Education

Philosophiæ Doctor (PhD) degree in mechanical and automation engineering, The Chinese University of Hong Kong, HKSAR.

Master's degree in robotics and advanced manufacturing, Cinvestav, Mexico.


Research

I work as a Research Assistant Professor at the CUHK T Stone Robotics Institute, where I conduct research in robotics and control engineering.

I am the Principal Investigator of the project Development of an MRI-guided Robotic System for Breast Biopsy, which we conduct in collaboration with Time Medical Systems.

Sensor-based Control

We have extensively studied the active deformation control of soft tissues/objects by robot manipulators.

We developed an IMU-based interface to control surgical manipulators.

We proposed an automatic image-based positioning method for RCM mechanisms.

Medical Robotics

We are currently developing new a robotic system for MRI-guided breast biopsy.

We developed several motorised endoscope manipulators for functional sinus surgery.

We also developed a 4-DOF robotic uterine positioner for total laparoscopic hysterectomy.

Editor/Co-organiser. Call for Papers

Robotics and Autonomous Systems special issue on Multimodal Sensor-based Robot Control for Interaction, Soft Manipulation and Whole-body Control. For details, see here.

IROS 2016 Workshop: See, Touch, and Hear: 2nd Workshop on multimodal sensor-based robot control for HRI and soft manipulation.


Selected Publications

Journal

  • D. Navarro-Alarcon and Y.-H. Liu. Contour-Based Deformation Servoing: A New Marker-Free Algorithm to Actively Deform Soft Objects into Desired Shapes with Manipulators. IEEE Transactions on Robotics (TRO), under review, 2017.
  • H.M. Yip, Z. Wang, D. Navarro-Alarcon, P. Li, Y.-H. Liu, T.H. Cheung, and Y. Fu. Development of an Assistive Surgical Robot for Laparoscopic Hysterectomy: Design, Modeling and Experimental Validation. International Journal of Robotics Research (IJRR), under review, 2017.
  • D. Navarro-Alarcon, S. Saini, T. Zhang, H. Chung, K. W. Ng, M. K. Chow, Y.-H. Liu Developing a Compact Robotic Needle Driver for MRI-Guided Breast Biopsy in Tight Environments. IEEE Robotics and Automation Letters (RAL), accepted, 2017.
  • D. Navarro-Alarcon, H.M. Yip, Z. Wang, Y.-H. Liu, F. Zhong, T. Zhang and P. Li. Automatic 3D Manipulation of Soft Objects by Robotic Arms with Adaptive Deformation Model. IEEE Transactions on Robotics (TRO), vol. 32, no. 2, 2016.
  • Z. Wang, H.M. Yip, D. Navarro-Alarcon, P. Li, Y.-H. Liu, D. Sun, H. Wang, T.K. Cheung. Design of a Novel Compliant Safe Joint with Multiple Working States. IEEE/ASME Transactions on Mechatronics (TMECH), vol. 21, no. 2, pp. 1193–1198, 2016.
  • J.Y.K. Chan, I. Leung, D. Navarro-Alarcon, W. Lin, P. Li, D.L.Y. Lee, Y.-H. Liu, and M.C.F. Tong. Foot-Controlled Robotic-Enabled Endoscope Holder (FREE) for Endoscopic Sinus Surgery: A Cadaveric Feasibility Study. The Laryngoscope, issn 1531-4995, 2015.
  • H.M. Yip, P. Li, D. Navarro-Alarcon, and Y.-H. Liu. Towards Developing a Robot Assistant for Uterus Positioning During Hysterectomy: System Design and Experiments. Journal of Robotics and Biomimetics, vol. 1, no. 1, pp. 1–11, 2015.
  • D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. Energy Shaping Methods for Asymptotic Force Regulation of Compliant Mechanical Systems. IEEE Transactions on Control Systems Technology (TCST), vol. 22, no. 6, pp. 2376–2383, 2014.
  • D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. On the Visual Deformation Servoing of Compliant Objects: Uncalibrated Control Methods and Experiments. International Journal of Robotics Research (IJRR), vol. 33, no. 11, pp. 1462–1480, 2014.
  • D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. Model-free Visually Servoed Deformation Control of Elastic Objects by Robot Manipulators. IEEE Transactions on Robotics (TRO), vol. 29, no. 6, pp. 1457–1468, 2013.

