手术机器人开发、建模与控制

智能人机交互

机器人类人行为学习

物理建模与仿真

   

081101-控制理论与控制工程

手术机器人开发、建模，物理建模仿真，机器人类人行为学习

2006-09--2011-06   中国科学院自动化研究所   博士
2002-09--2006-06   中国民航大学   学士

   

2014-11~现在, 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

2018-02-01-今,北京人工智能学会, 理事

   

[1] XiaoLiang Xie. Vascular interventional instrument control device with double guidewires or balloons. US11154689B2, 2021-10-26.
[2] 刘市祺, 谢晓亮, 侯增广, 周彦捷, 奉振球, 周小虎, 马西瑶. 基于双注意力机制的血管内支架图像分割方法和系统. CN: CN111986181B, 2021-07-30.
[3] 谢晓亮, 侯增广, 周彦捷, 边桂彬, 周小虎, 刘市祺, 奉振球. 导丝操控手柄. CN: CN110507374B, 2021-04-20.
[4] 刘市祺, 谢晓亮, 周小虎, 侯增广, 周彦捷. 血管介入手术中介入器械端点实时定位系统、方法、装置. CN: CN112348883A, 2021-02-09.
[5] 谢晓亮, 侯增广, 王巧利. 股动脉自动按压止血机器人. CN: CN110960283B, 2020-12-01.
[6] 王巧利, 谢晓亮, 侯增广. 按压止血装置. CN: CN110960284B, 2020-12-01.
[7] 刘市祺, 谢晓亮, 侯增广, 刘暴, 来志超, 周彦捷, 周小虎, 马西瑶. 基于金字塔形注意力循环网络的手术介入器械追踪方法. CN: CN111985485A, 2020-11-24.
[8] 刘市祺, 谢晓亮, 侯增广, 周彦捷, 奉振球, 周小虎, 马西瑶. 血管内动脉瘤修复手术的介入器械检测方法、系统及装置. CN: CN111724365A, 2020-09-29.
[9] 刘市祺, 谢晓亮, 侯增广, 周彦捷, 奉振球, 周小虎, 马西瑶. 用于血管动脉瘤介入手术导航系统的导管检测方法及系统. CN: CN111681254A, 2020-09-18.
[10] 刘市祺, 谢晓亮, 侯增广, 奉振球, 周小虎, 周彦捷, 马西瑶. 协同递送导丝和微导管的同轴操控装置. CN: CN111544741A, 2020-08-18.
[11] 刘市祺, 谢晓亮, 侯增广, 奉振球, 周小虎, 周彦捷, 曲新凯, 马西瑶. 血管介入器械操控装置. CN: CN111529065A, 2020-08-14.
[12] 谢晓亮, 侯增广, 周彦捷, 边桂彬. 推送阻力测量装置及介入手术机器人. CN: CN109833094B, 2020-07-28.
[13] 刘市祺, 侯增广, 谢晓亮, 边桂彬, 周小虎, 周彦捷. 医疗器械图像检测方法及装置. CN: CN111080700A, 2020-04-28.
[14] 谢晓亮, 侯增广, 孟令武, 奉振球, 周小虎, 刘市祺, 陈弈楠. 双导丝或球囊的血管介入器械操控装置. CN: CN110652357A, 2020-01-07.
