际首创、自主知识产权的创新技术，具有运动范围广、负载能力强和可靠性高等技术优势，可提高操作者精细化水平，减少手术创伤。

三、 研发实力

术锐®机器人掌握腔镜手术机器人全链条关键核心技术、拥有核心自主知识产权，公司拥有中国专利近200项、海外专利近100项，尚有300余项中外

四、 临床进展

在术锐®机器人的临床应用过程中，分别与上海长海医院、上海交通大学附属瑞金医院、北京协和医院等等众多医院开展临床合作，成功完成了全球首个随机对照的单孔机器人泌尿外科临床试验，以及众多个国内外创新术式，包括全球首例单孔机器人腹膜外肾上腺肿瘤切除术、全球首例单孔机器人腹膜外肾部分切除术、全球首例全单孔机器人远端胃癌根治术（毕I式吻合）、全球首例全单孔机器人根治性全胃切除术、全球首例单孔机器人近端胃癌根治术（双通道吻合）、亚洲首例纯单孔机器人前列腺癌根治术、亚洲首例纯单孔机器人肾癌肾部分切除术、全国首例单孔手术机器人乙状结肠癌根治术、全国首例单孔手术机器人直肠癌根治术、全国首例小儿普外科纯单孔机器人胆总管囊肿切除结合肝管空肠Roux-Y吻合术以及全国首例小儿肿瘤外科纯单孔机器人卵巢畸胎瘤切除术等等。

五、 企业文化

企业愿景：成为世界级微创外科引领者。

使命：创新微创外科，惠及全球医患。

人才观：术业专攻凝聚力，锐意进取有担当，推崇“担当、敬业、合作“的企业主人翁精神。

徐凯（北京术锐机器人股份有限公司，上海交通大学教授、博导）

徐凯，男，1979年出生，汉族，北京术锐机器人股份有限公司创始人，上海交通大学教授、博导。基金委优青、北京市海聚特聘专家、教育部新世纪优秀人才、上海浦江人才、青年科技启明星。

一、 人物经历

清华大学学士、硕士；美国哥伦比亚大学博士；基金委优青、北京市海聚特聘专家；教育部新世纪优秀人才；主持国家自然科学基金项目四项，科技部重点研发计划专项项目一项；发表Sci/Ei论文100余篇，获中外发明专利授权60余项；曾任世界机器人学顶级杂志IEEE Transactions on Robotics副编辑，国际委标准国际专家；现任中国医学装备协会人工智能和医用机器人工作委员会第二届副主任委员、上海研究型医院学会普通外科微创专业委员会副主任委员、中国技术市场协会医疗器械科技创新专业委员会专家委员会常务委员、第一届医用机器人标准化技术归口单位专家组专家、中国医学装备协会应用评价分会第一届委员、中国生物医学工程学会医用机器人工程与临床应用分会委员、上海市医师协会第一届医学机器人专业委员会委员等。

二、人物职务及荣誉

现任：北京术锐机器人股份有限公司创始人，上海交通大学教授、博导

所获荣誉：

1. 2024年《院土专家科学诠释者指导团》青年科普专家

2. 2023年WISE未来商业潜力之王 年度人物

3. 2022年品牌强国·百名科技创新企业家

4. 2022年科学家创业先锋榜上榜人物

5. 2017年获自然基金委优秀青年科学基金

6. 2017年获得北京市特聘专家称号

三、参与活动

（一）个人承担的省部级重大科研项目：

项目一：

项目来源：北京市科学技术委员会医药创新品种研发培育及产业支撑平台能力建设

项目名称：多孔腔镜手术机器人的临床前研究

项目时间：2019-01-01 至 2021-06-30

项目二：

项目来源：国家自然科学基金委优秀青年科学基金项目

项目名称：多杆连续体机构的机构学研究

项目时间：2018-01-01 至 2020-12-31

项目三：

项目来源：北京市科学技术委员会G20工程医药产业创新研发-2018年度

高端医疗器械研发项目

项目名称：单孔腔镜手术机器人的临床前研究

项目时间：2018-01-01 至 2020-12-31

项目四：

项目来源：科技部国家重点研发计划“数字诊疗装备研发”专项

项目名称：单孔腔镜手术机器人的关键部件研发和系统集成

项目时间：2017-07-01 至 2020-12-3

（二）个人获奖科研项目：

1、所获奖项：

科技创新优秀发明成果奖-“一种连续体传动机构及手术工具”