Conference

  • D. Navarro-Alarcon, S. Saini, T. Zhang, H. Chung, K. W. Ng, M. K. Chow, Y.-H. Liu Developing a Compact Robotic Needle Driver for MRI-Guided Breast Biopsy in Tight Environments. IEEE Int. Conf. Robotics and Automation (ICRA), accepted, 2017.
  • F. Zhong, D. Navarro-Alarcon, Z. Wang, Y.-H. Liu, T. Zhang, and H.M. Yip. Adaptive 3D Pose Computation of Suturing Needle Using Constraints From Static Monocular Image Feedback. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), 5521–5526, 2016.
  • D. Navarro-Alarcon, Z. Wang, H.M. Yip, Y.-H. Liu, F. Zhong, T. Zhang, J. Shi, and H. Wang. Robust Image-based Computation of the 3D Position of RCM Instruments and its Application to Image-guided Manipulation. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 4115–4121, 2016.
  • D. Navarro-Alarcon, H.M. Yip, Z. Wang, Y.-H. Liu, W. Lin, and P. Li. Adaptive Image-based Positioning of RCM Mechanisms Using Angle and Distance Features. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 5403–5409, 2015.
  • W. Lin, D. Navarro-Alarcon, P. Li, Z. Wang, H.M. Yip, Y.-H. Liu, and M.C.F. Tong. Modeling, Design and Control of an Endoscope Manipulator for FESS. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 811–816, 2015.
  • H.M. Yip, Z. Wang, D. Navarro-Alarcon, P. Li, Y.-H. Liu, and T.H. Cheung. A New Robotic Uterine Positioner for Laparoscopic Hysterectomy with Passive Safety Mechanisms: Design and Experiments. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 3188–3194, 2015.
  • Z. Wang, P. Li, D. Navarro-Alarcon, H.M. Yip, Y.-H. Liu, and W. Lin. Design and Control of a Novel Multi-state Compliant Safe Joint for Robotic Surgery. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 1023–1028, 2015.
  • D. Navarro-Alarcon, Z. Wang, H.M. Yip, Y.-H. Liu, P. Li, and W. Lin. A Method to Regulate the Torque of Flexible-joint Manipulators with Velocity Control Inputs. IEEE Int. Conf. Robotics and Biomimetics (ROBIO), pp. 2437–2442, 2014.
  • H.M. Yip, P. Li, D. Navarro-Alarcon, Z. Wang, Y.-H. Liu. A New Circular-Guided Remote Center of Motion Mechanism for Assistive Surgical Robots. IEEE Int. Conf. Robotics and Biomimetics (ROBIO), pp. 217–222, 2014.
  • D. Navarro-Alarcon and Y.-H. Liu. Lyapunov-stable Eye-in-hand Kinematic Visual Servoing with Unstructured Static Feature Points. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 755–760, 2014.
  • D. Navarro-Alarcon and Y.-H. Liu. A Dynamic and Uncalibrated Method to Visually Servo-control Elastic Deformations by Fully-constrained Robotic Grippers. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 4457–4462, 2014.
  • D. Navarro-Alarcon and Y.-H. Liu. Uncalibrated Vision-based Deformation Control of Compliant Objects with Online Estimation of the Jacobian Matrix. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 4977–4982, 2013.
  • D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. Visually Servoed Deformation Control by Robot Manipulators. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 5239–5244, 2013.
  • P. Li, H.M. Yip, D. Navarro-Alarcon, Y.-H. Liu, C.F.M. Tong, and I. Leung. Development of a robotic endoscope holder for nasal surgery. IEEE Int. Conf. Information and Automation (ICIA), pp. 1194–1199, 2013.
  • D. Navarro-Alarcon, P. Li, and H.M. Yip. Energy Shaping Control of Robot Manipulators in Explicit Force Regulation Tasks with Elastic Environments. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 4222–4228, 2011.

Other

  • D. Navarro-Alarcon and Y.-H. Liu. Let Me Give You A Hand: A Dexterous Robot That Helps ENT Surgeons with Manipulation Tasks. CUEngineering, May, Issue 1, 2016.

Contact

david [a] cuhk [d] edu [d] hk

Academic Building No.1, Room 104, CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, NT, HKSAR

+(852) 3943-3537