面向新型医疗机器人的智能传感、影像处理、人机交互、智能控制等研究方向

   

081101-控制理论与控制工程

智能感知，智能控制，新一代医疗机器人，自主系统

2007-09--2011-03   北京理工大学   博士学位

   

2018-11~现在, 中国科学院自动化研究所, 研究员
2014-11~2018-10,中国科学院自动化研究所, 副研究员
2011-07~2014-10,中国科学院自动化研究所, 助理研究员

2022-05-31-今,十四五国家重点研发计划“基础科研条件与重大科学仪器设备研发”专项总体组, 专家
2021-12-01-今,中国科学院青年创新促进会第六届理事会, 理事长
2019-12-01-2024-11-30,中国青年科技工作者协会, 会员
2019-12-01-今,中国医学装备协会眼科专业委员会, 会员
2019-10-29-2021-12-01,中国科学院青年创新促进会第五届理事会, 副理事长
2018-01-01-今,IEEE神经机器人系统技术委员会, 委员
2017-01-01-今,国家公共服务机器人标准化工作组, 专家委委员

   

（1） 仪器仪表学会技术发明奖, 一等奖, 省级, 2022
（2） 中国发明协会发明创新奖, 一等奖, 其他, 2022
（3） MICCAI 2019“鲁棒医疗器械分割挑战赛”医疗器械分割挑战赛第二名, 二等奖, 其他, 2019
（4） 北京市医管中心第四届科技创新大赛三等奖, 三等奖, 其他, 2019
（5） IEEE ICAMechS国际会议最佳论文奖, 其他, 2015
（6） IEEE ICIA国际会议最佳论文奖, 其他, 2013