[15] 谢晓亮, 侯增广, 王巧利, 边桂彬, 周彦捷, 周小虎, 刘市祺. 血管介入手术机器人的导管递送装置. CN: CN110327116A, 2019-10-15.
[16] 侯增广, 彭亮, 王卫群, 程龙, 边桂彬, 谢晓亮, 谭民, 胡进, 陈翼雄, 彭龙. 上肢康复机器人系统. 中国: CN104363982B, 2018.02.02.
[17] 谢晓亮, 侯增广, 郝剑龙, 边桂彬, 程龙, 高占杰, 王莉. 一种变阻抗和基于事件的触觉反馈控制方法. 中国: CN105824248B, 2018-09-25.
[18] 侯增广, 米韶华, 谢晓亮, 边桂彬, 程龙, 谭民, 杨帆, 奉振球, 高占杰. 一种虚拟导丝/导管及使用其的仿真方法和仿真系统. 中国: CN104657590B, 2018-09-11.
[19] 彭亮, 侯增广, 王卫群, 程龙, 谢晓亮, 边桂彬. 一种康复机器人主动训练控制方法和装置. 中国: CN105771182B, 2018-06-29.
[20] 边桂彬, 侯增广, 周小虎, 谢晓亮, 奉振球, 郝剑龙, 王莉, 高占杰. 一种血管介入手术操作采集装置及方法. 中国: CN105769343B, 2018-05-18.
[21] 边桂彬, 侯增广, 郝剑龙, 谢晓亮, 周小虎, 彭龙, 奉振球. 一种三自由度触力觉交互系统及触力觉交互装置. 中国: CN105280080B, 2018-05-04.
[22] 彭亮, 侯增广, 王卫群, 程龙, 谢晓亮, 边桂彬. 一种上肢康复机器人手指及手腕训练装置. 中国: CN105796285B, 2017-11-21.
[23] 谢晓亮, 侯增广, 高占杰, 边桂彬, 奉振球, 郝剑龙, 王莉, 周小虎, 程笑冉. 一种针对虚拟微创血管介入手术的导丝建模方法. 中国: CN106096265A, 2016-11-09.
[24] 边桂彬, 侯增广, 周小虎, 谢晓亮, 奉振球, 郝剑龙, 王莉, 高占杰. 一种血管介入手术送丝机构的人机交互装置、系统及方法. 中国: CN105892676A, 2016-08-24.
[25] 王卫群, 侯增广, 彭亮, 彭龙, 梁旭, 程龙, 边桂彬, 谢晓亮, 谭民. 一种可连续调整重心和倾角的康复训练床. 中国: CN105232291A, 2016-01-13.
[26] 侯增广, 王卫群, 彭亮, 彭龙, 梁旭, 程龙, 谢晓亮, 边桂彬, 谭民. 一种可用于下肢康复训练的腿部机构. 中国: CN105030485A, 2015.11.11.
[27] 侯增广, 胡进, 梁旭, 高占杰, 彭龙, 彭亮, 程龙, 王卫群, 谢晓亮, 边桂彬. 基于sEMG的单关节主动训练控制方法及相应的康复机器人. 中国: CN104492033A, 2015.04.08.
[28] 侯增广, 杨帆, 程龙, 边桂彬, 谢晓亮, 王卫群, 谭民, 米韶华, 奉振球. 一种面向微创心血管介入手术的训练场景模拟系统及方法. 中国: CN104463965A, 2015.03.25.
[29] 侯增广, 王卫群, 彭龙, 梁旭, 彭亮, 程龙, 谢晓亮, 边桂彬, 谭民. 一种多位姿下肢康复训练机器人. 中国: CN104800041A, 2015-07-29.