授奖机构：中国科学家论坛

获奖时间：2021年

2、所获奖项:

A Closed-Loop Controller for a Continuum Surgical Manipulator Based on a Specially Designed Wrist Marker and Stereo Tracking获得AIM国际会议Best Conference Paper

授奖机构：AIM国际会议组委会

获奖时间：2020年

3、所获奖项：

Dimension Reduced Instantaneous Inverse Kinematics for Configuration Variable Limits of Continuum Manipulators获得ROBIO国际会议Best Paper Finalist

授奖机构：ROBIO国际会议组委会

获奖时间：2019年

4、所获奖项:

国家自然科学基金委设立的优秀青年科学基金项目(优青)

授奖机构：国家自然科学基金委员会

获奖时间：2017年

四、人物专访

1、医学界智库——挑战达芬奇手术机器人，这家国产新锐凭什么？

2、动脉网——打破垄断，术锐原创志在手术机器人市场变局

3、北京周报Beijing Review——Cracking the da vinci Code

4、澎湃新闻——科学家×创业者｜北京术锐创始人徐凯：单孔手术机器人蓄势待发

5、科技与金融杂志——封面故事 | 北京术锐徐凯：自研单孔技术，破解“达芬奇密码”

6、中国高新技术产业报道——术锐手术机器人：“黑马”养成记

7、央视网AI频道——徐凯：智慧医疗给手术带来的变革

8、中国企业家杂志——手术机器人达芬奇“一家独大”，国产后起者术锐发动“侧翼战”

9、China IT——术锐医疗机器人助力改善手术体验，造福患者

10、机器人大讲堂——访谈 | 国产腔镜手术机器人前景可期——专访术锐CTO徐凯教授

五、学术发表

期刊论文:

1. Y. Chen, C. Zhang, Z. Wu, J. Zhao, B. Yang, J. Huang, Q. Luo, L. Wang, and K. Xu, "The SHURUI System: A Modular Continuum Surgical Robotic Platform for Multiport, Hybrid-Port, and Single-Port Procedures," IEEE/ASME Transactions on Mechatronics, Vol. Early Access, pp. 1-12, 2021. 

2. Z. Wu, C. Zhu, Y. Ding, Y. Wang, B. Xu, and K. Xu, "A Robotic Surgical Tool with Continuum Wrist, Kinematically Optimized Curved Stem, and Collision Avoidance Kinematics for Single Port Procedure," Mechanism and Machine Theory, Vol. 173, No.104863, July 2022. 

3. L. Wang, B. Wu, X. Wang, Q. Zhu, and K. Xu, "Endoscopic Image Luminance Enhancement Based on the Inverse Square Law for Illuminance and Retinex," The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. e2396, pp. 1-13, March 2022. 

4. Y. Wang, Z. Wu, L. Wang, B. Feng, and K. Xu, "Inverse Kinematics and Dexterous Workspace Formulation for 2-Segment Continuum Robots With Inextensible Segments," IEEE Robotics and Automation Letters, Vol. 7, No.1, pp. 510-517, Jan 2022. 

5. B. Wu, L. Wang, X. Liu, L. Wang, and K. Xu, "Closed-Loop Pose Control and Automated Suturing of Continuum Surgical Manipulators With Customized Wrist Markers Under Stereo Vision," IEEE Robotics and Automation Letters, Vol. 6, No.4, pp. 7137-7144, Oct. 2021. 

