基本信息

王双翌  男  研究员  

中国科学院自动化研究所 研究员
中国科学院大学人工智能学院 岗位教师
中国科学院香港创新研究院人工智能与机器人创新中心 客座研究员
英国伦敦国王学院生命科学与医学院 博士

电子邮件: shuangyi.wang@ia.ac.cn
通信地址: 北京海淀区中关村东路95号自动化大厦1013
邮政编码: 100190

研究领域

研究方向:医疗辅助机器人、机器人辅助诊疗、智能超声系统、介入手术导航、机器人力位传感器设计。
研究内容:1)基于串、并、柔、软机构的内窥成像机器人、超声辅助机器人及介入诊疗机器人的设计研发;2)机器人辅助诊疗中的追踪导航与智能控制问题;3)医疗机器人应用中的机器视觉及影像分析问题。
招聘信息:基于课题组所在北京及香港实验室定期招收机器人、机械工程、电气自动化、计算机技术、生物医学工程等背景的工程师及研究生,欢迎咨询,互相学习、一同进步,为医疗机器人研究添砖加瓦,实现自我价值。

教授课程

(1) 研究生课程《机器人机构学》, 180206081101P30111, 40学时, 2.0学分, 点击查看课程介绍及大纲
(2) 本科生课程《机器人学研讨课》, B2512010Y, 20学时, 1.0学分, 点击查看课程介绍及大纲
(3) 研究生课程《文献阅读》, 081101M05008H-02 , 20学时, 1.0学分, 点击查看课程介绍及大纲

科研情况概览

王双翌研究员于英国伦敦国王学院获博士学位,2019年加入中国科学院自动化研究所,2021年入选中国科学院率先行动海外人才引进计划,目前兼任中国科学院大学人工智能学院岗位教授及中国科学院香港创新研究院人工智能与机器人创新中心客座研究员。 研究方向聚焦于成像辅助及手术协同机器人,从诊疗器械灵巧机构设计、人机协同遥操作控制方法、视觉伺服自主导航策略等共性技术出发,旨在为医护人员远离高风险环境、跨区域对接基层及智能化诊疗提供新方案,先后通过合作研发及专利许可服务过Xtronics、Philips Healthcare、健世科技、宏济医疗、聆数医疗等多家海内外创新企业,累积获得超过1000万产业经费支持开展多项创新研究,其中心内微创介入及泌尿内镜辅助机器人成功实现原创技术突破,超声辅助机器人近10项专利通过对外许可实现转化应用,超高分辨率X射线微型断层扫描系统已实现批量销售。以上成果受到学界及业界的高度认可,作为负责人承担10余项科研项目,在TMECH, TIE, TIM, TBME, TMRB, RAM, RAL, ICRA, IROS, MICCAI等领域内高水平期刊和会议发表50余篇论文,先后完成全军首次混合现实技术与超声机器人结合的卫勤演练及全球首例超声机器人引导下的卵园孔未闭封堵术,被EurekAlert等科学媒体及人民日报、人民网及中国军网等权威媒体多次报道。

教育及工作经历

2022-07~至今, 中国科学院自动化研究所多模态人工智能系统全国重点实验室, 研究员
2019-11~2022-06, 中国科学院自动化研究所复杂系统管理与控制国家重点实验室, 副研究员
2016-10~2019-10, 伦敦国王学院生物医学工程与影像学院圣托马斯医学中心, 博士后
2013-10~2017-10, 伦敦国王学院生物医学工程与影像学院圣托马斯医学中心, 博士
2012-09~2013-05, 邓迪大学科学与工程学院机械工程系, 荣誉学士
2009-09~2013-07, 天津大学精密仪器与光电子工程学院生物医学工程系, 工学学士

社会兼职

2023-11-18-今, 中国医学装备协会人工智能和医用机器人工作委员会, 常务委员
2023-10-27-今, 中国人工智能学会智能机器人专业委员会, 委员
2023-05-01-今, 粤港澳大湾区标准创新联盟生命和生物技术委员会, 委员
2022-04-19-今, 中关村智友人工智能与机器人研究院, 特聘专家
2021-11-19-今, 中国医药教育协会航天医学专业委员会, 常务委员
2021-07-09-今, 中国超声医学工程学会互联网医疗超声专委会, 常务委员

