基本信息
谢晓亮 男 博导 中国科学院自动化研究所
电子邮件： xiaoliang.xie@ia.ac.cn
通信地址： 北京市海淀区中关村东路95号
邮政编码：
电子邮件： xiaoliang.xie@ia.ac.cn
通信地址： 北京市海淀区中关村东路95号
邮政编码：
研究领域
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
招生信息
招生专业
081101-控制理论与控制工程
招生方向
手术机器人开发、导航
机器人类人行为学习
机器人类人行为学习
教育背景
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
2002-09--2006-06 中国民航大学 学士
工作经历
工作简历
2021-04~现在, 中国科学院自动化研究所, 研究员
2014-11~2021-04,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
2014-11~2021-04,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
社会兼职
2018-02-01-今,北京人工智能学会, 理事
专利与奖励
专利成果
（ 1 ） Vascular interventional instrument control device with double guidewires or balloons, 发明专利, 2021, 专利号: US11154689B2
（ 2 ） 基于双注意力机制的血管内支架图像分割方法和系统, 专利授权, 2021, 第 2 作者, 专利号: CN111986181B
（ 3 ） 导丝操控手柄, 专利授权, 2021, 第 1 作者, 专利号: CN110507374B
（ 4 ） 血管介入手术中介入器械端点实时定位系统、方法、装置, 发明专利, 2021, 第 2 作者, 专利号: CN112348883A
（ 5 ） 股动脉自动按压止血机器人, 专利授权, 2020, 第 1 作者, 专利号: CN110960283B
（ 6 ） 按压止血装置, 专利授权, 2020, 第 2 作者, 专利号: CN110960284B
（ 7 ） 基于金字塔形注意力循环网络的手术介入器械追踪方法, 发明专利, 2020, 第 2 作者, 专利号: CN111985485A
（ 8 ） 血管内动脉瘤修复手术的介入器械检测方法、系统及装置, 发明专利, 2020, 第 2 作者, 专利号: CN111724365A
（ 9 ） 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, 发明专利, 2020, 第 2 作者, 专利号: CN111681254A
（ 10 ） 协同递送导丝和微导管的同轴操控装置, 发明专利, 2020, 第 2 作者, 专利号: CN111544741A
（ 11 ） 血管介入器械操控装置, 发明专利, 2020, 第 2 作者, 专利号: CN111529065A
（ 12 ） 推送阻力测量装置及介入手术机器人, 专利授权, 2020, 第 1 作者, 专利号: CN109833094B
（ 13 ） 医疗器械图像检测方法及装置, 发明专利, 2020, 第 3 作者, 专利号: CN111080700A
（ 14 ） 双导丝或球囊的血管介入器械操控装置, 发明专利, 2020, 第 1 作者, 专利号: CN110652357A
（ 15 ） 血管介入手术机器人的导管递送装置, 发明专利, 2019, 第 1 作者, 专利号: CN110327116A
（ 16 ） 上肢康复机器人系统, 发明专利, 2018, 第 6 作者, 专利号: CN104363982B
（ 17 ） 一种变阻抗和基于事件的触觉反馈控制方法, 发明专利, 2018, 第 1 作者, 专利号: CN105824248B
（ 18 ） 一种虚拟导丝/导管及使用其的仿真方法和仿真系统, 发明专利, 2018, 第 3 作者, 专利号: CN104657590B
（ 19 ） 一种康复机器人主动训练控制方法和装置, 发明专利, 2018, 第 5 作者, 专利号: CN105771182B
（ 20 ） 一种血管介入手术操作采集装置及方法, 发明专利, 2018, 第 4 作者, 专利号: CN105769343B
（ 21 ） 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, 2018, 第 4 作者, 专利号: CN105280080B
（ 22 ） 一种上肢康复机器人手指及手腕训练装置, 发明专利, 2017, 第 5 作者, 专利号: CN105796285B
（ 23 ） 一种针对虚拟微创血管介入手术的导丝建模方法, 发明专利, 2016, 第 1 作者, 专利号: CN106096265A
（ 24 ） 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 4 作者, 专利号: CN105892676A
（ 25 ） 一种可连续调整重心和倾角的康复训练床, 发明专利, 2016, 第 8 作者, 专利号: CN105232291A