6. Y. Zheng, B. Wu, Y. Chen, L. Zeng, G. Gu, X. Zhu, and K. Xu, "Design and Validation of Cable-Driven Hyper-Redundant Manipulator with a Closed-Loop Puller-Follower Controller," Mechatronics, Vol. 78, No.102605, pp. 1-12, Oct 2021. 

7. Y. Zheng, X. Liu, B. Zhao, B. Wu, and K. Xu, "An Affordable Haptic Device with Force and Torque Outputs," International Journal of Robotic Engineering, Vol. 6, No.032, pp. 1-24, May 2021. 

8. Y. Chen, B. Wu, J. Jin, and K. Xu, "A Variable Curvature Model for Multi-Backbone Continuum Robots to Account for Inter-Segment Coupling and External Disturbance," IEEE Robotics and Automation Letters, Vol. 6, No.2, pp. 1590-1597, April 2021. 

9. Z. Liu, Y. Chen, X. Zhu, and K. Xu, "Reach to Grasp Planning for a Synergy-Controlled Robotic Hand Based on Pesudo-Distance Formulation," International Journal of Humanoid Robotics, Vol. 17, No.5, p. 2050015, 2020. 

10. H. Liu, B. Zhao, Z. Liu, and K. Xu, "Design of a Lightweight Single‐Actuator Multi‐Grasp Prosthetic Hand with Force Magnification," ASME Journal of Mechanisms and Robotics, Vol. 12, No.5, p. 051014, 2020. 

11. Y. Chen, S. a. Zhang, Z. Wu, B. Yang, Q. Luo, and K. Xu, "A Review of Surgical Robotic Systems for Keyhole and Endoscopic Procedures: State of the Art and Perspectives," Frontiers of Medicine, Vol. 14, pp. 382-403, 2020. 

12. B. Zhao, L. Zeng, Z. Wu, and K. Xu, "A Continuum Manipulator for Continuously Variable Stiffness and Its Stiffness Control Formulation," Mechanism and Machine Theory, Vol. 149, pp. 103746, Jul 2020. 

13. B. Zhao, S. a. Zhang, Z. Wu, B. Yang, and K. Xu, "CombX: Design and Experimental Characterizations of a Haptic Device for Surgical Teleoperation," The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 16, No.1, pp. e2042, Feb 2020. 

14. Z. Wu, Q. Li, J. Zhao, J. Gao, and K. Xu, "Design of a Modular Continuum-Articulated Laparoscopic Robotic Tool with Decoupled Kinematics," IEEE Robotics and Automation Letters, Vol. 4, No.4, pp. 3545-3552, Oct 2019.

15. S. Zhang, Q. Li, H. Yang, J. Zhao, and K. Xu, "Configuration Transition Control of a Continuum Surgical Manipulator for Improved Kinematic Performance," IEEE Robotics and Automation Letters, Vol. 4, No.4, pp. 3750-3757, Oct 2019.

16. Z. Yang, B. Zhao, B. Liang, X. Zhu, and K. Xu, "CurviPicker: a Continuum Robot for Pick-and-Place Tasks," Assembly Automation, Vol. 39, No.3, pp. 410-421, 2019. 

17. K. Xu, Z. Liu, B. Zhao, H. Liu, and X. Zhu, "Composed Continuum Mechanism for Compliant Mechanical Postural Synergy: An Anthropomorphic Hand Design Example," Mechanism and Machine Theory, Vol. 132, pp. 108-122, Feb 2019. 

18. Z. Dai, Z. Wu, J. Zhao, and K. Xu, "A Robotic Laparoscopic Tool with Enhanced Capabilities and Modular Actuation," Science China Technological Sciences, Vol. 62, No.1, pp. 47-59, 2019. 

19. 徐凯 and 刘欢, "多杆连续体机构:构型与应用," 机械工程学报, Vol. 54, No.13, pp. 25-33, Jul 2018. 

20. K. Xu, H. Liu, Z. Zhang, and X. Zhu, "Wrist-Powered Partial Hand Prosthesis Using a Continuum Whiffle Tree Mechanism: A Case Study," IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 26, No.3, pp. 609-618, March 2018. 

