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Ph.D. Candidate

Mechanical & Automation Engineering

The Chinese University of Hong Kong

News


  • Oct. 05, 2016
  • Apr. 24, 2016
  • Won the second-place award in the hackathon (NASA Space Apps Challenge) at DC-Arlington.
  • Jan. 23, 2016
  • MindNode maps of Git and CMake were launched.
  • Nov. 08, 2015
  • Paper got accepted by IEEE/ASME Transactions on Mechatronics.
  • Oct. 05, 2015
  • Got the scholarship of Overseas Research Attachment Programme for supporting my visit in the Johns Hopkins University.
  • Sep. 02, 2015
  • Jul. 10, 2015
  • My Emacs configuration was launched on Github.
  • Apr. 23, 2015
  • Passed Qualify Examination Written & Oral Part and became a Phd Candidate.
  • Jan. 31, 2015
  • Paper got accepted by ICRA 2015.

About Me


I received the bachelor's degree in Reliability and System Engineering from the Beihang University (formerly Beijing Institute of Aeronautics), Beijing, in 2013.
I am now a final-year Ph.D. student majoring in Mechanical & Automation Engineering at The Chinese University of Hong Kong (CUHK). I'm currently working with Professor LIU Yun-hui at the Medical Robotics Lab, T Stone Robotics Institute.

Being an awardee of the Hong Kong PhD Fellowship (HKPFS), I will try my best to make my contribution to the academic research of Hong Kong.
My research interests are vision based soft tissue manipulation, dissection and suturing; developing surgical assistant robots, developing compliant safe robot joint, etc.
You can find detailed information about me in my curriculum vita.

Publications


    Journal

  • Z. Wang, S. C. Lee, F. Zhong, D. Navarro-Alarcon, Y.-H. Liu, A. Deguet, P. Kazanzides and R. H. Taylor, "Image Based Trajectory Tracking of 4-DoF Laparoscopic Instruments Using a Rotation Distinguishing Marker," IEEE Robotics and Automation Letters, 2016.
    Revise and resubmit
  • H.M. Yip, Z. Wang, D. Navarro-Alarcon, P. Li, Y.-H. Liu, T. H. Cheung, and Y. Fu, "Development of an Assistive Surgical Robot for Laparoscopic Hysterectomy: Design, Modeling and Experimental Validation," International Journal of Robotics Research, 2016.
    under review
  • D. Navarro-Alarcon, H.M. Yip, Z. Wang, Y.-H. Liu, F. Zhong, T. Zhang and P. Li, "Automatic 3D Manipulation of Soft Objects by Robotic Arms with Adaptive Deformation Model," IEEE Transactions on Robotics, vol. 32, no. 2, pp. 429 - 441, Apr. 2016.
    Published[pdf] [doi]
  • Z. Wang, H.M. Yip, D. Navarro-Alarcon, P. Li, Y.-H. Liu, D. Sun, H. Wang, and T.H. Cheung, "Design of a Novel Compliant Safe Robot Joint with Multiple Working States," IEEE/ASME Transactions on Mechatronics, vol. 21, no. 2, pp. 1193-1198, Apr. 2016.
    Published[pdf] [doi]
  • Conference

  • F. Zhong, D. Navarro-Alarcon, Z. Wang, Y.-H. Liu, T. Zhang, and H.M. Yip, "Adaptive 3D Pose Computation of Suturing Needle Using Constraints From Static Monocular Image Feedback," IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), 2016.
    Published [pdf] [doi]
  • D. Navarro-Alarcon, Z. Wang, H.M. Yip, Y.-H. Liu, F. Zhong and T. Zhang, "Robust Image-based Computation of the 3D Position of Laparoscopic Instruments and its Application to Image-guided Manipulation," IEEE Int. Conf. Robotics and Automation (ICRA), pp. 4115–4121, 2016.
    Published [pdf] [doi]
  • Y. Lu, Y.-H. Liu, Z. Wang and F. Zheng, "Lens-free and portable quantitative phase microscope using a dual-pinhole aperture," IEEE Int. Symp. Optomechatronic Technologies (ISOT), pp. 04002 p1-p4, 2015.
    Published [pdf] [doi]
  • H.M. Yip, Z. Wang, D. Navarro-Alarcon, P. Li, and Y.-H. Liu, "A new robotic uterine positioner for laparoscopic hysterectomy with passive safety mechanisms: Design and experiments," IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 3188–3194, 2015.
    Published [pdf] [doi]
  • D. Navarro-Alarcon, H.M. Yip, Z. Wang, Y.-H. Liu, W. Lin, P. Li, "Gradient Descent Adaptive Methods to Automatically Position 3-DOF RCM Mechanisms with a Monocular Camera," IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 5403–5409, 2015.
    Published [pdf] [doi]
  • W. Lin, D. Navarro-Alarcon, P. Li, Z. Wang, H.M. Yip, Y.-H. Liu, "Modeling, Design and Control of An Endoscope Manipulator for FESS," IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 811–816, 2015.
    Published [pdf] [doi]
  • Z. Wang, P. Li, D. Navarro-Alarcon, H.M. Yip, Y.-H. Liu, W. Lin and L. Li, "Design and Control of a Novel Multi-State Compliant Safe Joint for Robotic Surgery," IEEE Int. Conf. Robotics and Automation (ICRA), pp. 1023-1028, 2015.
    Published [pdf] [doi]
  • D. Navarro-Alarcon, Z. Wang, H.M. Yip, Y.-H. Liu, P. Li, and W. Lin, "A Method to Regulate the Torque of Flexible-joint Manipulators with Velocity Control Inputs," IEEE Int. Conf. Robotics and Biomimetics (ROBIO), pp. 2437–2442, 2014.
    Published [pdf] [doi]
  • H.M. Yip, P. Li, D. Navarro-Alarcon, Z. Wang and Y.-H. Liu, "A new circular-guided remote center of motion mechanism for assistive surgical robots," IEEE Int. Conf. Robotics and Biomimetics (ROBIO), pp. 217–222, 2014.
    Published [pdf] [doi]

    Patent

  • P. Li, Z. Wang, Y.-H. Liu. Compliant Safe Joint and Manufacturing Method Thereof. U.S. Patent Application, US 62/145,162, filed April 2015. Patent Pending.

    Videos

    Compliant Safe Robot Joint

    Soft Tissue Manipulation

    Soft Tissue Manipulation with Constraints

    Soft Tissue Manipulation with Obstacle Avoidance Strategy

    Vision Based 4-D Trajectory Tracking

Graduate Works


Teaching Assistant: 2013/2014

ENGG1100
Introduction to Engineering Design

MAEG1010
Introduction to Robot Design

Teaching Assistant: 2014/2015

ENGG1100
Introduction to Engineering Design

ENGG5402
Advanced Robotics