基本信息
齐晓志  男  硕导  中国科学院深圳先进技术研究院
电子邮件: xz.qi@siat.ac.cn
通信地址: 深圳市南山区西丽深圳大学城学苑大道1068号
邮政编码: 518055

研究领域

医疗机器人与智能系统

招生信息

   
招生专业
081101-控制理论与控制工程
081104-模式识别与智能系统
081203-计算机应用技术
招生方向
骨科手术机器人
手术机器人共享控制
手术机器人经验学习

教育背景

2011-09--2016-12   哈尔滨工业大学   博士
2009-09--2011-07   哈尔滨工业大学   硕士
2005-09--2009-07   燕山大学   学士

工作经历

   
工作简历
2019-12~现在, 中国科学院深圳先进技术研究院, 副研究员、硕士生导师
2019-01~2020-01,德国汉堡大学, 访问学者、博士后
2016-12~2018-11,中国科学院深圳先进技术研究院, 助理研究员、博士后

专利与奖励

   
专利成果
[1] 胡颖, 田伟, 李琨伦, 孙宇, 李猛, 刘亚军, 徐艳雯, 齐晓志. 一种夹持机构及脊柱椎板磨削手术装置. CN: CN110638500B, 2021-04-20.
[2] 齐晓志, 李猛, 胡颖, 唐华杰, 余姬洁. 脊柱椎板磨削深度调节装置及手术机器人. CN: CN112494097A, 2021-03-16.
[3] 胡颖, 齐晓志, 孙宇, 高鹏, 王宇. 手术辅助注册器及手术注册方法. CN: CN109692040B, 2020-12-25.
[4] 齐晓志, 胡颖, 李兵, 黄海林. 六杆机构及由其组成的可展模块、伸展臂、平面展开桁架. CN: CN107933959B, 2020-05-19.
[5] 李世博, 胡颖, 齐晓志, 林吓乐, 雷隆, 王宇. 人体髋关节运动模拟装置及髂骨动脉血管支架疲劳测试装置. CN: CN110895894A, 2020-03-20.
[6] 何玉成, 齐晓志, 胡颖, 韩雷, 张朋. 基于剪叉机构的远端中心运动机构. CN: CN109512508B, 2020-03-17.
[7] 齐晓志, 郭佳伟, 李兵, 胡颖, 吴广鑫. 一种空间未知运动目标的信息获取方法及系统. CN: CN110766716A, 2020-02-07.
[8] 苗燕茹, 孙宇, 胡颖, 李世博, 谭志强, 齐晓志. 脊柱模型生成方法、脊柱模型生成系统及终端. CN: CN110246216A, 2019-09-17.
[9] 胡颖, 田伟, 李琨伦, 孙宇, 李猛, 刘亚军. 一种夹持机构及脊柱椎板磨削手术装置. CN: CN110236638A, 2019-09-17.
[10] 高鹏, 田伟, 胡颖, 刘亚军, 齐晓志, 孙宇庆, 王瑞强, 韩晓光, 王丽. 一种脊柱椎板磨削机器人. CN: CN209122345U, 2019-07-19.
[11] 高鹏, 田伟, 胡颖, 刘亚军, 齐晓志, 孙宇庆, 王瑞强, 韩晓光, 王丽. 一种脊柱椎板磨削机器人. CN: CN109925020A, 2019-06-25.
[12] 齐晓志, 鲁少林, 黄海林, 徐艳雯, 李兵, 胡颖. 基于空间5R机构的可展单元及单自由度环形桁架式可展机构. CN: CN109560362A, 2019-04-02.
[13] 胡颖, 高鹏, 齐晓志, 张朋, 孙宇, 于滨生, 张建伟. 手动微创脊柱手术导引器. CN: CN105997269B, 2019-03-01.

