Design and prototyping of a concentric wire-driven manipulator. - Zheng Li 012; Chengzhi Song; Hongmin Wang (BioRob, 2016)

Static modeling and analysis of continuum surgical robots. - Han Yuan; Zheng Li 012; Hongmin Wang; Chengzhi Song (ROBIO, 2016)

Autonomous Flexible Endoscope for Minimally Invasive Surgery With Enhanced Safety. - Xin Ma; Chengzhi Song; Philip Wai Yan Chiu; Zheng Li 012 (IEEE Robotics Autom. Lett., 2019)

FlexiVision: Teleporting the Surgeon's Eyes via Robotic Flexible Endoscope and Head-Mounted Display. - Long Qian; Chengzhi Song; Yiwei Jiang; Qi Luo; Xin Ma; Philip Waiyan Chiu; Zheng Li 012; Peter Kazanzides (IROS, 2020)

Visual Servo of a 6-DOF Robotic Stereo Flexible Endoscope Based on da Vincix Research Kit (dVRK) System. - Xin Ma; Chengzhi Song; Philip Wai Yan Chiu; Zheng Li 012 (IEEE Robotics Autom. Lett., 2020)

An Accelerated Recurrent Neural Network for Visual Servo Control of a Robotic Flexible Endoscope With Joint Limit Constraint. - Weibing Li; Chengzhi Song; Zheng Li 012 (IEEE Trans. Ind. Electron., 2020)

A Kinematic Modeling and Control Scheme for Different Robotic Endoscopes: A Rudimentary Research Prototype. - Weibing Li; Wing Yin Ng; Xue Zhang; Yisen Huang; Yehui Li; Chengzhi Song; Philip Wai Yan Chiu; Zheng Li 012 (IEEE Robotics Autom. Lett., 2022)

Joint Computation Offloading and Resource Allocation in Green MEC-Assisted Software-Defined Island Internet of Things. - Ze Wei; Rongxi He; Haotian Liu; Chengzhi Song (IEEE Internet Things J., 2025)