21. K. Xu and H. Liu, "Continuum Differential Mechanisms and Their Applications in Gripper Designs," IEEE Transactions on Robotics, Vol. 32, No.3, pp. 754-762, June 2016. 

22. K. Xu, H. Liu, Y. Du, and X. Zhu, "A Comparative Study for Postural Synergy Synthesis Using Linear and Nonlinear Methods," International Journal of Humanoid Robotics, Vol. 13, No.3, pp. 1650009, 2016. 

23. S. Liu, Z. Yang, Z. Zhu, L. Han, X. Zhu, and K. Xu, "Development of a Dexterous Continuum Manipulator for Exploration and Inspection in Confined Spaces," Industrial Robot: An International Journal, Vol. 43, No.3, pp. 284-295, 2016.

24. K. Xu, J. Zhao, and X. Zheng, "Configuration Comparison among Kinematically Optimized Continuum Manipulators for Robotic Surgeries through a Single Access Port," Robotica, Vol. 33, No.10, pp. 2025-2044, Dec 2015. 

25. K. Xu, J. Zhao, and M. Fu, "Development of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy," IEEE/ASME Transactions on Mechatronics, Vol. 20, No.5, pp. 2133-2145, Oct 2015. 

26. Y. Wang, R. K. Chen, B. L. Tai, K. Xu and A. J. Shih, "Study of Insertion Force and Deformation for Suturing With Precurved NiTi Guidewire," Journal of Biomechanical Engineering, Vol. 137, No.4, pp. 041004, April 2015. 

27. J. Zhao, B. Feng, M.-H. Zheng, and K. Xu, "Surgical Robots for SPL and NOTES: a Review," Minimally Invasive Therapy and Allied Technologies, Vol. 24, No. 1, pp. 8-17, Jan 2015. 

28. K. Xu, H. Liu, Y. Du, and X. Zhu, "Design of an Underactuated Anthropomorphic Hand with Mechanically Implemented Postural Synergies," Advanced Robotics, Vol. 28, No. 21, pp. 1459-1474, Nov 2014. 

29. K. Xu, J. Zhao, D. Qiu, and Y. Wang, "A Pilot Study of a Continuum Shoulder Exoskeleton for Anatomy Adaptive Assistances," ASME Journal of Mechanisms and Robotics, Vol. 6, No. 4, pp. 041011, Jun 2014 

30. J. Ding, R. E. Goldman, K. Xu, P. K. Allen, D. L. Fowler, and N. Simaan, "Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for Single-Port Access Surgery," IEEE/ASME Transactions on Mechatronics, Vol. 18, No. 5, pp. 1612-1624, Oct 2013 

31. 徐凯, "连续体机构在单腔镜微创手术机器人系统中的应用", 机器人技术与应用, Vol. 2011, No. 4, pp. 28-32, 2011

32. K. Xu and N. Simaan, "Intrinsic Wrench Estimation and Its Performance Index of Multi-Segment Continuum Robots," IEEE Transactions on Robotics, Vol.26, pp.555-561, June, 2010 

33. K. Xu and N. Simaan, "Analytic Formulation for Kinematics, Statics and Shape Restoration of Multi-Backbone Continuum Robots via Elliptic Integrals," ASME Journal of Mechanisms and Robotics, Vol. 2, DoI.011006-1, Feb, 2010 

34. N. Simaan, K. Xu, A. Kapoor, W. Wei, P. Kazanzides, P. Flint, and R. H. Taylor, "Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat," International Journal of Robotics Research, Vol. 28, No. 9, 1134-1153 

35. K. Xu and N. Simaan, "An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots," IEEE Transactions on Robotics, vol. 24, pp. 576-587, June 2008 

36. 徐凯, 陈恳, 刘莉, and 杨东超, "基于六维力/力矩传感器和关节力矩的仿人机器人步态补偿算法", 机器人, Vol. 28, No. 2, pp. 213-218, 2006