[30] 侯增广, 胡进, 彭龙, 彭亮, 梁旭, 高占杰, 程龙, 王卫群, 谢晓亮, 边桂彬. 基于阻抗控制的康复训练方法. 中国: CN104644378A, 2015-05-27.
[31] 侯增广, 胡进, 梁旭, 高占杰, 彭龙, 彭亮, 程龙, 王卫群, 谢晓亮, 边桂彬. 任务导向式主动训练控制方法及相应的康复机器人. 中国: CN104492066A, 2015-04-08.
[32] 边桂彬, 侯增广, 谢晓亮, 奉振球, 程龙, 王卫群, 谭民. 血管介入手术送丝装置的导丝支撑和夹持装置. 中国: CN104174109A, 2014-12-03.
[33] 侯增广, 彭龙, 陈翼雄, 李鹏峰, 谭民, 程龙, 边桂彬, 谢晓亮, 胡进, 彭亮. 基于角度信息与肌电信号反馈控制的电刺激康复装置及方法. 中国: CN103691059A, 2014-04-02.
[34] 边桂彬, 侯增广, 谢晓亮, 程龙, 李鹏峰, 谭民, 杨帆, 米韶华, 奉振球, 魏鹏. 一种基于两点夹持的血管介入手术导管或导丝操纵装置. 中国: CN103157170A, 2013-06-19.
[35] 边桂彬, 侯增广, 谢晓亮, 程龙, 李鹏峰, 谭民, 杨帆, 米韶华, 奉振球, 魏鹏. 一种用于血管介入手术的导管或导丝操纵装置. 中国: CN103083784A, 2013-05-08.
[36] 边桂彬, 侯增广, 谢晓亮, 程龙, 李鹏峰, 谭民, 杨帆, 米韶华, 奉振球, 魏鹏. 一种基于带夹持的血管介入手术导管或导丝操纵装置. 中国: CN103083783A, 2013-05-08.
[37] 侯增广, 张峰, 李鹏峰, 谭民, 程龙, 王洪波, 胡国清, 谢晓亮, 边桂彬, 陈翼雄, 胡进, 王卫群. 康复机器人大腿长度调整装置. 中国: CN102885682A, 2013-01-23.
[38] 侯增广, 王卫群, 李鹏峰, 程龙, 谢晓亮, 边桂彬, 张峰, 谭民, 柳会. 一种移动式反向自锁举升平台. 中国: CN102774781A, 2012.11.14.
[39] 王卫群, 李鹏峰, 侯增广, 张军卫, 程龙, 谢晓亮, 边桂彬, 张峰, 佟丽娜, 谭民, 洪毅, 柳会. 一种实验用兔子脊椎弯曲装置. 中国: CN102743236A, 2012-10-24.
[40] 侯增广, 王卫群, 李鹏峰, 张峰, 佟丽娜, 陈翼雄, 胡进, 程龙, 谢晓亮, 边桂彬, 杨帆, 谭民, 柳会. 一种坐卧式个性化下肢康复训练机器人. 中国: CN102743270A, 2012-10-24.
[41] 侯增广, 王卫群, 李鹏峰, 程龙, 边桂彬, 谢晓亮, 张峰, 谭民, 柳会. 一种新型坐卧式下肢康复机器人下肢关节机构. 中国: CN102743838A, 2012-10-24.
[42] 侯增广, 王洪波, 谭民, 胡国清, 曾达幸, 程龙, 方唯一, 曲新凯, 郑晓倩, 杨雪, 吉程, 谢晓亮, 胡正伟, 齐政彦. 微创血管介入手术机器人送管机构. 中国: CN101933837A, 2011-01-05.
[43] 侯增广, 谭民, 王洪波, 曾达幸, 胡国清, 程龙, 易新, 郑晓倩, 杨雪, 谢晓亮, 吉程, 胡正伟, 齐政彦. 微创血管介入手术机器人送管机构的控制装置. 中国: CN101904771A, 2010-12-08.

