Publication

* denotes co-first authorship; denotes corresponding authorship.

Journal

  1. Wu, J., Wang, Z., Chen, W., Wang, Y., and Liu, Y.-H., “Design and Validation of A Novel Leaf Spring Based Variable Stiffness Joint with Reconfigurability,” IEEE/ASME Transactions on Mechatronics (T-MECH), under review, 2019.

  2. Li, D., Wang, Z., and Liu, Y.-H., “Honeycomb Jamming: an Enabling Technology of Variable Stiffness Reconfiguration,” Soft Robotics (SORO), under review, 2019.

  3. Zhong, F., Wang, Z., Chen, W., Wang, Y., and Liu, Y.-H., “Hand-Eye Calibration of Surgical Instrument for Robotic Surgery Using Interactive Manipulation,” IEEE Robotics and Automation Letters (RA-L), revised and resubmitted, 2019.

  4. Sui, C., Wu, J., Ma, G., Wang, Z., and Liu, Y.-H., “A Real-Time 3D Laparoscopic Imaging System: Design, Method and Validation,” IEEE Transactions on Biomedical Engineering (T-BME), major revision submitted, 2019.

  5. Sui, C., He, K., Lyu, C., Wang, Z., and Liu, Y.-H., “Active Stereo 3D Surface Reconstruction Using Multi-Step Matching,” IEEE Transactions on Automation Science and Engineering (T-ASE), revised and resubmitted, 2019.

  6. Yip, H.M., Wang, Z., Navarro-Alarcon, D., Li, P., Cheung, T.H., Greiffenhagen, C., and Liu, Y.-H., “A Collaborative Robotic Uterine Positioning System for Laparoscopic Hysterectomy: Design and Experiments,” The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS), accepted, 2019.

  7. Yang, B.*, Chen, W.*, Wang, Z., Mao, J., Lu, Y., Wang, H., and Liu, Y.-H., “Adaptive FOV Control of Laparoscopes with Programmable Composed Constraints,” IEEE Transactions on Medical Robotics and Bionics (T-MRB), accepted, 2019. @Paper

  8. Zhong, F., Li, P., Shi, J., Wang, Z., Wu, J., Chan, J. Y. K., Leung, N., Leung, I., Tong, M. C. F., and Liu, Y.-H., “Foot-controlled Robot-Enabled EnDOscope Manipulator (FREEDOM) for Sinus Surgery: Design, Control and Evaluation,” IEEE Transactions on Biomedical Engineering (T-BME), accepted, 2019. @Paper

  9. Zhong, F., Wang, Y., Wang, Z., and Liu, Y.-H., “Dual-Arm Robotic Needle Insertion with Active Tissue Deformation for Autonomous Suturing,” IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 3, pp. 2669-2676, Apr. 2019. @Paper

  10. Alambeigi, F., Wang, Z., Hegeman, R., Liu, Y.-H., and Armand, M., “Autonomous Data-Driven Manipulation of Unknown Anisotropic Deformable Tissues Using Unmodelled Continuum Manipulators,” IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 2, pp. 254-261, Apr. 2019. @Paper

  11. Alambeigi, F.*, Wang, Z.*, Hegeman, R., Liu, Y.-H., and Armand, M., “A Robust Data-Driven Approach for Online Learning and Manipulation of Unmodeled 3-D Heterogeneous Compliant Objects,” IEEE Robotics and Automation Letters (RA-L), vol. 3, no. 4, pp. 4140-4147, Oct. 2018. @Paper

  12. Alambeigi, F.*, Wang, Z.*, Liu, Y.-H., Taylor, R. H., and Armand, M., “Toward Semi-Autonomous Cryoablation of Kidney Tumors via Model-Independent Deformable Tissue Manipulation Technique,” Annals of Biomedical Engineering (ABME), vol. 46, no. 10, pp. 1650-1662, Oct. 2018. @Paper