出版信息

   
发表论文
[1] He, Yucheng, Zhao, Baoliang, Qi, Xiaozhi, Li, Shibo, Yang, Yuanyuan, Hu, Ying. Automatic Surgical Field of View Control in Robot-Assisted Nasal Surgery. IEEE ROBOTICS AND AUTOMATION LETTERS[J]. 2021, 6(1): 247-254, https://www.webofscience.com/wos/woscc/full-record/WOS:000596000200004.
[2] 王丽, 孙宇, 王瑞强, 齐晓志. 椎板减压手术机器人运动学分析与轨迹规划. 机械设计与制造. 2020, 281-284, http://lib.cqvip.com/Qikan/Article/Detail?id=7101688069.
[3] Jiang, Zhongliang, Qi, Xiaozhi, Sun, Yu, Hu, Ying, Zahnd, Guillaume, Zhang, Jianwei. Cutting Depth Monitoring Based on Milling Force for Robot-Assisted Laminectomy. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING[J]. 2020, 17(1): 2-14, https://www.webofscience.com/wos/woscc/full-record/WOS:000507640900001.
[4] He, Yucheng, Zhang, Peng, Qi, Xiaozhi, Zhao, Baoliang, Li, Shibo, Hu, Ying. Endoscopic Path Planning in Robot-Assisted Endoscopic Nasal Surgery. IEEE ACCESS[J]. 2020, 8: 17039-17048, https://doaj.org/article/af0f76b5faaf4e8e87fb4c7791c28165.
[5] Yang, Yongfei, Jiang, Zhongliang, Yang, Yuanyuan, Qi, Xiaozhi, Hu, Ying, Du, Jianjun, Han, Bing, Liu, Guiqin. Safety Control Method of Robot-Assisted Cataract Surgery with Virtual Fixture and Virtual Force Feedback. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS[J]. 2020, 97(1): 17-32, https://www.webofscience.com/wos/woscc/full-record/WOS:000512052700003.
[6] Guo, Jiawei, He, Yucheng, Qi, Xiaozhi, Wu, Guangxin, Hu, Ying, Li, Bing, Zhang, Jianwei. Real-time measurement and estimation of the 3D geometry and motion parameters for spatially unknown moving targets. AEROSPACE SCIENCE AND TECHNOLOGY[J]. 2020, 97: http://dx.doi.org/10.1016/j.ast.2019.105619.
[7] Wu, Qihan, Li, Meng, Qi, Xiaozhi, Hu, Ying, Li, Bing, Zhang, Jianwei. Coordinated control of a dual-arm robot for surgical instrument sorting tasks. ROBOTICS AND AUTONOMOUS SYSTEMS[J]. 2019, 112: 1-12, http://dx.doi.org/10.1016/j.robot.2018.10.007.
[8] Guan, Weixing, Sun, Yu, Qi, Xiaozhi, Hu, Ying, Duan, Chunguang, Tao, Huiren, Yang, Xiaojun. Spinal biomechanics modeling and finite element analysis of surgical instrument interaction. COMPUTER ASSISTED SURGERY[J]. 2019, 24: 151-159, https://doaj.org/article/5be503c9c7e24f41a3967002f5808f05.
[9] He, Yucheng, Hu, Ying, Zhang, Peng, Zhao, Baoliang, Qi, Xiaozhi, Zhang, Jianwei. Human-Robot Cooperative Control Based on Virtual Fixture in Robot-Assisted Endoscopic Sinus Surgery. APPLIED SCIENCES-BASEL[J]. 2019, 9(8): http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000467316400144.
[10] Sun, Yu, Jiang, Zhongliang, Qi, Xiaozhi, Hu, Ying, Li, Bing, Zhang, Jianwei. Model-based spinal deformation compensation in robot-assisted decompressive laminectomy. MECHATRONICS[J]. 2019, 59: 115-126, http://dx.doi.org/10.1016/j.mechatronics.2019.03.008.
[11] Lei, Long, Qi, Xiaozhi, Li, Shibo, Yang, Yuanyuan, Hu, Ying, Li, Bing, Zhao, Shijia, Zhang, Yanfang. Finite element analysis for fatigue behaviour of a self-expanding Nitinol peripheral stent under physiological biomechanical conditions. COMPUTERS IN BIOLOGY AND MEDICINE[J]. 2019, 104: 205-214, http://dx.doi.org/10.1016/j.compbiomed.2018.11.019.
[12] Huang, Hailin, Li, Bing, Zhang, Tieshan, Zhang, Zhao, Qi, Xiaozhi, Hu, Ying. Design of Large Single-Mobility Surface-Deployable Mechanism Using Irregularly Shaped Triangular Prismoid Modules. JOURNAL OF MECHANICAL DESIGN[J]. 2019, 141(1): [13] Yucheng He, Ying Hu, Peng Zhang, Baoliang Zhao, Xiaozhi Qi, Jianwei Zhang. Human–Robot Cooperative Control Based on Virtual Fixture in Robot-Assisted Endoscopic Sinus Surgery. Applied Sciences[J]. 2019, 9(8): https://doaj.org/article/4e788b1a03204e4f9ace23bcfd8510b3.
[14] Lu, Shaolin, Qi, Xiaozhi, Hu, Ying, Li, Bing, Zhang, Jianwei. Deployment Dynamics of Large Space Antenna and Supporting Arms. IEEE ACCESS[J]. 2019, 7: 69922-69935, https://doaj.org/article/696dcf9385194f4d94a61cd613903c56.