（ 1 ） 递送装置和医疗设备, 发明专利, 2022, 第 1 作者, 专利号: ZL202211557423.4

（ 2 ） 目标点定位装置电子设备及支气管镜系统, 发明专利, 2022, 第 1 作者, 专利号: ZL2022110472200

（ 3 ） 感测型连续体机器人、介入感测系统及方法, 发明专利, 2022, 第 1 作者, 专利号: ZL202210880040.4

（ 4 ） 一种面向肺部介入活检的多自由度柔性连续体机器人, 发明专利, 2022, 第 1 作者, 专利号: ZL2022101787466

（ 5 ） 一种视野异常数据采集系统, 发明专利, 2021, 第 1 作者, 专利号: CN113391748A

（ 6 ） 一种用于青光眼粘小管成形术的柔性微导管递送机构, 发明专利, 2021, 第 1 作者, 专利号: CN111557782B

（ 7 ） 青光眼手术粘小管成形术的自动送丝装置, 发明专利, 2021, 第 1 作者, 专利号: CN113143583A

（ 8 ） 一种双极电凝手术镊, 发明专利, 2021, 第 1 作者, 专利号: CN113057730A

（ 9 ） 一种送丝装置的执行端及送丝装置, 发明专利, 2021, 第 1 作者, 专利号: CN111099428B

（ 10 ） 基于医疗显微影像的快门式自适应3D显示系统, 专利授权, 2021, 第 4 作者, 专利号: CN112068300B

（ 11 ） 一种支气管手术机器人及支气管手术系统, 发明专利, 2020, 第 1 作者, 专利号: CN111803216A

（ 12 ） 一种青光眼粘小管成形术的导管推送机构, 专利授权, 2019, 第 1 作者, 专利号: CN109157326A

（ 13 ） 一种操作器, 专利授权, 2018, 第 1 作者, 专利号: CN108143237A

（ 14 ） 一种血管介入手术送丝机构的人机交互装置、系统及方法, 发明专利, 2016, 第 1 作者, 专利号: CN105892676A

（ 15 ） 一种血管介入手术操作采集装置及方法, 发明专利, 2016, 第 1 作者, 专利号: CN105769343A

（ 16 ） 一种三自由度触力觉交互系统及触力觉交互装置, 发明专利, 2016, 第 1 作者, 专利号: CN105280080A

（ 17 ） 上肢康复机器人系统, 发明专利, 2015, 第 5 作者, 专利号: CN104363982A

（ 18 ） 血管介入手术送丝装置的导丝支撑和夹持装置, 发明专利, 2014, 第 1 作者, 专利号: CN104174109A

（ 19 ） 一种仿生长鳍波动推进机器鱼, 发明专利, 2013, 第 2 作者, 专利号: CN103213665A

（ 20 ） 一种基于两点夹持的血管介入手术导管或导丝操纵装置, 发明专利, 2013, 第 1 作者, 专利号: CN103157170A

（ 21 ） 一种用于血管介入手术的导管或导丝操纵装置, 发明专利, 2013, 第 1 作者, 专利号: CN103083784A

（ 22 ） 一种基于带夹持的血管介入手术导管或导丝操纵装置, 发明专利, 2013, 第 1 作者, 专利号: CN103083783A

（ 23 ） 用于提高磁定位仪定位精度的医疗机器人腕关节, 发明专利, 2009, 第 2 作者, 专利号: CN101401743A

   