   

[1] Zhou, XiaoHu, Xie, XiaoLiang, Liu, ShiQi, Ni, ZhenLiang, Zhou, YanJie, Li, RuiQi, Gui, MeiJiang, Fan, ChenChen, Feng, ZhenQiu, Bian, GuiBin, Hou, ZengGuang. Learning Skill Characteristics From Manipulations. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS. 2022, [2] XiaoHu Zhou, XiaoLiang Xie. Surgical skill assessment based on dynamic warping manipulations. IEEE Trans. on Medical Robotics and Bionics[J]. 2022, [3] XiaoHu Zhou, XiaoLiang Xie, ZengGuang Hou. A multilayer and multimodal-fusion architecture for simultaneous recognition of endovascular manipulations and assessment of technical skills. IEEE Trans. on Cybernetics[J]. 2021, [4] Zhou, YanJie, Xie, XiaoLiang, Zhou, XiaoHu, Liu, ShiQi, Bian, GuiBin, Hou, ZengGuang. A Real-Time Multifunctional Framework for Guidewire Morphological and Positional Analysis in Interventional X-Ray Fluoroscopy. IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS[J]. 2021, 13(3): 657-667, [5] Zhou, YanJie, Xie, XiaoLiang, Zhou, XiaoHu, Liu, ShiQi, Bian, GuiBin, Hou, ZengGuang. Pyramid attention recurrent networks for real-time guidewire segmentation and tracking in intraoperative X-ray fluoroscopy. COMPUTERIZED MEDICAL IMAGING AND GRAPHICS[J]. 2020, 83: http://dx.doi.org/10.1016/j.compmedimag.2020.101734.
[6] Zhou, XiaoHu, Bian, GuiBin, Xie, XiaoLiang, Hou, ZengGuang. An Interventionalist-Behavior-Based Data Fusion Framework for Guidewire Tracking in Percutaneous Coronary Intervention. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS[J]. 2020, 50(11): 4836-4849, https://www.webofscience.com/wos/woscc/full-record/WOS:000578826300078.
[7] Zhou, YanJie, Xie, XiaoLiang, Hou, ZengGuang, Bian, GuiBin, Liu, ShiQi, Zhou, XiaoHu, IEEE. FRR-NET: FAST RECURRENT RESIDUAL NETWORKS FOR REAL-TIME CATHETER SEGMENTATION AND TRACKING IN ENDOVASCULAR ANEURYSM REPAIR. 2020 IEEE 17TH INTERNATIONAL SYMPOSIUM ON BIOMEDICAL IMAGING (ISBI 2020)null. 2020, 961-964, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000578080300195.
[8] Zhou, XiaoHu, Bian, GuiBin, Xie, XiaoLiang, Hou, ZengGuang, Li, RuiQi, Zhou, YanJie. Qualitative and Quantitative Assessment of Technical Skills in Percutaneous Coronary Intervention: In Vivo Porcine Studies. IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING[J]. 2020, 67(2): 353-364, https://www.webofscience.com/wos/woscc/full-record/WOS:000510903800003.
[9] 赵含霖, 谢晓亮, 奉振球, 刘市祺, 周小虎, 侯增广. 血管介入手术机器人系统综述. 中国医疗设备. 2020, 35(12): 11-16, http://lib.cqvip.com/Qikan/Article/Detail?id=7103524303.
[10] 谢晓亮. An interventionalist behavior-based data fusion framework for guidewire tracking in percutaneous coronary intervention. IEEE Transactions on Systems, Man, and Cybernetics: Systems. 2019, [11] 刘市祺, 孙晓波, 谢晓亮, 侯增广. 基于区域建议网络和残差结构的导丝跟踪. 模式识别与人工智能[J]. 2019, 36-42, http://lib.cqvip.com/Qikan/Article/Detail?id=77838366504849574849484854.