  13. Wang, Z., Liu, Z., Ma, Q., Cheng, A., Liu, Y.-H., Kim, S., Deguet, A., Reiter, A., Kazanzides, P., and Taylor, R.H., “Vision-Based Calibration of Dual RCM-Based Robot Arms in Human-Robot Collaborative Minimally Invasive Surgery,” IEEE Robotics and Automation Letters (RA-L), vol. 3, no. 2, pp. 672-679, Apr. 2018. @Paper

  14. Wang, Z., Lee, S. C., Zhong, F., Navarro-Alarcon, D., Liu, Y.-H., Deguet, A., Kazanzides, P. and Taylor, R. H., “Image-Based Trajectory Tracking Control of 4-DOF Laparoscopic Instruments Using A Rotation Distinguishing Marker,” IEEE Robotics and Automation Letters (RA-L), vol. 2, no. 3, pp. 1586-1592, Mar. 2017. @Paper @Video

  15. Navarro-Alarcon, D., Yip, H. M., Wang, Z., Liu, Y.-H., Zhong, F., Zhang, T. and Li, P., “Automatic 3-D Manipulation of Soft Objects by Robotic Arms with An Adaptive Deformation Model,” IEEE Transactions on Robotics (T-RO), vol. 32, no. 2, pp. 429 - 441, Apr. 2016. @Paper @Video

  16. Wang, Z., Yip, H. M., Navarro-Alarcon, D., Li, P., Liu, Y.-H., Sun, D., Wang, H., and Cheung, T. H., “Design of A Novel Compliant Safe Robot Joint with Multiple Working States,” IEEE/ASME Transactions on Mechatronics (T-MECH), vol. 21, no. 2, pp. 1193-1198, Apr. 2016. @Paper @Video

Conference

  1. Sui, C., He, K., Wang, Z., Lyu, C., Guo, H., and Liu, Y.-H., “A Spatial-Temporal Multiplexing Method for Dense 3D Surface Reconstruction of Moving Objects,” IEEE Int. Conf. Robotics and Automation (ICRA), under review, 2020.

  2. Kong, X., Jin, Y., Dou, Q., Wang, Z., Wang, Z., Dong, E., Heng, P.-A., Sun, D., and Liu, Y.-H., “Surgical Instruments Segmentation with Mask R-CNN,” IEEE Int. Conf. Robotics and Automation (ICRA), under review, 2020.

  3. Zhong, F., Wang, Y., Wang, Z., and Liu, Y.-H., “Dual-Arm Robotic Needle Insertion with Active Tissue Deformation for Autonomous Suturing,” IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), presented, 2019. @Paper

  4. Sui, C., He, K., Lyu, C., Wang, Z., and Liu, Y.-H., “3D Surface Reconstruction Using A Two-Step Stereo Matching Method Assisted with Five Projected Patterns,” IEEE Int. Conf. Robotics and Automation (ICRA), pp. 6080-6086, 2019. @Paper

  5. Li, D., Wang, Z., Ouyang, B., and Liu, Y.-H., “A Reconfigurable Variable Stiffness Manipulator by A Sliding Layer Mechanism,” IEEE Int. Conf. Robotics and Automation (ICRA), pp. 3976-3982, 2019. @Paper

  6. Qian, L., Deguet, A., Wang, Z., Liu, Y.-H., and Kazanzides, P., “Augmented Reality Assisted Instrument Insertion and Tool Manipulation for The First Assistant in Robotic Surgery,” IEEE Int. Conf. Robotics and Automation (ICRA), pp. 5173-5179, 2019. @Paper

  7. Alambeigi, F., Wang, Z., Hegeman, R., Liu, Y.-H., and Armand, M., “Autonomous Data-Driven Manipulation of Unknown Anisotropic Deformable Tissues Using Unmodelled Continuum Manipulators,” IEEE Int. Conf. Robotics and Automation (ICRA), presented, 2019. @Paper