（1） Fast instruments and tissues segmentation of micro-neurosurgical scene using high correlative non-local network, COMPUTERS IN BIOLOGY AND MEDICINE, 2023, 通讯作者
（2） Motion Decoupling Network for Intra-Operative Motion Estimation Under Occlusion, IEEE TRANSACTIONS ON MEDICAL IMAGING, 2023, 通讯作者
（3） Autonomous path planning for robot-assisted pelvic fracture closed reduction with collision avoidance, INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 2023, 通讯作者
（4） Semi-Supervised Medical Image Segmentation Guided by Bi-Directional Constrained Dual-Task Consistency, Bioengineering (Basel), 2023, 通讯作者
（5） TMF-Net: A Transformer-Based Multiscale Fusion Network for Surgical Instrument Segmentation From Endoscopic Images, IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2023, 通讯作者
（6） ResDO-UNet: A deep residual network for accurate retinal vessel segmentation from fundus images, BIOMEDICAL SIGNAL PROCESSING AND CONTROL, 2023, 第 4 作者
（7） Autonomous path planning for robot‐assisted pelvic fracture closed reduction with collision avoidance, The International Journal of Medical Robotics and Computer Assisted Surgery, 2022, 
（8） Learning Skill Characteristics From Manipulations, IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2022, 第 10 作者
（9） Dynamic Multi-Action Recognition and Expert Movement Mapping for Closed Pelvic Reduction, Ieee Transactions on Industrial Informatics, 2022, 通讯作者
（10） A Multilayer and Multimodal-Fusion Architecture for Simultaneous Recognition of Endovascular Manipulations and Assessment of Technical Skills, IEEE TRANSACTIONS ON CYBERNETICS, 2022, 第 5 作者
（11） A Unified Framework for Multi-Guidewire Endpoint Localization in Fluoroscopy Images, IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 2022, 第 7 作者
（12） Augmented reality for oral and maxillofacial surgery: The feasibility of a marker-free registration method, INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 2022, 第 5 作者
（13） An automatic drug injection device with spatial micro-force perception guided by an microscopic image for robot-assisted ophthalmic surgery, FRONTIERS IN ROBOTICS AND AI, 2022, 第 7 作者
（14） 医疗机器人在肺部小结节诊疗中的应用现状及前景展望, Application and prospect of medical robot in diagnosis and treatment of small pulmonary nodule, 中华胸部外科电子杂志, 2022, 第 4 作者
（15） Space Squeeze Reasoning and Low-Rank Bilinear Feature Fusion for Surgical Image Segmentation, IEEE JOURNAL OF BIOMEDICAL AND HEALTH INFORMATICS, 2022, 通讯作者
（16） SurgiNet: Pyramid Attention Aggregation and Class-wise Self-Distillation for Surgical Instrument Segmentation, MEDICAL IMAGE ANALYSIS, 2022, 通讯作者
（17） Real-Time Multi-Guidewire Endpoint Localization in Fluoroscopy Images, IEEE TRANSACTIONS ON MEDICAL IMAGING, 2021, 第 7 作者
（18） Comparative validation of multi-instance instrument segmentation in endoscopy: Results of the ROBUST-MIS 2019 challenge, MEDICAL IMAGE ANALYSIS, 2021, 第 13 作者
（19） Deep Learning-Based Solar-Cell Manufacturing Defect Detection With Complementary Attention Network, IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2021, 第 4 作者
（20） Model-Based Robust Tracking Control Without Observers for Soft Bending Actuators, IEEE ROBOTICS AND AUTOMATION LETTERS, 2021, 第 6 作者
（21） A hybrid deep segmentation network for fundus vessels via deep-learning framework, NEUROCOMPUTING, 2021, 第 5 作者
（22） Three-Dimensional Force Perception of Robotic Bipolar Forceps for Brain Tumor Resection, JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME, 2021, 通讯作者
（23） A hybrid deep segmentation network for fundus vessels via deep-learning framework & nbsp;, NEUROCOMPUTING, 2021, 第 5 作者
（24） Attention-Guided Lightweight Network for Real-Time Segmentation of Robotic Surgical Instruments, 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2020, 通讯作者
（25） Multiscale matters for part segmentation of instruments in robotic surgery, IET IMAGE PROCESSING, 2020, 第 4 作者
（26） Pyramid attention recurrent networks for real-time guidewire segmentation and tracking in intraoperative X-ray fluoroscopy, COMPUTERIZED MEDICAL IMAGING AND GRAPHICS, 2020, 第 5 作者
（27） IoT-based 3D convolution for video salient object detection, NEURAL COMPUTING & APPLICATIONS, 2020, 通讯作者
（28） An Interventionalist-Behavior-Based Data Fusion Framework for Guidewire Tracking in Percutaneous Coronary Intervention, IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2020, 第 2 作者
（29） A Trajectory-based Attention Model for Sequential Impurity Detection, NEUROCOMPUTING, 2020, 第 5 作者
（30） FRR-NET: Fast Recurrent Residual Networks for Real-Time Catheter Segmentation and Tracking in Endovascular Aneurysm Repair, 2020IEEE17THINTERNATIONALSYMPOSIUMONBIOMEDICALIMAGINGISBI2020, 2020, 第 4 作者
（31） Optical coherence tomography-based deep learning algorithm for quantification of the location of the intraocular lens, ANNALS OF TRANSLATIONAL MEDICINE, 2020, 第 2 作者
（32） Qualitative and Quantitative Assessment of Technical Skills in Percutaneous Coronary Intervention: In Vivo Porcine Studies, IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 2020, 第 2 作者
（33） Energy-Aware Green Adversary Model for Cyberphysical Security in Industrial System, IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2020, 通讯作者
（34） Pyramid Attention Aggregation Network for Semantic Segmentation of Surgical Instruments, AAAI Conference on Artificial Intelligence, 2020, 通讯作者