[12] Zhou, YanJie, Xie, XiaoLiang, Bian, GuiBin, Hou, ZengGuang, Wu, YuDong, Liu, ShiQi, Zhou, XiaoHu, Wang, JiaXing, IEEE. Fully Automatic Dual-Guidewire Segmentation for Coronary Bifurcation Lesion. 2019 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN)null. 2019, [13] Li, RuiQi, Bian, Guibin, Zhou, Xiaohu, Xie, Xiaoliang, Ni, ZhenLiang, Hou, Zengguang, Shen, D, Liu, T, Peters, TM, Staib, LH, Essert, C, Zhou, S, Yap, PT, Khan, A. A Two-Stage Framework for Real-Time Guidewire Endpoint Localization. MEDICAL IMAGE COMPUTING AND COMPUTER ASSISTED INTERVENTION - MICCAI 2019, PT Vnull. 2019, 11768: 357-365, [14] Zhou, XiaoHu, Bian, GuiBin, Xie, XiaoLiang, Hou, ZengGuang, Qu, Xinkai, Guan, Shaofeng. Analysis of Interventionalists' Natural Behaviors for Recognizing Motion Patterns of Endovascular Tools During Percutaneous Coronary Interventions. IEEE TRANSACTIONS ON BIOMEDICAL CIRCUITS AND SYSTEMS[J]. 2019, 13(2): 330-342, http://ir.ia.ac.cn/handle/173211/23495.
[15] Ni, ZhenLiang, Bian, GuiBin, Zhou, XiaoHu, Hou, ZengGuang, Xie, XiaoLiang, Wang, Chen, Zhou, YanJie, Li, RuiQi, Li, Zhen, Gedeon, T, Wong, KW, Lee, M. RAUNet: Residual Attention U-Net for Semantic Segmentation of Cataract Surgical Instruments. NEURAL INFORMATION PROCESSING (ICONIP 2019), PT IInull. 2019, 11954: 139-149, [16] Zhou, YanJie, Xie, XiaoLiang, Bian, GuiBin, Hou, ZengGuang, Liu, Bao, Lai, ZhiChao, Qu, XinKai, Liu, ShiQi, Zhou, XiaoHu, Gedeon, T, Wong, KW, Lee, M. Real-Time Guidewire Segmentation and Tracking in Endovascular Aneurysm Repair. NEURAL INFORMATION PROCESSING (ICONIP 2019), PT Inull. 2019, 11953: 491-500, [17] Pusit, Prasong, Xie, XiaoLiang, Hou, ZengGuang. Applying maximally stable extremal regions and local binary patterns for guide-wire detecting in percutaneous coronary intervention. IET IMAGE PROCESSING[J]. 2019, 13(13): 2579-2586, https://www.webofscience.com/wos/woscc/full-record/WOS:000498813000023.
[18] Xiaoran CHENG, Xiaoliang XIE, Guibin BIAN, Zengguang HOU, Shiqi LIU, Zhanjie GAO. 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, 61(10): 246-248, http://lib.cqvip.com/Qikan/Article/Detail?id=74708871504849564948485048.
[19] Xie Xiaoliang, Wang Qiaoli, Liu Shiqi, Bian Guibin, Hou Zengguang, Cheng Xiaoran, Chen Sheng, Wu Yudong. Automatic Guidewire Tip Segmentation in 2D X-ray Fluoroscopy Using Convolution Neural Networks. 2018, http://ir.ia.ac.cn/handle/173211/23588.
[20] Wu, YuDong, Xie, XiaoLiang, Bian, GuiBin, Hou, ZengGuang, Cheng, XiaoRan, Chen, Sheng, Liu, ShiQi, Wang, QiaoLi, IEEE. Automatic Guidewire Tip Segmentation in 2D X-ray Fluoroscopy Using Convolution Neural Networks. 2018 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN)null. 2018, [21] Hao, JianLong, Xie, XiaoLiang, Bian, GuiBin, Hou, ZengGuang, Zhou, XiaoHu. Development and Evaluation of a 7-DOF Haptic Interface. IEEE-CAA JOURNAL OF AUTOMATICA SINICA[J]. 2018, 5(1): 261-269, http://lib.cqvip.com/Qikan/Article/Detail?id=90687266504849564849485054.
[22] Cheng, Xiaoran, Xie, Xiaoliang, Bian, Guibin, Hou, Zengguang, Liu, Shiqi, Gao, Zhanjie. A simulator with an elastic guidewire and vascular system for minimally invasive vascular surgery. SCIENCE CHINA-INFORMATION SCIENCESnull. 2018, 61(10): http://lib.cqvip.com/Qikan/Article/Detail?id=74708871504849564948485048.