[15] Chao Song, Zhixian Chen, Xiaozhi Qi, Baoliang Zhao, Ying Hu, Shoubin Liu, Jianwei Zhang. Human trajectory prediction for automatic guided vehicle with recurrent neural network. The Journal of Engineeringnull. 2018, 2018(16): [16] Xiaozhi Qi, Yu Sun, Xiaohang Ma, Ying Hu, Jianwei Zhang, Wei Tian. Multilevel Fuzzy Control Based on Force Information in Robot-assisted Decompressive Laminectomy. Advances in Experimental Medicine and Biology[J]. 2018, http://ir.siat.ac.cn:8080/handle/172644/13533.
[17] Guan, Fengqing, Sun, Yu, Qi, Xiaozhi, Hu, Ying, Yu, Gang, Zhang, Jianwei. State Recognition of Bone Drilling Based on Acoustic Emission in Pedicle Screw Operation. SENSORS[J]. 2018, 18(5): https://doaj.org/article/f8c11a4568394869b84f3ed61ca2827b.
[18] Zheng Qingwen, He Yucheng, Qi Xiaozhi, Zhang Peng, Tan Suiping, Li Bing, IEEE. Automatic Tracking Motion Based on Flexible Forbidden Virtual Fixtures Design in Robot Assisted Nasal Surgery. 2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER)null. 2018, 271-275, [19] Zheng, Qingwen, He, Yucheng, Qi, Xiaozhi, Zhang, Peng, Hu, Ying, Li, Bing. Safety Tracking Motion Control Based on Forbidden Virtual Fixtures in Robot Assisted Nasal Surgery. IEEE ACCESS[J]. 2018, 6: 44905-44916, http://ir.siat.ac.cn:8080/handle/172644/13535.
[20] Qi, Xiaozhi, Sun, Yu, Ma, Xiaohang, Hu, Ying, Zhang, Jianwei, Tian, Wei, Zheng, G, Tian, W, Zhuang, X. Multilevel Fuzzy Control Based on Force Information in Robot-Assisted Decompressive Laminectomy. INTELLIGENT ORTHOPAEDICS: ARTIFICIAL INTELLIGENCE AND SMART IMAGE-GUIDED TECHNOLOGY FOR ORTHOPAEDICS[J]. 2018, 1093: 263-279, https://www.webofscience.com/wos/woscc/full-record/WOS:000458017100020.
[21] Sun, Yu, Jiang, Zhongliang, Qi, Xiaozhi, Hu, Ying, Li, Bing, Zhang, Jianwei. Robot-Assisted Decompressive Laminectomy Planning Based on 3D Medical Image. IEEE ACCESS[J]. 2018, 6: 22557-22569, http://ir.siat.ac.cn:8080/handle/172644/13531.
[22] Ning, Yinghao, Gao, Peng, Sun, Yu, Qi, Xiaozhi, Hu, Ying, IEEE. A Practical Calibration Method for Spinal Surgery Robot. 2017 18TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR)null. 2017, 137-142, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000426976400021.
[23] Qi, Xiaozhi, Huang, Hailin, Miao, Zhihuai, Li, Bing, Deng, Zongquan. Design and Mobility Analysis of Large Deployable Mechanisms Based on Plane-Symmetric Bricard Linkage. JOURNAL OF MECHANICAL DESIGN[J]. 2017, 139(2): https://www.webofscience.com/wos/woscc/full-record/WOS:000392467800010.
[24] Qi, Xiaozhi, Huang, Hailin, Li, Bing, Deng, Zongquan. A large ring deployable mechanism for space satellite antenna. AEROSPACE SCIENCE AND TECHNOLOGY[J]. 2016, 58: 498-510, https://www.webofscience.com/wos/woscc/full-record/WOS:000388543700047.
[25] Li, Bing, Qi, Xiaozhi, Huang, Hailin, Xu, Wenfu. Modeling and analysis of deployment dynamics for a novel ring mechanism. ACTA ASTRONAUTICA[J]. 2016, 120: 59-74, http://dx.doi.org/10.1016/j.actaastro.2015.11.023.
[26] Huang, Hailin, Li, Bing, Zhu, Jianyang, Qi, Xiaozhi. A New Family of Bricard-Derived Deployable Mechanisms. JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME[J]. 2016, 8(3): https://www.webofscience.com/wos/woscc/full-record/WOS:000373285700019.
[27] Chu, Zhengrong, Deng, Zongquan, Qi, Xiaozhi, Li, Bing. Modeling and analysis of a large deployable antenna structure. ACTA ASTRONAUTICA[J]. 2014, 95: 51-60, http://dx.doi.org/10.1016/j.actaastro.2013.10.015.
[28] Huang, Hailin, Deng, Zongquan, Qi, Xiaozhi, Li, Bing. Virtual Chain Approach for Mobility Analysis of Multiloop Deployable Mechanisms. JOURNAL OF MECHANICAL DESIGN[J]. 2013, 135(11): https://www.webofscience.com/wos/woscc/full-record/WOS:000326172900003.
[29] Qi, Xiaozhi, Deng, Zongquan, Li, Bing, Liu, Rongqiang, Guo, Hongwei. Design and optimization of large deployable mechanism constructed by Myard linkages. CEAS SPACE JOURNAL[J]. 2013, 5(3-4): 147-155, 