（35） Recognition of Endovascular Manipulations using Recurrent Neural Networks, 2019 41ST ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2019, 第 3 作者
（36） An operating smooth man–machine collaboration method for cataract capsulorhexis using virtual fixture, FUTURE GENERATION COMPUTER SYSTEMS-THE INTERNATIONAL JOURNAL OF ESCIENCE, 2019, 通讯作者
（37） Removal of Artifacts from EEG Signals: A Review, SENSORS, 2019, 通讯作者
（38） Path Planning for Surgery Robot with Bidirectional Continuous Tree Search and Neural Network, 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2019, 通讯作者
（39） Fully Automatic Dual-Guidewire Segmentation for Coronary Bifurcation Lesion, 2019INTERNATIONALJOINTCONFERENCEONNEURALNETWORKSIJCNN, 2019, 第 3 作者
（40） An Extremely Fast and Precise Convolutional Neural Network for Recognition and Localization of Cataract Surgical Tools, MEDICAL IMAGE COMPUTING AND COMPUTER ASSISTED INTERVENTION - MICCAI 2019, PT V, 2019, 通讯作者
（41） A Two-Stage Framework for Real-Time Guidewire Endpoint Localization, MEDICAL IMAGE COMPUTING AND COMPUTER ASSISTED INTERVENTION - MICCAI 2019, PT V, 2019, 第 2 作者
（42） Parameters optimization of the dust absorbing structure for photovoltaic panel cleaning robot based on orthogonal experiment method, JOURNAL OF CLEANER PRODUCTION, 2019, 通讯作者
（43） RASNet: Segmentation for Tracking Surgical Instruments in Surgical Videos Using Refined Attention Segmentation Network, 2019 41ST ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2019, 第 2 作者
（44） Fractional-order PID servo control based on decoupled visual model, INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2019, 第 2 作者
（45） Analysis of Interventionalists' Natural Behaviors for Recognizing Motion Patterns of Endovascular Tools During Percutaneous Coronary Interventions, IEEE TRANSACTIONS ON BIOMEDICAL CIRCUITS AND SYSTEMS, 2019, 第 2 作者
（46） RAUNet: Residual Attention U-Net for Semantic Segmentation of Cataract Surgical Instruments, NEURAL INFORMATION PROCESSING (ICONIP 2019), PT II, 2019, 通讯作者
（47） Multi-target detection and grasping control for humanoid robot NAO, INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2019, 通讯作者
（48） Real-Time Guidewire Segmentation and Tracking in Endovascular Aneurysm Repair, NEURAL INFORMATION PROCESSING (ICONIP 2019), PT I, 2019, 第 3 作者
（49） Simultaneous Recognition and Assessment of Post-Stroke Hemiparetic Gait by Fusing Kinematic, Kinetic, and Electrophysiological Data, IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 2018, 第 2 作者
（50） A simulator with an elastic guidewire and vascular system for minimally invasive vascular surgery, A simulator with an elastic guidewire and vascular system for minimally invasive vascular surgery, 中国科学：信息科学（英文版）, 2018, 第 3 作者
（51） Automatic Guidewire Tip Segmentation in 2D X-ray Fluoroscopy Using Convolution Neural Networks, 2018 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN), 2018, 第 3 作者
（52） Physiological Tremor Suppression for the Manipulation of an Ophthalmology Robot: A Comparison Study, 2018 3RD IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (IEEE ICARM), 2018, 第 2 作者
（53） Development and Evaluation of a 7-DOF Haptic Interface, Development and Evaluation of a 7-DOF Haptic Interface, IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 2018, 第 3 作者
（54） A simulator with an elastic guidewire and vascular system for minimally invasive vascular surgery, SCIENCE CHINA-INFORMATION SCIENCES, 2018, 第 3 作者
（55） An interventionist-behavior-based data fusion framework for guidewire tracking in percutaneous coronary intervention, IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS, 2018, 第 3 作者
（56） A simulator with an elastic guidewire and vascular system for minimally invasive vascular surgery, A simulator with an elastic guidewire and vascular system for minimally invasive vascular surgery, 中国科学：信息科学（英文版）, 2018, 第 3 作者
（57） A Multimodal Framework Based on Integration of Cortical and Muscular Activities for Decoding Human Intentions About Lower Limb Motions., IEEE TRANSACTIONS ON BIOMEDICAL CIRCUITS AND SYSTEMS, 2017, 第 2 作者
（58） An HMM-Based Recognition Framework for Endovascular Manipulations, 2017 39TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2017, 第 2 作者
（59） Prediction of natural guidewire rotation using an sEMG-based NARX neural network, 2017 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN), 2017, 第 1 作者
（60） An HMM-based recognition framework for endovascular manipulations, 2017, 第 3 作者
（61） Guide-wire detection using region proposal network for X-ray image-guided navigation, 2017 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN), 2017, 第 3 作者
（62） Prediction of natural guidewire rotation using an sEMG-based NARX neural network, 2017 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN), 2017, 第 2 作者
（63） A fast and stable guidewire model for minimally invasive vascular surgery based on Lagrange multipliers, 2017, 第 5 作者
（64） Guide-wire detection using region proposal network for X-ray image-guided navigation, 2017 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN), 2017, 第 3 作者
（65） A Fast and Stable Guidewire Model for Minimally Invasive Vascular Surgery based on Lagrange Multipliers, 2017 SEVENTH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND TECHNOLOGY (ICIST2017), 2017, 第 6 作者