科研项目

(1) 经食道超声机器人的运动规划与人机交互方法, 负责人, 国家级, 2021-01--2023-12
(2) 三尖瓣介入双机器人辅助系统的智能控制及人机协作, 负责人, 国家级, 2024-01--2027-12
(3) 超声探头位姿调控机构及遥操作控制方法, 负责人, 国家级, 2022-03--2024-09
(4) 超声引导康复治疗智能辅助机器人, 负责人, 省级, 2022-01--2025-04
(5) 中国科学院率先行动海外引才B类项目, 负责人, 部委级, 2019-11--2022-11
(6) 中国科学院率先行动海外引才B类项目院择优支持, 负责人, 部委级, 2022-01--2025-12
(7) 超声引导手术辅助机器人, 负责人, 所级, 2020-04--2023-04
(8) 一次性泌尿内镜机器人辅助系统, 负责人, 企业委托, 2023-04--2025-04
(9) 结构性心脏病经导管介入机器人, 负责人, 企业委托, 2023-05--2026-12
(10) 超声机器人及超声诊疗系统负责人企业委托2023-10--2028-10

荣誉奖励

(1) 中国科学院海外高层次人才, 中国科学院, 2021年
(2) 中国科学院大学“小米青年学者”, 小米公益基金会, 2023年
(3) 首届医学装备创新大赛二等奖, 中国医学装备协会, 2024年

代表性专利

1. 柔性医疗设备, 中国, CN114947966A, 授权
2. 并联超声机器人及超声诊疗系统中国CN114947950B, 授权、许可
3. 基于先验知识及增强现实可视化显示的超声扫描视觉导航方法、装置及设备中国CN115990032B, 授权、许可
4. 远程超声机器人(便携式并联)中国CN308022199S, 授权、许可
5. 一种便携式可折叠床旁定位臂和医疗诊断装置中国CN116035842B, 授权、许可
6. 超声诊疗机器人及超声诊疗系统中国CN116549003A, 授权、许可
7. 小型化超声诊疗机器人及超声诊疗系统中国CN116392161A, 实审、许可
8. 并联超声机器人及超声诊疗系统中国CN115299984A, 实审、许可
9. 超声诊疗机器人及超声诊疗系统中国2023102371950, 受理、许可
10. 小型化超声诊疗机器人及超声诊疗系统中国2023102371965, 受理、许可
11. 一种柔性医疗设备中国CN115363632A, 实审
12. 一种力反馈主手中国CN115500956A, 实审
13. 一种并联RCM机构及微创手术机器人中国CN115476339A, 实审
14. 可全向弯曲的内璄镜蛇骨组件及内窥镜中国CN115429201A, 实审
15. 多自由度转动力反馈设备中国CN115533946A, 实审
16. 柔性连续体引导装置和柔性连续体机器人中国CN116115342A, 实审
17. 一种用于医学超声操作训练的虚拟仿真系统及方法 中国, CN116312122A, 实审
18. 一种胎儿的数字化心脏及其制备方法, 中国, CN116524793A, 实审
19. 一种胎儿心脏铸型及其制备方法, 中国, CN116778794A, 实审
20.  一种胎儿心脏的虚拟超声图像及其生成方法, 中国, CN116524020A, 实审