  8. Alambeigi, F.*, Wang, Z.*, Hegeman, R., Liu, Y.-H., and Armand, M., “A Robust Data-Driven Approach for Online Learning and Manipulation of Unmodeled 3-D Heterogeneous Compliant Objects,” IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), presented, 2018. @Paper

  9. Wang, Z., Li, X., Navarro-Alarcon, D., and Liu, Y.-H., “A Unified Controller for Region-Reaching and Deforming of Soft Objects,” IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 472-478, 2018. @Paper

  10. Sui, C., Wang, Z., and Liu, Y.-H., “A 3D Laparoscopic Imaging System Based on Stereo-photogrammetry with Random Patterns,” IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 1276-1282, 2018. @Paper

  11. Wang, Z., Liu, Z., Ma, Q., Cheng, A., Liu, Y.-H., Kim, S., Deguet, A., Reiter, A., Kazanzides, P., and Taylor, R. H., “Vision-Based Calibration of Dual RCM-based Robot Arms in Human-Robot Collaborative Minimally Invasive Surgery,” IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), presented, 2017. @Paper

  12. Alambeigi, F.*, Wang, Z.*, Liu, Y.-H., Armand, M., and Taylor, R. H., “Smart Autonomous Unknown Deformable Object Manipulation Using the da Vinci Research Kit: from Soft Tissues to Continuum Robots Manipulation,” Hamlyn Symposium Surgical Robot Challenge, 2017. Best Innovation Prize

  13. Zhong, F., Navarro-Alarcon, D., Wang, Z., Liu, Y.-H., Zhang, T., and Yip, H. M., “Adaptive 3D Pose Computation of Suturing Needle Using Constraints from Static Monocular Image Feedback,” IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 5521-5526, 2016. @Paper @Video

  14. Navarro-Alarcon, D., Wang, Z., Yip, H. M., Liu, Y.-H., Zhong, F., and Zhang, T., “Robust Image-Based Computation of the 3D Position of RCM Instruments and Its Application to Image-guided Manipulation,” IEEE Int. Conf. Robotics and Automation (ICRA), pp. 4115–4121, 2016. @Paper @Video

  15. Yip, H. M., Wang, Z., Navarro-Alarcon, D., Li, P., and Liu, Y.-H., “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. @Paper @Video1 @Video2

  16. Navarro-Alarcon, D., Yip, H. M., Wang, Z., Liu, Y.-H., Lin, W., Li, P., “Adaptive Image-Based Positioning of RCM Mechanisms Using Angle and Distance Features,” IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 5403–5409, 2015. @Paper @Video

  17. Lin, W., Navarro-Alarcon, D., Li, P., Wang, Z., Yip, H. M., Liu, Y.-H., “Modeling, Design and Control of An Endoscope Manipulator for FESS,” IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 811–816, 2015. @Paper @Video

  18. Wang, Z., Li, P., Navarro-Alarcon, D., Yip, H. M., Liu, Y.-H., Lin, W., and Li, L., “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. @Paper @Video

  19. Navarro-Alarcon, D., Wang, Z., Yip, H. M., Liu, Y.-H., Li, P., and Lin, W., “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. @Paper

  20. Yip, H. M., Li, P., Navarro-Alarcon, D., Wang, Z., and Liu, Y.-H., “A New Circular-Guided Remote Center of Motion Mechanism for Assistive Surgical Robots,” IEEE Int. Conf. Robotics and Biomimetics (ROBIO), pp. 217–222, 2014. @Paper @Video

Patent

  1. Sui, C, Liu, Y.-H., and Wang, Z., “Systems and Methods for 3D Laparoscope Surface Reconstruction,” U.S. Non-Provisional Patent, US 16/260,546, 2019.

  2. Li, P., Wang, Z., and Liu, Y.-H., “Compliant Safe Joint and Manufacturing Method Thereof,” U.S. Non-Provisional Patent, US20160298696, 2016. @Patent