（66） PCA-Based Muscle Selection for Interventional Manipulation Recognition, 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016, 第 2 作者
（67） Preliminary study on Wilcoxon-norm-based robust extreme learning machine, NEUROCOMPUTING, 2016, 
（68） Development of a Multi-modal Interactive System for Endoscopic Endonasal Approach Surgery Simulation, 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016, 第 3 作者
（69） A Vessel Contour Detection and Estimation Method for Robot Assisted Endovascular Surgery, 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016, 第 4 作者
（70） epsilon-SVR-basedEstimationfortheMotionTrajectoryofHumanLowerLimbUsingAccelerationSignals, 2016, 第 5 作者
（71） Development of a Multi-modal Interactive System for Endoscopic Endonasal Approach Surgery Simulation, 2016, 第 4 作者
（72） A 3-DOF Compact Haptic Interface for Endoscopic Endonasal Approach Surgery Simulation, 2016, 第 2 作者
（73） Guide-wire Detecting Using a Modified Cascade Classifier in Interventional Radiology, 2016 38TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2016, 第 4 作者
（74） Tracking Natural Guidewire Manipulations with an Improved Data Glove, 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016, 第 2 作者
（75） Guide-wire Detecting Using a Modified Cascade Classifier in Interventional Radiology, 2016, 第 3 作者
（76） Guide-wire Detecting Using a Modified Cascade Classifier in Interventional Radiolog, 2016, 第 3 作者
（77） SEMG-based prediction of human lower extremity movements by using a dynamic recurrent neural network, 2016, 第 6 作者
（78） A 3-DOF Compact Haptic Interface for Endoscopic Endonasal Approach Surgery Simulation, 2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2016, 第 2 作者
（79） Fast and Stable Guidewire Simulator for Minimally Invasive Vascular Surgery, IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, 2015, 第 3 作者
（80） Fast and Stable Guidewire Simulator for Minimally Invasive Vascular Surgery, 2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2015, 第 3 作者
（81） Dynamic Modeling and Control Simulation of a Modified Delta Manipulator, 2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, 2015, 第 3 作者
（82） Kinematic and Static Analysis of a Cable-driven 3-DOF Delta Parallel Mechanism for Haptic Manipulators, 2015 34th Chinese control conference: CCC 2015, Hangzhou, China, 28-30 July 2015, pages 3635-4586, v.5, 2015, 第 5 作者
（83） Preliminary Study for Motion Scaling Based Control in Minimally Invasive Vascular Interventional Robot, 2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2015, 第 2 作者
（84） Design and Evaluation of a Bio-inspired Robotic Hand for Percutaneous Coronary Intervention, 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015, 第 2 作者
（85） Kinematic and Static Analysis of a Cable-driven 3-DOF Delta Parallel Mechanism for Haptic Manipulators, 2015 34TH CHINESE CONTROL CONFERENCE (CCC), 2015, 第 2 作者
（86） Dynamic Modeling and Control Simulation of a Modified Delta Manipulator, 2015, 第 1 作者
（87） An RBF-Based Neuro-Adaptive Control Scheme to Drive a Lower Limb Rehabilitation Robot, 2015 IEEE international conference on robotics and biomimetics: ROBIO 2015, Zhuhai, China, 6-9 December 2015, pages 1-862, v.1, 2015, 第 7 作者
（88） Feasibility of NeuCube Spiking Neural Network Architecture for EMG Pattern Recognition, TECHNICAL POSTER SESSION, 2015, 第 4 作者
（89） Haptic Intelligent Interfaces for NAO Robot Hand Control, 2015 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS), 2015, 第 5 作者
（90） Tree Structures Segmentation of Coronary Arteries Using CURVES Method for Interventional Surgical Simulation, 26TH CHINESE CONTROL AND DECISION CONFERENCE (2014 CCDC), 2014, 第 4 作者
（91） Polynomial trajectory tracking of networked Euler-Lagrange systems, 2014, 第 4 作者
（92） A Collision Response Algorithm for 3D Virtual Reality Minimally Invasive Surgery Simulator, 26TH CHINESE CONTROL AND DECISION CONFERENCE (2014 CCDC), 2014, 第 5 作者
（93） Dynamic behavior analysis on SISO multi-agent systems in a noisy environment, 2014, 第 4 作者
（94） Haptic Rendering of Guide Wire Manipulation in Vascular Surgery Simulation, 2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014), 2014, 第 4 作者
（95） Haptic rendering of guide wire manipulation in vascular surgery simulation, IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION ( ICMA), 2014, 第 2 作者
（96） A Multi-body Mass-spring Model for Virtual Reality Training Simulators Based on a Robotic Guide Wire Operating System, 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2013, 第 5 作者
（97） An enhanced dual-finger robotic hand for catheter manipulating in vascular intervention: A preliminary study, 2013, 第 1 作者
（98） System Design and Clinical Application of Medical Robot Assisted Photodynamic Therapy of Port Wine Stains, INFORMATION-AN INTERNATIONAL INTERDISCIPLINARY JOURNAL, 2011, 第 4 作者
（99） Development and clinical evaluation of medical robot assisted photodynamic therapy of port wine stains, INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 2011, 第 4 作者
（100） An ultrasound-directed robotic system for microwave ablation of liver cancer, ROBOTICA, 2010, 通讯作者
（101） A medical robot for needle placement therapy in liver cancer, JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A, 2010, 第 2 作者
（102） Fast instruments and tissues segmentation of micro-neurosurgical scene using high correlative non-local network, COMPUTERS IN BIOLOGY AND MEDICINE, 通讯作者