科研活动

   
科研项目
( 1 ) 大型空间天线在轨展开过程与航天器本体间的耦合动力学研究, 主持, 国家级, 2018-01--2020-12
( 2 ) 脊柱手术机器人的经验学习与共享操作方法研究, 主持, 国家级, 2018-01--2021-12
( 3 ) 基20170040捕获空间非合作目标的机构和结构系统设计研究, 主持, 省级, 2017-07--2020-07
( 4 ) 微重力环境下大型空间天线在轨展开过程动力学特性研究, 主持, 省级, 2017-05--2019-05
( 5 ) 共享操作脊柱手术机器人关键技术研究, 主持, 省级, 2019-06--2021-02
( 6 ) 面向腰椎间盘突出症的椎间孔镜手术机器人经皮穿刺关键技术研究, 主持, 省级, 2021-01--2023-12
( 7 ) 基2020N312 复杂虚拟显微眼科手术高逼真度视触觉反馈模型研究, 参与, 省级, 2020-11--2023-11
( 8 ) 超声医生手法模拟算法与机器人自主扫描关键技术, 参与, 国家级, 2021-01--2022-12

合作情况

   
项目协作单位

(1)德国汉堡大学

(2)哈尔滨工业大学

(3)北京积水潭医院

(4)北京大学深圳医院

(5)深圳大学总医院

指导学生

   
已毕业硕士研究生

(1)鲁少林,硕士课题:大型空间天线在轨展开动力学与控制方法研究,2019,哈尔滨工业大学优秀毕业研究生

(2)郭佳伟,硕士课题:空间未知运动目标的三维几何与运动参数测量与估计,2019,哈尔滨工业大学(深圳)优秀毕业研究生

(3)管凤青,硕士课题:基于多源信息的机器人辅助脊柱手术状态感知方法研究,2018,哈尔滨工业大学(深圳)优秀毕业研究生

(4)吴啟菡,硕士课题:面向手术器械分拣任务的双臂机器人协同控制方法研究,2018

(5)郑清文,硕士课题:基于虚拟夹具的鼻内镜手术辅助机器人安全控制研究,2018