[23] Zhou XiaoHu, Bian GuiBin, Xie XiaoLiang, Hou ZengGuang, Hao JianLong, IEEE. Prediction of Natural Guidewire Rotation Using an sEMG-based NARX Neural Network. 2017 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN)null. 2017, 419-424, [24] Wang Li, Xie XiaoLiang, Bian GuiBin, Hou ZengGuang, Cheng XiaoRan, Prasong Pusit, IEEE. Guide-wire Detection Using Region Proposal Network for X-ray Image-guided Navigation. 2017 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN)null. 2017, 3169-3175, [25] Cheng, XiaoRan, Song, QingKun, Xie, XiaoLiang, Cheng, Long, Wang, Li, Bian, GuiBin, Hou, ZengGuang, Huang, Tingwen, Prasong, Pusit, IEEE. 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)null. 2017, 109-114, [26] Zhou XiaoHu, Bian GuiBin, Xie XiaoLiang, Hou ZengGuang, Hao JianLong, IEEE. PCA-Based Muscle Selection for Interventional Manipulation Recognition. 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)null. 2016, 921-926, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000405724600155.
[27] Xie, XiaoLiang, Sian, GuiBin, Hou, ZengGuang, Feng, ZhenQiu, Hao, JianLong. Preliminary study on Wilcoxon-norm-based robust extreme learning machine. NEUROCOMPUTING[J]. 2016, 198: 20-26, http://dx.doi.org/10.1016/j.neucom.2015.12.113.
[28] Xiaohu Zhou, Jianlong Hao, Xiaoliang Xie, Guibin Bian, Zengguang Hou. Development of a Multi-modal Interactive System for Endoscopic Endonasal Approach Surgery Simulation. 2016, http://ir.ia.ac.cn/handle/173211/14694.
[29] Jianlong Hao, Guibin Bian, Xiaoliang Xie, Zengguang Hou, Xiaohu Zhou. A 3-DOF Compact Haptic Interface for Endoscopic Endonasal Approach Surgery Simulation. 2016, http://ir.ia.ac.cn/handle/173211/14693.
[30] Zhou XiaoHu, Bian GuiBin, Xie XiaoLiang, Hou ZengGuang, Hao JianLong, IEEE. Tracking Natural Guidewire Manipulations with an Improved Data Glove. 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)null. 2016, 1832-1837, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000405724600308.
[31] Hao Jianlong, Bian GuiBin, Xie XiaoLiang, Hou ZengGuang, Zhou XiaoHu, IEEE. A 3-DOF Compact Haptic Interface for Endoscopic Endonasal Approach Surgery Simulation. 2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)null. 2016, 136-141, [32] Gao ZhanJie, Xie XiaoLiang, Bian GuiBin, Hao JianLong, Feng ZhenQiu, Hou ZengGuang, IEEE. 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)null. 2015, 5809-5812, [33] Hao Jianlong, Xie Xiaoliang, Bian Guibin, Feng Zhenqiu, Hou Zengguang, Yu Hongnian, Vladareanu Luige, IEEE. Dynamic Modeling and Control Simulation of a Modified Delta Manipulator. 2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATIONnull. 2015, 1573-1578, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000380562200289.
[34] XiaoLiang Xie, ZengGuang Hou, Hongnian Yu, Jianlong Hao, Guibin Bian. 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.5null. 2015, 4373-4378, http://ir.ia.ac.cn/handle/173211/14689.
[35] Guibin Bian, Zhanjie Gao, Hongnian Yu, Xiaoliang Xie, Jianlong Hao, Luige Vladareanu, Zengguang Hou, Zhenqiu Feng. Dynamic Modeling and Control Simulation of a Modified Delta Manipulator. 2015, http://ir.ia.ac.cn/handle/173211/14690.
[36] 谢晓亮. 微创血管介入手术机器人设计与人机交互控制. 2011, http://www.irgrid.ac.cn/handle/1471x/976980.
[37] 吉程, 侯增广, 谢晓亮, 谭民. 心血管微创介入机器人导管控制技术综述. 机器人技术与应用. 2011, 25-33, http://lib.cqvip.com/Qikan/Article/Detail?id=41408481.

   

（ 1 ） 机器人辅助血管介入手术中器械跟踪与控制方法研究, 主持, 国家级, 2017-01--2017-12
（ 2 ） 虚拟心血管介入手术系统中的血管和导丝建模方法研究, 主持, 国家级, 2013-01--2015-12
（ 3 ） 基于人类行为模拟的机器人智能控制关键技术与应用研究, 主持, 国家级, 2017-01--2020-12
（ 4 ） 面向非结构化环境理解的仿生眼感知与识别, 主持, 国家级, 2015-03--2018-03
（ 5 ） 消防决策支持系统与三维虚拟动态感知, 主持, 国家级, 2018-04--2021-03