（ 26 ） 一种可用于下肢康复训练的腿部机构, 发明专利, 2015, 第 7 作者, 专利号: CN105030485A
（ 27 ） 基于sEMG的单关节主动训练控制方法及相应的康复机器人, 发明专利, 2015, 第 9 作者, 专利号: CN104492033A
（ 28 ） 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, 发明专利, 2015, 第 5 作者, 专利号: CN104463965A
（ 29 ） 一种多位姿下肢康复训练机器人, 发明专利, 2015, 第 7 作者, 专利号: CN104800041A
（ 30 ） 基于阻抗控制的康复训练方法, 发明专利, 2015, 第 9 作者, 专利号: CN104644378A
（ 31 ） 任务导向式主动训练控制方法及相应的康复机器人, 发明专利, 2015, 第 9 作者, 专利号: CN104492066A
（ 32 ） 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 3 作者, 专利号: CN104174109A
（ 33 ） 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, 发明专利, 2014, 第 8 作者, 专利号: CN103691059A
（ 34 ） 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 3 作者, 专利号: CN103157170A
（ 35 ） 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 3 作者, 专利号: CN103083784A
（ 36 ） 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 3 作者, 专利号: CN103083783A
（ 37 ） 康复机器人大腿长度调整装置, 发明专利, 2013, 第 8 作者, 专利号: CN102885682A
（ 38 ） 一种移动式反向自锁举升平台, 发明专利, 2012, 第 5 作者, 专利号: CN102774781A
（ 39 ） 一种实验用兔子脊椎弯曲装置, 发明专利, 2012, 第 6 作者, 专利号: CN102743236A
（ 40 ） 一种坐卧式个性化下肢康复训练机器人, 发明专利, 2012, 第 9 作者, 专利号: CN102743270A
（ 41 ） 一种新型坐卧式下肢康复机器人下肢关节机构, 发明专利, 2012, 第 6 作者, 专利号: CN102743838A
（ 42 ） 微创血管介入手术机器人送管机构, 发明专利, 2011, 第 12 作者, 专利号: CN101933837A
（ 43 ） 微创血管介入手术机器人送管机构的控制装置, 发明专利, 2010, 第 10 作者, 专利号: CN101904771A
（ 2 ） 基于双注意力机制的血管内支架图像分割方法和系统, 专利授权, 2021, 第 2 作者, 专利号: CN111986181B
（ 3 ） 导丝操控手柄, 专利授权, 2021, 第 1 作者, 专利号: CN110507374B
（ 4 ） 血管介入手术中介入器械端点实时定位系统、方法、装置, 发明专利, 2021, 第 2 作者, 专利号: CN112348883A
（ 5 ） 股动脉自动按压止血机器人, 专利授权, 2020, 第 1 作者, 专利号: CN110960283B
（ 6 ） 按压止血装置, 专利授权, 2020, 第 2 作者, 专利号: CN110960284B
（ 7 ） 基于金字塔形注意力循环网络的手术介入器械追踪方法, 发明专利, 2020, 第 2 作者, 专利号: CN111985485A
（ 8 ） 血管内动脉瘤修复手术的介入器械检测方法、系统及装置, 发明专利, 2020, 第 2 作者, 专利号: CN111724365A
（ 9 ） 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, 发明专利, 2020, 第 2 作者, 专利号: CN111681254A
（ 10 ） 协同递送导丝和微导管的同轴操控装置, 发明专利, 2020, 第 2 作者, 专利号: CN111544741A
（ 11 ） 血管介入器械操控装置, 发明专利, 2020, 第 2 作者, 专利号: CN111529065A
（ 12 ） 推送阻力测量装置及介入手术机器人, 专利授权, 2020, 第 1 作者, 专利号: CN109833094B
（ 13 ） 医疗器械图像检测方法及装置, 发明专利, 2020, 第 3 作者, 专利号: CN111080700A
（ 14 ） 双导丝或球囊的血管介入器械操控装置, 发明专利, 2020, 第 1 作者, 专利号: CN110652357A
（ 15 ） 血管介入手术机器人的导管递送装置, 发明专利, 2019, 第 1 作者, 专利号: CN110327116A
（ 16 ） 上肢康复机器人系统, 发明专利, 2018, 第 6 作者, 专利号: CN104363982B