代表性论著

1. Deng, Z., Hou, X., Chen. C., Gu, X., Hou, Z., Wang, S.* A Portable Robot-Assisted Device with Built-in Intelligence for Autonomous Ultrasound Acquisitions in Follow-Up Diagnosis. IEEE Transactions on Instrumentation and Measurement, 2024. 
2. Hao, M.#, Guo, J.#, Liu, C., Chen, C*Wang, S.* Development and Preliminary Testing of a Prior Knowledge-Based Visual Navigation System for Cardiac Ultrasound Scanning. Biomedical Engineering Letters, 14, 307-316, 2024.
3. Zhang, P., Deng, Z., Hou, X.Wang, S.* Development of a Parallel-Mechanism-Based Robotic Wrist With Remote Center of Motion Capability to Assist Ultrasound ScanningIEEE Journal of Radio Frequency Identification, 8, 341-347, 2024. 
4. Tan, L., Deng, Z., Hao, M., Zhang, P., Hou, X., Gu, X., Chen, C.Wang, S.* 
Design and Experiments of a Portable Robotic Ultrasound Scanning and Diagnosis System of Carotid Artery. IEEE International Conference on Advanced Robotics and Mechatronics, 2024.
5. Wang, W., Wu, Z., Saija, C., Zeidan, A. M., Xu, Z., Pishkahi, A., Patterson, T., Redwood, S., Wang, S., Rhode, K., Housden, R. J. Universal Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization, IEEE Robotics and Automation Letters, 9(6), 5254-5261, 2024.
6. Wang, H., Dong. S., Yang, Q., Han, J., He, Z., He, Y.Wang, S.* A Virtual Ultrasonography Simulator for Skill Training Using Magnetic-Inertial Probe Tracking. IEEE/ASME Transactions on Mechatronics, 29(1), 445-454, 2023.
7. Lin, H., Xie. Y., Wang, Z.Wang, S.* A Deep Reinforcement Learning Approach for Pre-Planning Problems in Robotic Intra-Operative Ultrasound: a Virtual Environment-Based Analysis. IEEE International Conference on Digital Twins and Parallel Intelligence, 1-4, 2023. 
8. Zhang, P., Deng, Z., Hou, X.Wang, S.* Development of a Miniaturized Bedside Robotic Wrist with Multifunctional Movement Capabilities: An Analysis Based on a Simulation Environment. IEEE International Conference on Digital Twins and Parallel Intelligence, 1-5, 2023. 
9. Hao, M.#, Zhang, P.#, Chen, C.Wang, S.* Towards Automated Ultrasound Scanning Using Vision-Based Navigation: From Physician Skill Learning to Robotic Reproduction. WRC Symposium on Advanced Robotics and Automation, 341-346, 2023.
10. Shen, C., Deng, Z., Wang, J., Wang, S.*Chen, C*. Towards Autonomous Robotic Ultrasound Scanning Using the Reinforcement Learning-Based Volumetric Data Navigation Method. WRC Symposium on Advanced Robotics and Automation, 335-340, 2023.
11. Lin, H., Xie, Y., Hou, X., Chen, C.Wang, S.* A Comparison of Differential Kinematics and Machine Learning Approaches in Motion Planning for Intra-operative Cardiac Ultrasound Robots. IEEE International Conference on Mechatronics and Automation, 386-391, 2023.
12. Deng, Z., Hou, X., Zhang, P., Hao, M., Chen, C.Wang, S.* A Novel IMU-Based 6-DOF Pose Tracking Method for Parallel-Mechanism-Based Ultrasound Robot. IEEE International Conference on Mechatronics and Automation, 852-857, 2023.
13. Deng, Z., Hao, M., Hou, X.Wang, S.* System Design and Workspace Optimization of a Parallel Mechanism-Based Portable Robot for Remote Ultrasound. International Conference on Automation, Control and Robotics Engineering, 263-269, 2023.
14. Xie, Y.#, Guo, J.#, Hou, X., Liu, H., Housden, J., Kawal, R., Hou, Z.Wang, S.* Robot-assisted Trans-esophageal Ultrasound and the Virtual Admittance-Based Master-slave Control Method Thereof. IEEE/ASME Transactions on Mechatronics, 28(5), 2505-2516, 2023.