37. 徐凯, 陈恳, 刘莉, and 杨东超, "基于主支撑腿运动优化的仿人机器人快速步态规划算法", 机器人, Vol. 27, No. 3, pp. 203-209, 2005

38. 赵建东, 徐凯, 付成龙, 杨向东 and 陈恳, "仿人机器人踝侧摆的自调节模糊非线性控制研究", 机器人, Vol. 26, No. 2, pp. 127-132, 2004

39. 杨东超, 刘莉, 徐凯, 汪劲松 and 陈恳, "拟人机器人运动学分析", 机械工程学报, Vol. 39, No. 9, pp. 70-74, 2003

40. 欧阳兴, 陈恳, 徐凯 and 汪劲松, "弹性变形对仿人机器人步态规划的影响分析", 机床与液压, Vol. 185, No. 5, pp. 19-21, 2003

41. 赵建东, 邵黎君, 徐凯, 刘莉 and 陈恳, "基于CAN总线的仿人机器人关节伺服控制系统研究", 机器人, Vol. 24, No. 5, pp. 421-426, 2002

42. 杨东超, 徐凯, 刘莉, and 陈恳, "利用3DS MAX实现拟人机器人动画仿真", 机械设计与制造, Vol. 2002, No. 4, pp. 48-49, 2002

会议论文：

1. Y. Wang, Y. Zheng, L. Wang, B. Xu, and K. Xu, "Manipulability-Oriented Configuration Transition Control of Continuum Surgical Manipulators Based on Velocity Polytopes," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Sanya, China, 2021, pp. 533-538. 

2. C. Zhu, Y. Wang, Y. Ding, X. Wang, and K. Xu, "Design and Modeling of a Reloadable Coil-Delivery Instrument for Aneurysm Embolization," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Sanya, China, 2021, pp. 42-48. 

3. Y. Wang, C. Zhu, Y. Ding, B. Feng, and K. Xu, "Feedforward Neural Network Assisted Configuration Transition Control of Continuum Surgical Manipulators," in International Conference on Mechatronics and Machine Vision in Practice (M2VIP), Shanghai, China, 2021, pp. 617-622. 

4. L. Deng, Z. Wu, Y. Wang, L. Wang, and K. Xu, "Inverse Kinematics Formulations of a Continuum Endoscope for a View Adjustment Similar to the da Vinci Endoscope," in IEEE International Conference on Real-time Computing and Robotics (RCAR), Xining, China, 2021, pp. 57-62. 

5. L. Wang, Q. Li, H. Yang, J. Huang, and K. Xu, "A Sample-Based Color Correction Method for Laparoscopic Images," in IEEE International Conference on Real-time Computing and Robotics (RCAR), Asahikawa, Japan, 2020, pp. 446-451. 

6. H. Yang, B. Wu, X. Liu, and K. Xu, "A Closed-Loop Controller for a Continuum Surgical Manipulator Based on a Specially Designed Wrist Marker and Stereo Tracking," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, Massachusetts, USA, 2020, pp. 350-355.  [Best Conference Paper]

7. X. Liu, B. Wu, Z. Wu, L. Zeng, and K. Xu, "ParaMaster: Design and Experimental Characterizations of a Haptic Device for Surgical Teleoperation," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, Massachusetts, USA, 2020, pp. 375-380. 

8. B. Zhao, L. Zeng, B. Wu, and K. Xu, "A Continuum Manipulator with Closed-form Inverse Kinematics and Independently Tunable Stiffness," in IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 1847-1853. 

9. Y. Chen, H. Yang, X. Liu, and K. Xu, "Design and Kinematic Modeling of a Novel Steerable Needle for Image-Guided Insertion," in IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 2400-2406. 

10. Q. Li, H. Yang, Y. Chen, and K. Xu, "Closed Loop Control of a Continuum Surgical Manipulator for Improved Absolute Positioning Accuracy," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, Yunnan, China, 2019, pp. 1551-1556. 

