Research

I work as a Research Assistant Professor at the CUHK T Stone Robotics Institute of the The Chinese University of Hong Kong, 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.

See my ORCID profile here.

I currently have two funded MPhil/PhD positions in (1) mechanism design and (2) multimodal perception/control. Interested candidates should send a CV along with details of research experience.

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 robotic systems 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.


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.


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), vol. 2, no. 3, 1648–1655, 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, 429–441, 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 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), 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

dna [a] ieee [d] org

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

(+852) 3943 3537