15. Xie, Y., Hou, X.Wang, S.* Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots. Robotics, 12(2), 52, 2023. 
16. Bao, X., Wang, S.*, Zheng, L., Housden, J., Hajnal, J.Rhode, K. A Novel Ultrasound Robot with Force/torque Measurement and Control for Safe and Efficient Scanning. IEEE Transactions on Instrumentation and Measurement, 72, 1-12, 2023. 
17. Bao, X., Wang, S.*, Zheng, L., Housden, J., Hajnal, J.Rhode, K. SAPM: Self-Adaptive Parallel Manipulator with Pose and Force Adjustment for Robotic Ultrasonography. IEEE Transactions on Industrial Electronics, 70(10), 10333-10343, 2023. 
18. Dang, Z., Yang, Q., Deng, Z., Han, J., He, Y.*Wang, S.* Digital Twin-based Skill Training with a Hands-on User Interaction Device to Assist in Manual and Robotic Ultrasound. IEEE Journal of Radio Frequency Identification, 6, 787-793, 2022.
19. Xie, Y., Hou, X., Liu, H., Housden, J., Kawal, R., Hou, Z.Wang, S.* Contact Force Prediction for a Robotic Transesophageal Ultrasound Probe via Operating Torque Sensing, In International Workshop on Advances in Simplifying Medical UltraSound. Lecture Notes in Computer Science, 13565, 152-161, 2022.  
20. Yang, Q., Han, J., Wang, R., Zhang, T., Zhang, Y., Wang J., Xu, L., Hou, Z., Wang, S.*He, Y.* Development of Digital Fetal Heart Models with Virtual Ultrasound Function Based on Cardiovascular Casting and CT Scan. Bioengineering, 9(10), 524, 2022.
21. Wang, H.#, Wang, S.#Rajamani, R.* Electromagnetic Angular Position Sensing Using High-Magnetic-Permeability Materials. IEEE Sensors Journal, 22(12), 11626-11636, 2022.
22. Wang, H.#, Wang, S.#, Liu, H., Hou, Z., Rhode, K.Rajamani, R.* 3-D Electromagnetic Position Estimation System Using High-Magnetic-Permeability Metal for Continuum Medical Robots. IEEE Robotics and Automation Letters, 7(2), 2581-2588, 2022. (Accepted by ICRA and presented) 
23. Wang, S., Housden, J., Bai, T., Liu, H., Back, J., Singh, D., Rhode, K., Hou, Z.Wang, F.* Robotic Intra-Operative Ultrasound: Virtual Environments and Parallel Systems. IEEE/CAA Journal of Automatica Sinica, 8(5), 1095-1106, 2021. 
24. Wang, S.*#, Wang, K.#, Tang, R., Qiao, J., Liu, H.Zeng, H. Design of a Low-cost Miniature Robot to Assist COVID-19 Nasopharyngeal Swab Sampling. IEEE Transactions on Medical Robotics and Bionics, 3(1), 289-293, 2021. 
25. Deng, Z., Hou, X., Wang, S.* Workspace Optimization of a 6-RSS Stewart-Gough Robotic Platform to Assist Ultrasound Diagnosis. In IEEE International Conference on Digital Twins and Parallel Intelligence, 230-233, 2021.
26. Tang, R., Zheng, J.Wang, S.* Design of Novel End-effectors for Robot-assisted Swab Sampling to Combat Respiratory Infectious Diseases. In Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 4757-4760, 2021. 
27. Zheng, J., Wang, S.*, Housden, J., Hou, Z., Singh, D.Rhode, K. A Safety Joint with Passive Compliant and Manual Override Mechanisms for Medical Robotics. In IEEE International Conference on Intelligence and Safety for Robotics, 1-4, 2021.
28. Housden, J.#, Wang, S.*#, Bao, X., Zheng, J., Skelton, E., Matthew, J., Noh, Y., Eltirafi, O., Singh, A., Singh, D.Rhode, K. Towards Standardized Acquisition with a Dual-probe Ultrasound Robot for Fetal Imaging. IEEE Robotics and Automation Letters, 6(2), 1059-1065, 2021. (Accepted by ICRA and presented) 