11. Z. Wu, H. Yang, X. Liu, and K. Xu, "Dimension Reduced Instantaneous Inverse Kinematics for Configuration Variable Limits of Continuum Manipulators," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, Yunnan, China, 2019, pp. 303-308.  [Best Paper Finalist]

12. B. Wu, L. Zeng, Y. Zheng, S. a. Zhang, X. Zhu, and K. Xu, "A Closed-Loop Controller for Cable-Driven Hyper-Redundant Manipulator with Joint Angle Sensors," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, Yunnan, China, 2019, pp. 2433-2438. 

13. Z. Wu, M. Cederle, E. R. Giani, and K. Xu, "Design of a Cable Driven Floating Robotic Arm with Continuum Joints," in IEEE International Conference on Real-time Computing and Robotics (RCAR), Irkutsk, Russia, 2019, pp. 749-754. 

14. L. Zeng, X. Liu, Y. Zheng, and K. Xu, "Mobility Characteristics Analysis of a Dual-Continuum-Joint Translator," in IEEE International Conference on Real-time Computing and Robotics (RCAR), Irkutsk, Russia, 2019, pp. 118-123. 

15. H. Liu, K. Xu, B. Siciliano, and F. Ficuciello, "The MERO Hand: a Mechanically Robust Anthropomorphic Prosthetic Hand Using Novel Compliant Joint," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Hong Kong, China, 2019, pp. 126-132. 

16. Y. Chen, S. a. Zhang, L. Zeng, X. Zhu, and K. Xu, "Model-Based Estimation of the Gravity-Loaded Shape and Scene Depth for a Slim 3-Actuator Continuum Robot with Monocular Visual Feedback," in IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019, pp. 4416-4421. 

17. S. Zhang, Y. Chen, Q. Li, B. Zhao, and K. Xu, "Kinematic Optimization of a Continuum Surgical Manipulator," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 2018, pp. 2069-2074. 

18. B. Zhao, S. Zhang, Z. Wu, Q. Li, and K. Xu, "CombX: Design of a Haptic Device for Teleoperation," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 2018, pp. 1969-1974. 

19. T. Dong, Y. Chen, L. Zeng, Z. Liu, and K. Xu, "Design and Validation of Multi-Layer Brakes for a Lockable Stand for a Surgical Robotic System," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 2018, pp. 1244-1249. 

20. Z. Zhang, Z. Wu, L. Zeng, W. Zhang, and K. Xu, "Design of a Sliding-Pin Needle Driver for a Continuum Surgical Robot," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 2018, pp. 922-927.  [Best Student Paper Finalist]

21. Z. Liu, Z. Wu, T. Dong, X. Zhu, and K. Xu, "Reach-to-Grasp Planning for a Synergy-Controlled Robotic Hand Based on Grasp Quality Prediction," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 2018, pp. 778-783. 

22. B. Zhao, W. Zhang, Z. Zhang, X. Zhu, and K. Xu, "Continuum Manipulator with Redundant Backbones and Constrained Bending Curvature for Continuously Variable Stiffness," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018, pp. 7492-7499. 

23. W. Zhang, Z. Yang, T. Dong, and K. Xu, "FABRIKc: An Efficient Iterative Inverse Kinematics Solver for Continuum Robots," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Auckland, New Zealand, 2018, pp. 346-352. 

24. Z. Yang, X. Zhu, and K. Xu, "Continuum Delta Robot: a Novel Translational Parallel Robot with Continuum Joints," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Auckland, New Zealand, 2018, pp. 748-755. 

25. H. Liu, Z. Zhang, T. Dong, X. Zhu, and K. Xu, "A Single-Actuator Gripper with a Working Mode Switching Mechanism for Grasping and Rolling Manipulation," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Auckland, New Zealand, 2018, pp. 359-364. 

26. K. Xu, Y. Chen, Z. Zhang, S. a. Zhang, N. Xing, and X. Zhu, "An Insertable Low-Cost Continuum Tool for Shape Sensing," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau SAR, China, 2017, pp. 2044-2049. 

