Zerui Wang

Forging Accessibility in Robotic Surgery

Last updated on: Feb.2025 by OpenClaw

© 2015-2026. All rights reserved.

Publication

* denotes co-first authorship; † denotes corresponding authorship.

Journal

  1. Long, Y., Lin, A., Kwok, D. H. C., Zhang, L., Yang, Z., Shi, K., Song, L., Fu, J., Lin, H., Wei, W., Chen, K., Chu, X., Hu, Y., Yip, H. C., Chiu, P. W. Y., Kazanzides, P., Taylor, R. H., Liu, Y., Chen, Z., Wang, Z.†, Au, S. K. W., and Dou, Q., “Surgical embodied intelligence for generalized task autonomy in laparoscopic robot-assisted surgery,” Science Robotics (Sci. Robot.), vol. 10, no. 104, Jul. 2025. @Paper

  2. Wu, J., Chen, W., Guo, D., Ma, G., Wang, Z., He, Y., Zhong, F., Lu, B., Wang, Y., Cheung, T. H., Liu, Y.-H., “Robot-enabled Uterus Manipulator for Laparoscopic Hysterectomy with Soft RCM Constraints: Design, Control and Evaluation,” IEEE Transactions on Medical Robotics and Bionics (T-MRB), Jun. 2022. @Paper

  3. Wang, Z., Lu, B., Gao, X., Jin, Y., Wang, Z., Cheung, T. H., Heng, P. A., Dou, Q., and Liu, Y.-H., “Unsupervised Feature Disentanglement for Video Retrieval in Minimally Invasive Surgery,” Medical Image Analysis (MedIA), vol. 75, p. 102296, Nov. 2021. @Paper

  4. Li, D., Wang, Z., Zhou, J., and Liu, Y.-H., “Honeycomb Jamming: an Enabling Technology of Variable Stiffness Reconfiguration,” Soft Robotics (SORO), Mar. 2021. @Paper

  5. He, K., Sui, C., Lyv, C., Wang, Z., and Liu, Y.-H., “3D Reconstruction of Objects with Occlusion and Surface Reflection Using a Dual Monocular Structured Light System,” Applied Optics (Appl. Opt.), vol. 59, no. 29, pp. 9259-9271, Oct. 2020. @Paper

  6. Alambeigi, F.*, Wang, Z.*, Liu, Y.-H., Taylor, R. H., and Armand, M., “A Versatile Data-Driven Framework for Model-Independent Control of Continuum Manipulators Interacting with Obstructed Environments with Unknown Geometry and Stiffness,”, arXiv Preprint, 2020. @Paper

  7. 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), vol. 25, no. 4, pp. 2045-2053, Aug. 2020. @Paper

  8. 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), vol. 17, no. 4, pp. 2130-2144, May 2020. @Paper

  9. 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), vol. 16, no. 4, pp. 1-15, e2103 Mar. 2020. @Paper

  10. 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), vol. 67, no. 9, 2683-2695, Sep. 2020. @Paper

  11. 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), vol. 5, no. 2, pp. 1540-1547, Apr. 2020. @Paper

  12. 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), vol. 67, no. 6, pp. 1530-1541, Jun. 2020. @Paper

  13. 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), vol. 1, no. 4, pp. 206-217, Oct. 2019. @Paper

  14. 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

  15. 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

  16. 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

  17. 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

  18. 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

  19. 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

  20. 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

  21. 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

Conference

  1. 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 Int. Conf. Robotics and Automation (ICRA), presented, 2020. @Paper

  2. 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), pp. 2602-2608, 2020. @Paper

  3. Li, X., Wang, Z., and Liu, Y.-H., “Sequential Robotic Manipulation for Active Shape Control of Deformable Linear Objects,” IEEE Int. Conf. Real-time Computing and Robotics (RCAR), pp. 840-845, 2019. @Paper

  4. 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

  5. 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

  6. 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

  7. 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

  8. 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

  9. 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

  10. 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

  11. 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

  12. 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

  13. 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

  14. 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

  15. 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

  16. 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

  17. 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

  18. 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

  19. 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

  20. 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

  21. 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

Patent

  1. Liu, Y.-H., Tong, C.-H., Zhong, F., Wang, Z., and Yip, H.-M., “Endoscope Manipulator and Method for Controlling the Same,” US Patent App. 16/533,866, 2019. @Patent

  2. Sui, C, Liu, Y.-H., and Wang, Z., “Systems and Methods for 3D Laparoscopic Surface Reconstruction,” US Patent App. 16/260,546 2019. @Patent

  3. Li, P., Wang, Z., and Liu, Y.-H., “Compliant Safe Joint and Manufacturing Method Thereof,” US Patent 10,208,806, 2016. @Patent