29. Bao, X.*, Wang, S., Housden, J., Hajnal, J.Rhode, K. A Constant-Force End-Effector With Online Force Adjustment for Robotic Ultrasonography. IEEE Robotics and Automation Letters, 6(2), 2547-2554. (Accepted by ICRA and presented) 
30. Wang, S.*, Hou, X., Housden, J., Hou, Z., Singh, D.Rhode, K. IoT-based Remote Control Study of a Robotic Trans-esophageal Ultrasound Probe via LAN and 5G, In International Workshop on Advances in Simplifying Medical UltraSound. Lecture Notes in Computer Science, 12437, 171-179, 2020. 
31. Lindenroth, L., Housden, J., Wang, S., Back, J., Rhode, K.Liu, H. Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound. IEEE Transactions on Biomedical Engineering, 67(8), 2215-2229, 2020.
32. Wang, S.*, Housden, J., Noh, Y., Singh, D., Singh, A., Skelton, E., ... Rhode, K. Robotic-assisted Ultrasound for Fetal Imaging: Evolution from Single-arm to Dual-arm System. In Annual Conference Towards Autonomous Robotic Systems Conference. Lecture Notes in Computer Science, 11650, 27-38, 2019. 
33. Wang, S.*, Housden, J., Singh, D.Rhode, K. Adaptive Neuro-Fuzzy Inference System Based Orientation Control of an Intra-operative Ultrasound Robot. International Conference on Mechanical Engineering and Automation Science, 470, 012031, 2019.
34. Wang, S.*, Housden, R. J., Noh, Y., Singh, A., Lindenroth, L., Liu, H., Althoefer, K., Hajnal, J., Singh, D.Rhode, K. Analysis of a Customized Clutch Joint Designed for the Safety Management of an Ultrasound Robot. Applied Sciences, 9(9), 1900, 2019. 
35. Wang, S.*, Housden, J., Noh, Y., Singh, S., Back, J., Lindenroth, L., Liu, H., Hajnal, J., Althoefer, K., Singh, D.Rhode, K. Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound. JoVE, 143, e58811, 2019. 
36. Noh, Y., Lindenroth, L., Wang, S., Housden, J., Wingerden, A., Li, W.Rhode, K. A 2-Piece Six-Axis Force/Torque Sensor Capable of Measuring Loads Applied to Tools of Complex Shapes. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 976-7981, 2019.
37. Wang, S.*, Housden, J., Singh, D.Rhode, K. Design and Implementation of a Low-cost Training System for Trans-Esophageal Ultrasound. Journal of Medical Imaging and Health Informatics, 8(7), 1532–1537, 2018. 
38. Wang, S.*, Housden, J., Zar, A., Gandecha, R., Singh, D.Rhode, K. Strategy for Monitoring Cardiac Interventions with an Intelligent Robotic Ultrasound Device. Micromachines, 9(2), 65, 2018. 
39. Wang, S.*, Housden, J., Singh, D.Rhode, K. Automatic Adjustments of a Trans-oesophageal Ultrasound Robot for Monitoring Intra-operative Catheters. International Conference on Mechanical Engineering and Automation Science, 280, 012032, 2017.
40. Wang, S.*, Singh, D., Johnson, D., Althoefer, K., Rhode, K.Housden, R. J. Robotic Ultrasound: View Planning, Tracking, and Automatic Acquisition of Trans-esophageal Echocardiography. IEEE Robotics & Automation Magazine, 23(4), 118-127, 2016.
41. Wang, S.*, Singh, D., Lau, D., Reddy, K., Althoefer, K., Rhode, K.Housden, R. J. Probe Tracking and Its Application in Automatic Acquisition Using a Trans-Esophageal Ultrasound Robot. In International Workshop on Computer-Assisted and Robotic Endoscopy. Lecture Notes in Computer Science, 10170, 14-23, 2016.
42. Wang, S., Housden, J., Singh, D., Althoefer, K.Rhode, K*. Design, Testing and Modelling of a Novel Robotic System for Trans-oesophageal Ultrasound. The International Journal of Medical Robotics and Computer Assisted Surgery, 12(3), 342-354, 2016.