• Identification of tissue parameters using ultrasound vibro-elastography
  
• Image guidance for robot-assisted surgery using the da Vinci system
  
• Simulation and path planning of needle insertions in deformable tissue
  
• Imaging, segmentation, guidance and dosimetry for prostate brachytherapy
  

Completed or Dormant Research Projects

• Teleoperation and Haptic Interfaces
• Haptic simulation of interacting rigid bodies
• 5-DOF twin-pantograph haptic pen [ Demo video]
• 3-DOF planar twin-pantograph haptic interface  [ Demo video]
• Control for teleoperation and virtual environments
• UBC 6-DOF magnetically levitated haptic interfaces
• Robotic Tools for Medical Diagnostic and Surgery
• Screening system for Deep Vein Thrombosis
• Robot-assisted medical ultrasound  [ Demo video]
• Devices for heart surgery  [ Moving brace feasibility study video]
• Bilateral Motion-Scaling System for Microsurgery
• Local and remote control of excavator-based machines
• Impedance and teleoperated control of mini-excavator [ Demo video]
• Virtual excavator
• Stewart platform motion simulator  [ Demo video]
• Augmented reality for truck loading in surface mining
• Vibration Isolation for zero-g environments
• Design of magnetically levitated vibration isolation platform
• Control for active vibration isolation systems
• Optimization-Based Computer-Aided Design of Control Systems
• Multi-objective controller design and tuning