Dr. Min Li

Dr. Min Li, BSc, MSc, PhD

Institute of Intelligent Measurement & Instruments, School of Mechanical Engineering, Xi’an Jiaotong University

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Email: min.m.li0012@gmail.com


Sept. 2010-present:

Mechanical Engineering MPhil/PhD student
Centre for Robotics Research, King’s College London
Project: Haptic feedback for robot-assisted minimally invasive surgery

Sept. 2007-June 2010:

Dept. of Mechanical & Electronic Engineering, Northwest A&F University, PR China
Field of study: Remote crop digital image acquisition system for plant water status monitoring
Degree awarded: Master of Engineering

Sept. 2003-June 2010:

Dept. of Mechanical & Electronic Engineering, Northwest A&F University, PR China
Major: Mechanical design, manufacture and automation
Degree awarded: Bachelor of Engineering

Description of Research Interest

The aim of this research is to help surgeons to conduct intro-operative palpation and detect tissue abnormality during RMIS by developing virtual palpation system with haptic feedback.

Creating virtual tissue with in-vivo acquired tool- tissue interaction data is the objective.

Pseudo-haptic feedback virtual palpation, real haptic feedback virtual palpation, and multi-finger palpation simulation with pneumatic display pad are the specific aspects she is developing.



  • A novel efficient real-time visual tissue stiffness feedback method.
  • A novel haptic tissue model generation method capable of representing the tissue surface contour and the tissue stiffness distribution of the examined soft tissue.
  • Pseudo-haptic tissue stiffness simulation methods.
  • A novel pneumatic haptic actuator which simulates soft tissue stiffness by changing the pressure of an air balloon and recreates the stress distribution on the fingertips as experienced during palpation.
  • A novel stiffness feedback actuator using combined granular jamming and pneumatic air balloon to realize stiffness variation.



Min Li, Hongbin Liu, Allen Jiang, Lakmal D Seneviratne, Prokar Dasgupta, Kaspar Althoefer, Helge Wurdemann. Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A review. Proceedings of the Institution of Mechanical Eingineers, Part H: Journal of Engineering in Medicine. Published online before print May 7, 2014, doi:10.1177/0954411914533679.


M. Li, H. Liu, J. Li, L.D. Seneviratne and K. Althoefer, “Tissue Stiffness Simulation and Abnormality Localization using Pseudo-Haptic Feedback”, IEEE International Conference on Robotics and Automation (ICRA 2012), St Paul, MN, USA, 2012, 5359-5364

Min Li, Shan Luo, Lakmal D. Seneviratne, Thrishantha Nanayakkara, Prokar Dasgupta, Kaspar Althoefer, Haptics for multi-fingered palpation, Proceeding of IEEE International Conference on System, Man and Cybernetics, Manchester, UK, 2013, 4184-4189

M. Li, J. Konstantinova, V.  Aminzadeh, T. Nanayakkara, L. D. Seneviratne, P. Dasgupta, K. Althoefer, “Real-time visual stiffness feedback for soft tissue palpation in a tele-manipulation environment”, in Hamlyn Symposium on Medical Robotics, London, UK, 2013, pp 77-78.

Min Li, Jelizaveta Konstantinova, Vahid Aminzadeh, Thrishantha Nanayakkara, Lakmal D Seneviratne, Prokar Dasgupta, Kaspar Althoefer, “A novel tumour localization method using haptic palaption based on soft tissue probing data”, in Proceedings of IEEE International Conference on Robotics and Automation (ICRA) 2014, accepted.