   

（ 1 ） 眼科显微手术机器人系统研制与临床试验, 负责人, 国家任务, 2017-12--2020-11
（ 2 ） 眼科微创手术机器人精确感知与精准操控问题研究, 负责人, 国家任务, 2018-01--2021-12
（ 3 ） 院青年创新促进会专项, 负责人, 中国科学院计划, 2018-01--2021-12
（ 4 ） 基于专家医生操作技能的血管介入机器人的自适应学习控制, 负责人, 国家任务, 2016-04--2018-12
（ 5 ） 血管介入手术机器人的基础问题研究, 参与, 国家任务, 2016-01--2020-12
（ 6 ） 面向软组织的机器人操控柔性针靶向穿刺机理与方法研究, 负责人, 国家任务, 2013-01--2015-12
（ 7 ） 七自由度触力觉交互装置研发与应用, 负责人, 国家任务, 2013-01--2015-12
（ 8 ） 机器人操控柔性针靶向穿刺软组织机理与实验研究, 负责人, 地方任务, 2013-01--2015-12
（ 9 ） 柔性针靶向穿刺软组织的相互作用模型研究, 负责人, 研究所自选, 2016-01--2016-12
（ 10 ） 白内障手术机器人系统开发与应用, 负责人, 地方任务, 2019-07--2021-06
（ 11 ） 颅内肿瘤术中精准成像与手术机器人, 负责人, 中国科学院计划, 2020-01--2022-12
（ 12 ） 北京市科技新星, 负责人, 地方任务, 2019-11--2022-10
（ 13 ） 显微内窥柔性介入手术机器人基础理论, 负责人, 地方任务, 2021-12--2024-12
（ 14 ） 面向神经外科肿瘤切除的高灵敏性智能显微精准导航操作仪, 负责人, 国家任务, 2021-01--2025-12
（ 15 ） 新型眼底显微精准注射手术机器人技术与系统, 负责人, 国家任务, 2022-11--2025-10
（ 16 ） 中国科学院青年创新促进会优秀会员, 负责人, 中国科学院计划, 2023-01--2025-12

和医疗机器人领域内的顶级科研机构（如Imperial College London, University of Western Ontario, Bournemouth University）和顶级医疗机构或医院（如北京同仁医院、北京天坛医院、北京协和医院、中山眼科中心）建立了长期合作关系。