（ 17 ） 一种变阻抗和基于事件的触觉反馈控制方法, 发明专利, 2018, 第 1 作者, 专利号: CN105824248B
（ 18 ） 一种虚拟导丝/导管及使用其的仿真方法和仿真系统, 发明专利, 2018, 第 3 作者, 专利号: CN104657590B
（ 19 ） 一种康复机器人主动训练控制方法和装置, 发明专利, 2018, 第 5 作者, 专利号: CN105771182B
（ 20 ） 一种血管介入手术操作采集装置及方法, 发明专利, 2018, 第 4 作者, 专利号: CN105769343B
（ 21 ） 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, 2018, 第 4 作者, 专利号: CN105280080B
（ 22 ） 一种上肢康复机器人手指及手腕训练装置, 发明专利, 2017, 第 5 作者, 专利号: CN105796285B
（ 23 ） 一种针对虚拟微创血管介入手术的导丝建模方法, 发明专利, 2016, 第 1 作者, 专利号: CN106096265A
（ 24 ） 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 4 作者, 专利号: CN105892676A
（ 25 ） 一种可连续调整重心和倾角的康复训练床, 发明专利, 2016, 第 8 作者, 专利号: CN105232291A
（ 26 ） 一种可用于下肢康复训练的腿部机构, 发明专利, 2015, 第 7 作者, 专利号: CN105030485A
（ 27 ） 基于sEMG的单关节主动训练控制方法及相应的康复机器人, 发明专利, 2015, 第 9 作者, 专利号: CN104492033A
（ 28 ） 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, 发明专利, 2015, 第 5 作者, 专利号: CN104463965A
（ 29 ） 一种多位姿下肢康复训练机器人, 发明专利, 2015, 第 7 作者, 专利号: CN104800041A
（ 30 ） 基于阻抗控制的康复训练方法, 发明专利, 2015, 第 9 作者, 专利号: CN104644378A
（ 31 ） 任务导向式主动训练控制方法及相应的康复机器人, 发明专利, 2015, 第 9 作者, 专利号: CN104492066A
（ 32 ） 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 3 作者, 专利号: CN104174109A
（ 33 ） 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, 发明专利, 2014, 第 8 作者, 专利号: CN103691059A
（ 34 ） 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 3 作者, 专利号: CN103157170A
（ 35 ） 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 3 作者, 专利号: CN103083784A
（ 36 ） 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 3 作者, 专利号: CN103083783A
（ 37 ） 康复机器人大腿长度调整装置, 发明专利, 2013, 第 8 作者, 专利号: CN102885682A
（ 38 ） 一种移动式反向自锁举升平台, 发明专利, 2012, 第 5 作者, 专利号: CN102774781A
（ 39 ） 一种实验用兔子脊椎弯曲装置, 发明专利, 2012, 第 6 作者, 专利号: CN102743236A
（ 40 ） 一种坐卧式个性化下肢康复训练机器人, 发明专利, 2012, 第 9 作者, 专利号: CN102743270A
（ 41 ） 一种新型坐卧式下肢康复机器人下肢关节机构, 发明专利, 2012, 第 6 作者, 专利号: CN102743838A
（ 42 ） 微创血管介入手术机器人送管机构, 发明专利, 2011, 第 12 作者, 专利号: CN101933837A
（ 43 ） 微创血管介入手术机器人送管机构的控制装置, 发明专利, 2010, 第 10 作者, 专利号: CN101904771A
出版信息
发表论文
[1] Li, Hao, Zhou, XiaoHu, Xie, XiaoLiang, Liu, ShiQi, Feng, ZhenQiu, Hou, ZengGuang. CASOG: Conservative Actor–Critic With SmOoth Gradient for Skill Learning in Robot-Assisted Intervention. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS. 2023, 第 3 作者http://dx.doi.org/10.1109/TIE.2023.3310021.