27. K. Xu, B. Zhao, S. a. Zhang, Z. Zhang, and N. Xing, "Design of a Haptic Master Device for Teleoperation Applications," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau SAR, China, 2017, pp. 1436-1441. 

28. K. Xu, H. Zhang, J. Zhao, and Z. Dai, "Design of a Robotic Laparoscopic Tool with Modular Actuation," in International Conference on Intelligent Robotics and Applications (ICIRA), Wuhan, China, 2017, pp. 298-310. 

29. K. Xu, B. Liang, Z. Dai, J. Zhao, B. Zhao, H. Liu, L. Xiao, and Y. Sun, "Preliminary Development of a Continuum Dual-Arm Surgical Robotic System for Transurethral Procedures," in International Conference on Intelligent Robotics and Applications (ICIRA), Wuhan, China, 2017, pp. 311-322. 

30. K. Xu, Z. Dai, J. Zhao, and W. Mei, "Dexterity and Functionality Enhancement of the SJTU Unfoldable Robotic System," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Busan, Korea, 2015, pp. 151-157. 

31. K. Xu, H. Liu, Z. Liu, Y. Du, and X. Zhu, "A Single-Actuator Prosthetic Hand Using a Continuum Differential Mechanism," in IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, 2015, pp. 6457-6462. 

32. K. Xu, W. Mei, Z. Yang, L. Han, and X. Zhu, "Design of a Hyper-Redundant Continuum Manipulator for Intra-Cavity Tasks," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Bali, Indonesia, 2014, pp. 380-385. 

33. K. Xu, M. Fu, and J. Zhao, "Design of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Bali, Indonesia, 2014, pp. 53-57. 

34. K. Xu, Y. Wang, and Z. Yang, "Design of a Continuum Wearable Robot for Shoulder Rehabilitation," in International Conference on Intelligent Robotics and Applications (ICIRA), Guangzhou, China, 2014, pp. 364-375. 

35. K. Xu, Z. Dai, B. Feng, and J. Zhao, "Design of a Stereo Handheld Camera Tool for Single Port Laparoscopy," in International Conference on Intelligent Robotics and Applications (ICIRA), Guangzhou, China, 2014, pp. 299-310. 

36. K. Xu, Y. Wang, and Z. Yang, "Design and Preliminary Experimentation of a Continuum Exoskeleton for Self-Provided Bilateral Rehabilitation," in IEEE International Conference on Information and Automation (ICIA), Hailar, Inner Mongolia, China, 2014, pp. 327-332.  [Best Conference Paper]

37. K. Xu, J. Zhao, and Z. Dai, "A Foldable Stereo Vision Unit for Single Port Access Laparoscopy," in IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014, pp. 4182-4187. 

38. K. Xu, M. Fu, and J. Zhao, "An Experimental Kinestatic Comparison between Continuum Manipulators with Structural Variations," in IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014, pp. 3258-3264.

39. K. Xu, H. Liu, Y. Du, X. Sheng, and X. Zhu, "Mechanical Implementation of Postural Synergies Using a Simple Continuum Mechanism," in IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014, pp. 1348-1353. 

40. K. Xu, J. Zhao, and G. Liu, "Synthesis of a Micro Motor Actuated by Remote Resonant Magnetic Fields," in IEEE International Conference on Information and Automation (ICIA), Yinchuan, Ningxia, China, 2013, pp. 331-336.  [Best Conference Paper]

41. K. Xu, Y. Du, H. Liu, X. Sheng, and X. Zhu, "Mechanical Implementation of Postural Synergies of an Underactuated Prosthetic Hand," in International Conference on Intelligent Robotics and Applications (ICIRA), Busan, Korea, 2013, pp. 463-474. 

42. K. Xu, Y. Wang, and D. Qiu, "Design Simulations of the SJTU Continuum Arm Exoskeleton (SCAX)," in International Conference on Intelligent Robotics and Applications (ICIRA), Busan, Korea, 2013, pp. 351-362. 

