Real-Time Sclera Force Feedback for Enabling Safe Robot-Assisted Vitreoretinal Surgery. - Ali Ebrahimi; Changyan He; Marina Roizenblatt; Niravkumar A. Patel; Shahriar Sefati; Peter Gehlbach; Iulian Iordachita (EMBC, 2018)

Towards Bimanual Robot-Assisted Retinal Surgery: Tool-to-Sclera Force Evaluation. - Changyan He; Marina Roizenblatt; Niravkumar A. Patel; Ali Ebrahimi; Yang Yang 103; Peter L. Gehlbach; Lulian lordachita (IEEE SENSORS, 2018)

User Behavior Evaluation in Robot-Assisted Retinal Surgery. - Changyan He; Ali Ebrahimi; Marina Roizenblatt; Niravkumar A. Patel; Yang Yang 103; Peter L. Gehlbach; Iulian Iordachita (RO-MAN, 2018)

Dual-Stiffness Force-Sensing Cannulation Tool for Retinal Microsurgery. - Changyan He; Emily Yang; Iulian Iordachita (EMBC, 2019)

Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery. - Ali Ebrahimi; Niravkumar A. Patel; Changyan He; Peter Gehlbach; Marin Kobilarov; Iulian Iordachita (ICRA, 2019)

Enabling Technology for Safe Robot-Assisted Retinal Surgery: Early Warning for Unsafe Scleral Force. - Changyan He; Niravkumar A. Patel; Iulian Iordachita; Marin Kobilarov (ICRA, 2019)

Sclera Force Evaluation During Vitreoretinal Surgeries in Ex Vivo Porcine Eye Model. - Niravkumar A. Patel; Muller Urias; Ali Ebrahimi; Changyan He; Peter Gehlbach; Iulian Iordachita (IEEE SENSORS, 2019)

Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback. - Ali Ebrahimi; Changyan He; Niravkumar A. Patel; Marin Kobilarov; Peter Gehlbach; Iulian Iordachita (ISMR, 2019)

Towards securing the sclera against patient involuntary head movement in robotic retinal surgery. - Ali Ebrahimi; Muller Urias; Niravkumar A. Patel; Changyan He; Russell H. Taylor; Peter Gehlbach; Iulian Iordachita (RO-MAN, 2019)

Preliminary study of an RNN-based active interventional robotic system (AIRS) in retinal microsurgery. - Changyan He; Niravkumar A. Patel; Ali Ebrahimi; Marin Kobilarov; Iulian Iordachita (Int. J. Comput. Assist. Radiol. Surg., 2019)

A Comparison of Manual and Robot Assisted Retinal Vein Cannulation in Chicken Chorioallantoic Membrane. - Niravkumar A. Patel; Muller Urias; Changyan He; Peter L. Gehlbach; Iulian Iordachita (EMBC, 2020)

Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller. - Changyan He; Ali Ebrahimi; Emily Yang; Muller Urias; Yang Yang 103; Peter Gehlbach; Iulian Iordachita (ICRA, 2020)

Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration. - Ji Woong Kim; Changyan He; Muller Urias; Peter Gehlbach; Gregory D. Hager; Iulian Iordachita; Marin Kobilarov (ICRA, 2020)

Tissue Cutting Properties in Robot-assisted Scleral Flap Preparation. - Shaofeng Han; Rujing Wu; Changyan He; Iulian Iordachita; Ningli Wang; Yang Yang 103 (ISMR, 2020)

Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study. - Jiahao Wu 002; Changyan He; Mingchuan Zhou; Ali Ebrahimi; Muller Urias; Niravkumar A. Patel; Yunhui Liu 001; Peter Gehlbach; Iulian Iordachita (ISMR, 2020)

Spotlight-based 3D Instrument Guidance for Retinal Surgery. - Mingchuan Zhou; Jiahao Wu 002; Ali Ebrahimi; Niravkumar A. Patel; Changyan He; Peter Gehlbach; Russell H. Taylor; Alois C. Knoll; M. Ali Nasseri; Iulian Iordachita (ISMR, 2020)

Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-Based Active Interventional Control Framework. - Changyan He; Niravkumar A. Patel; Mahya Shahbazi; Yang Yang 103; Peter Gehlbach; Marin Kobilarov; Iulian Iordachita (IEEE Trans. Biomed. Eng., 2020)

ExteriorTag: Automatic Semantic Annotation of BIM Building Exterior Via Voxel Index Analysis. - Xiaojun Liu; Changyan He; Hantao Zhao; Jinyuan Jia 002; Chang Liu 037 (IEEE Computer Graphics and Applications, 2021)

A study for lens capsule tearing during capsulotomy by finite element simulation. - Shaofeng Han; Changyan He; Ke Ma; Yang Yang 103 (Comput. Methods Programs Biomed., 2021)

Building information modeling indoor path planning: A lightweight approach for complex BIM building. - Xiaojun Liu; Changyan He; Hantao Zhao; Jinyuan Jia 002; Chang Liu 037 (Comput. Animat. Virtual Worlds, 2021)

A Hybrid Steerable Robot with Magnetic Wrist for Minimally Invasive Epilepsy Surgery. - Changyan He; Robert H. Nguyen; Cameron Forbrigger; James M. Drake; Thomas Looi; Eric D. Diller (ICRA, 2023)

Electromagnets Under the Table: an Unobtrusive Magnetic Navigation System for Microsurgery. - Adam Schonewille; Changyan He; Cameron Forbrigger; Nancy Wu; James M. Drake; Thomas Looi; Eric D. Diller (CoRR, 2023)

Towards Bimanual Operation of Magnetically Actuated Surgical Instruments. - Yuanzhe Deng; Majid Roshanfar; Haley Mayer; Changyan He; James M. Drake; Thomas Looi; Eric D. Diller (BioRob, 2024)

Soft Magnetically Steerable Suction Device for Endoscopic Endonasal Brain Tumor Extraction. - Majid Roshanfar; Alex Zhang; Changyan He; Amir Hooshiar; James M. Drake; Thomas Looi; Eric D. Diller (RoboSoft, 2025)

Weisfeiler-Lehman Kernel Augmented Product Representation for Queries on Large-Scale BIM Scenes. - Huiqiang Hu; Changyan He; Xiaojun Liu; Jinyuan Jia 002; Ting Yu (Comput. Animat. Virtual Worlds, 2025)

Magnetically actuated dexterous tools for minimally invasive operation inside the brain. - Changyan He; Robert H. Nguyen; Haley Mayer; Lingbo Cheng; Paul H. Kang; D. Anastasia Aubeeluck; Grace M. Thiong'o; Erik Fredin; James M. Drake; Thomas Looi; Eric D. Diller (Sci. Robotics, 2025)

Learning-Based Modeling of a Magnetically Steerable Soft Suction Device for Endoscopic Endonasal Interventions. - Majid Roshanfar; Alex Zhang; Changyan He; Amir Hooshiar; Dale J. Podolsky; Thomas Looi; Eric D. Diller (CoRR, 2025)