[2] Li, Hao, Zhou, XiaoHu, Xie, XiaoLiang, Liu, ShiQi, Gui, MeiJiang, Xiang, TianYu, Wang, JinLi, Hou, ZengGuang. Discrete soft actor-critic with auto-encoder on vascular robotic system. ROBOTICA[J]. 2023, 第 3 作者 通讯作者 41(4): 1115-1126, http://dx.doi.org/10.1017/S0263574722001527.
[3] WenTao Wang, XiaoHu Zhou, XiaoLiang Xie, ShiQi Liu, DeXing Huang, Hao Li, Tian Yu Xiang, ZengGuang Hou. MEDIA-Net: Multi-scale Feature Extraction and DepthwIse Attention Network for Accurate Carotid Artery Segmentation. PROCEDIA COMPUTER SCIENCE. 2023, 第 3 作者226: 1-7, http://dx.doi.org/10.1016/j.procs.2023.10.628.
[4] 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[J]. 2022, 第 2 作者 通讯作者 http://dx.doi.org/10.1109/TNNLS.2022.3160159.
[5] 王鸣, 关韶峰, 干倩, 翟馨蓉, 谢晓亮, 刘市祺, 侯增广, 方唯一, 曲新凯, 韩文正. 国产冠状动脉介入手术机器人在分叉病变中的临床应用与探讨. 中国介入心脏病学杂志. 2022, 第 5 作者30(8): 613-621, http://lib.cqvip.com/Qikan/Article/Detail?id=7107895937.
[6] XiaoHu Zhou, XiaoLiang Xie. Surgical skill assessment based on dynamic warping manipulations. IEEE Trans. on Medical Robotics and Bionics[J]. 2022, 第 2 作者 通讯作者
[7] Zhou, XiaoHu, Xie, XiaoLiang, Feng, ZhenQiu, Hou, ZengGuang, Bian, GuiBin, Li, RuiQi, Ni, ZhenLiang, Liu, ShiQi, Zhou, YanJie. A Multilayer and Multimodal-Fusion Architecture for Simultaneous Recognition of Endovascular Manipulations and Assessment of Technical Skills. IEEE TRANSACTIONS ON CYBERNETICS[J]. 2022, 第 2 作者52(4): 2565-2577, http://dx.doi.org/10.1109/TCYB.2020.3004653.
[8] Li, RuiQi, Xie, XiaoLiang, Zhou, XiaoHu, Liu, ShiQi, Ni, ZhenLiang, Zhou, YanJie, Bian, GuiBin, Hou, ZengGuang. A Unified Framework for Multi-Guidewire Endpoint Localization in Fluoroscopy Images. IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING[J]. 2022, 第 2 作者69(4): 1406-1416, http://dx.doi.org/10.1109/TBME.2021.3118001.