43. K. Xu and G. Liu, "Design of Selectively Controllable Micro Actuators Powered by Remote Resonant Magnetic Fields," in International Conference on Intelligent Robotics and Applications (ICIRA), Busan, Korea, 2013, pp. 143-154. 

44. J. Zhao, X. Zheng, M. Zheng, A. J. Shih, and K. Xu, "An Endoscopic Continuum Testbed for Finalizing System Characteristics of a Surgical Robot for NOTES Procedures," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Wollongong, Australia, 2013, pp. 63-70.  [Best Student Paper]

45. K. Xu, J. Zhao, Y. Du, X. Sheng, and X. Zhu, "Design and Postural Synergy Synthesis of a Prosthetic Hand for a Manipulation Task," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Wollongong, Australia, 2013, pp. 56-62. 

46. K. Xu and D. Qiu, "Experimental Design Verification of a Compliant Shoulder Exoskeleton," in IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013, pp. 3894-3901. 

47. K. Xu, J. Zhao, and A. J. Shih, "Development of an Endoscopic Continuum Robot to Enable Transgastric Surgical Obesity Treatment," in International Conference on Intelligent Robotics and Applications (ICIRA), Montreal, Quebec, Canada, 2012, pp. 589-600. 

48. K. Xu and X. Zheng, "Configuration Comparison for Surgical Robotic Systems Using a Single Access Port and Continuum Mechanisms," in IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, USA, 2012, pp. 3367-3374. 

49. K. Xu, D. Qiu, and N. Simaan, "A Pilot Investigation of Continuum Robots as a Design Alternative for Upper Extremity Exoskeletons," in IEEE International Conference on Robotics and Biomimetics (ROBIO), Phuket, Thailand, 2011, pp. 656-662. 

50. K. Xu, J. Zhao, J. Geiger, A. J. Shih, and M. Zheng, "Design of an Endoscopic Stitching Device for Surgical Obesity Treatment Using a N.O.T.E.S Approach," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, 2011, pp. 961-966. 

51. J. Ding, K. Xu, R. Goldman, P. K. Allen, D. L. Fowler, and N. Simaan, “Design, Simulation and Evaluation of Kinematic Alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery” in IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA, 2010, pp. 1053-1058. 

52. K. Xu, R. E. Goldman, J. Ding, P. K. Allen, D. L. Fowler, and N. Simaan, "System Design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO. USA, 2009, pp. 5546-5552. 

53. J. Zhang, K. Xu, N. Simaan, and S. Manolidis, "A Pilot Study of Robot-Assisted Cochlear Implant Surgery Using Steerable Electrode Arrays," in International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), Copenhagen, Sweden, 2006, pp. 33-40. 

54. W. Wei, K. Xu, and N. Simaan, "A Compact Two-armed Slave Manipulator for Minimally Invasive Surgery of the Throat," in IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), Pisa, Italy, 2006, pp. 769-774. 

55. K. Xu and N. Simaan, "Actuation Compensation for Flexible Surgical Snake-like Robots with Redundant Remote Actuation," in IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, USA, 2006, pp. 4148-4154. 

56. C. Fu, M. Shuai, K. Xu, J. Zhao, J. Wang, Y. Huang, and K. Chen, "Planning and Control for THBIP-I Humanoid Robot," in IEEE International Conference on Mechatronics and Automation (ICMA), Luoyang, Henan, China, 2006, pp. 1066-1071. 

57. M. Zhao, L. Liu, J. Wang, K. Chen, J. Zhao, and K. Xu, "Control System Design of THBIP-I Humanoid Robot," in IEEE International Conference on Robotics and Automation (ICRA), Washington, DC, USA, 2002, pp. 2253-2258

58. K. Xu, K. Chen, J. Wang, L. Liu, D. Yang, and J. Zhao, "A New Method of Gait Generation for a Biped Walking Robot," in IEEE-RAS International Conference on Humanoid Robots, Tokyo, Japan, 2001.