[9] Zhou, YanJie, Liu, ShiQi, Xie, XiaoLiang, Zhou, XiaoHu, Hou, ZengGuang, Li, RuiQi, Ni, ZhenLiang, Fan, ChenChen. A Dual-Stream Architecture for Real-Time Morphological Analysis of Aneurysm in Robot-Assisted Minimally Invasive Surgery. 2022, 第 3 作者
[10] Li, RuiQi, Xie, XiaoLiang, Zhou, XiaoHu, Liu, ShiQi, Ni, ZhenLiang, Zhou, YanJie, Bian, GuiBin, Hou, ZengGuang. Real-Time Multi-Guidewire Endpoint Localization in Fluoroscopy Images. IEEE TRANSACTIONS ON MEDICAL IMAGING[J]. 2021, 第 2 作者40(8): 2002-2014, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000679532100005.
[11] 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, 第 2 作者
[12] 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, 第 2 作者13(3): 657-667,
[13] Ni, ZhenLiang, Bian, GuiBin, Hou, ZengGuang, Zhou, XiaoHu, Xie, XiaoLiang, Li, Zhen, IEEE. Attention-Guided Lightweight Network for Real-Time Segmentation of Robotic Surgical Instruments. 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). 2020, 第 5 作者9939-9945,
[14] 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, 第 2 作者83: http://dx.doi.org/10.1016/j.compmedimag.2020.101734.
[15] 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, 第 3 作者50(11): 4836-4849, http://dx.doi.org/10.1109/TSMC.2018.2876465.
[16] 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. 2020IEEE17THINTERNATIONALSYMPOSIUMONBIOMEDICALIMAGINGISBI2020. 2020, 第 2 作者961-964, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000578080300195.
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科研活动
科研项目
（ 1 ） 机器人辅助血管介入手术中器械跟踪与控制方法研究, 负责人, 国家任务, 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, 负责人, 国家任务, 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, 负责人, 国家任务, 2017-01--2020-12
（ 4 ） 面向非结构化环境理解的仿生眼感知与识别, 负责人, 国家任务, 2015-03--2018-03
（ 5 ） 消防决策支持系统与三维虚拟动态感知, 负责人, 国家任务, 2018-04--2021-03
（ 6 ） 血管腔内手术智能影像导航系统中数据采集标注及相关算法开发, 负责人, 境内委托项目, 2019-06--2020-05
（ 7 ） 多器械协同递送血管介入手术机器人平台研制, 负责人, 国家任务, 2019-12--2022-11
（ 8 ） 经皮股动脉介入术后体征监测与穿刺点即刻止血机器人关键技术研究, 负责人, 国家任务, 2020-01--2023-12
（ 9 ） 面向复杂病变的血管介入手术机器人资助操控关键技术研究, 负责人, 国家任务, 2021-01--2024-12
（ 10 ） 多模态数据导航的血管介入手术机器人, 负责人, 研究所自主部署, 2020-04--2022-12
（ 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, 负责人, 国家任务, 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, 负责人, 国家任务, 2017-01--2020-12
（ 4 ） 面向非结构化环境理解的仿生眼感知与识别, 负责人, 国家任务, 2015-03--2018-03
（ 5 ） 消防决策支持系统与三维虚拟动态感知, 负责人, 国家任务, 2018-04--2021-03
（ 6 ） 血管腔内手术智能影像导航系统中数据采集标注及相关算法开发, 负责人, 境内委托项目, 2019-06--2020-05
（ 7 ） 多器械协同递送血管介入手术机器人平台研制, 负责人, 国家任务, 2019-12--2022-11
（ 8 ） 经皮股动脉介入术后体征监测与穿刺点即刻止血机器人关键技术研究, 负责人, 国家任务, 2020-01--2023-12
（ 9 ） 面向复杂病变的血管介入手术机器人资助操控关键技术研究, 负责人, 国家任务, 2021-01--2024-12
（ 10 ） 多模态数据导航的血管介入手术机器人, 负责人, 研究所自主部署, 2020-04--2022-12
指导学生
已指导学生
赵含霖 硕士研究生 081101-控制理论与控制工程
现指导学生
赵海宁 硕士研究生 081101-控制理论与控制工程
刘赫 硕士研究生 085400-电子信息