Kinematics of Micro Bending Robot Using Shape Memory Alloy for Active Catheter. - Yili Fu; Xianling Li; Hao Liu 008; Zhaoguang Liang; Xin Ma (ROBIO, 2006)

Thermal analysis of the "internal force-static friction" capsule robot. - Qi Shao; Hao Liu 008; Guiyang Li; Xuelin Fang; Hongyi Li 002 (ROBIO, 2011)

The master-slave catheterisation system for positioning the steerable catheter. - Yili Fu; Anzhu Gao; Hao Liu 008; Shuxiang Guo (Int. J. Mechatronics Autom., 2011)

A novel dynamic cardiac simulator utilizing pneumatic artificial muscle. - Hao Liu 008; Jie Yan; Yuanyuan Zhou 003; Hongyi Li 002; Changji Li (EMBC, 2013)

A dynamic point matching for registration in image-guided minimally invasive vascular surgery: A simulation study. - Wenpeng Gao; Yili Fu; Zaijuan Li; Hao Liu 008; Shuguo Wang (ROBIO, 2013)

Inverse kinematics based point-tracking strategy of master-slave robotic catheter intervention. - Anzhu Gao; Hao Liu 008; Yuanyuan Zhou 003; Hongyi Li 002 (ROBIO, 2014)

A novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function. - Yanmin Li; Hao Liu 008; Hengzhi Wang; Zhenda Yang; Hongyi Li 002; Yunsheng Yang (EMBC, 2015)

Large deflection shape sensing of a continuum manipulator for minimally-invasive surgery. - Hao Liu 008; Amirhossein Farvardin; Sahba Aghajani Pedram; Iulian Iordachita; Russell H. Taylor; Mehran Armand (ICRA, 2015)

A cross-helical tendons actuated dexterous continuum manipulator. - Anzhu Gao; Hao Liu 008; Yuanyuan Zhou 003; Zhenda Yang; Zhidong Wang; Hongyi Li 002 (IROS, 2015)

3-DOF force-sensing micro-forceps for robot-assisted membrane peeling: Intrinsic actuation force modeling. - Anzhu Gao; Berk Gonenc; Jiangzhen Guo; Hao Liu 008; Peter Gehlbach; Iulian Iordachita (BioRob, 2016)

Evaluating the deflection of dexterous continuum manipulators with unevenly distributed compliant joints. - Anzhu Gao; Ryan J. Murphy; Hao Liu 008; Iulian Iordachita; Mehran Armand (EMBC, 2016)

Analysis on the force propagation of the tendon-sheath actuation in dexterous surgical robots. - Yuanyuan Zhou 003; Hao Liu 008; Chongyang Wang; Zhidong Wang (ROBIO, 2016)

Robust tracking of dexterous continuum robots: Fusing FBG shape sensing and stereo vision. - Rumei Zhang; Hao Liu 008; Jianda Han (EMBC, 2017)

A S shape continuum robot with a single actuation structured by NiTi slices. - Hao Liu 008; Zhuqing Ji; Jie Li; Yuanyuan Zhou 003; Chongyang Wang; Peng Ba (ROBIO, 2017)

Development of an image-guided surgical robot for bone tumor resection. - Lingzhi Kong; Lei Cao 008; Yuanyuan Zhou 003; Yanjun Pei; Shuo Guo; Jun Fu; Lianqing Liu; Zheng Guo; Hao Liu 008 (ROBIO, 2017)

Three dimensional point cloud hole repairing strategy for binocular stereo reconstruction. - Erjie Nie; Jie Li; Rumei Zhang; Lei Cao 008; Liangliang Sun; Hao Liu 008 (ROBIO, 2017)

A Contact-Aided Asymmetric Steerable Catheter for Atrial Fibrillation Ablation. - Anzhu Gao; Yun Zou; Ming Liang; Zulu Wang; Zhidong Wang; Hao Liu 008 (IEEE Robotics Autom. Lett., 2017)

Modeling and Optimization of Class-E Amplifier at Subnominal Condition in a Wireless Power Transfer System for Biomedical Implants. - Hao Liu 008; Qi Shao; Xuelin Fang (IEEE Trans. Biomed. Circuits Syst., 2017)

Design and Analysis of a Mutual Inductance Coupling-Based Microdeformation Sensor. - Rumei Zhang; Hao Liu 008; Yuanyuan Zhou 003; Zhenda Yang; Jianda Han (IEEE Trans. Instrum. Meas., 2017)

Analysis of Springback Displacement of dura mater Substitute for Precise Electrode Implantation. - Lei Cao 008; Jie Li; Chongyang Wang; Cheng Zhang; Hao Liu 008 (ICIA, 2018)

Design and Analysis of a Novel Bionic Cardiac Simulator. - Yuanyuan Zhou 003; Wei Jiang; Lei Cao 008; Chongyang Wang; Cheng Zhang; Hao Liu 008 (ICIA, 2018)

The torsion transmission characteristics for gastroscope intervention. - Xu Zhang; Chongyang Wang; Cheng Zhang; Yuanyuan Zhou 003; Yunsheng Yang; Hao Liu 008 (ISR, 2018)

Fiber Bragg Grating-Based Triaxial Force Sensor With Parallel Flexure Hinges. - Anzhu Gao; Yuanyuan Zhou 003; Lei Cao 008; Zhidong Wang; Hao Liu 008 (IEEE Trans. Ind. Electron., 2018)

Modeling of a joint-type flexible endoscope based on elastic deformation and internal friction. - Yuanyuan Zhou 003; Guohao Jiang; Cheng Zhang; Zhidong Wang; Zhongtao Zhang; Hao Liu 008 (Adv. Robotics, 2019)

Design and Modeling of a Parallel Shifted-Routing Cable-Driven Continuum Manipulator for Endometrial Regeneration Surgery. - Jianhua Li; Yuanyuan Zhou 003; Jichun Tan; Zhidong Wang; Hao Liu 008 (IROS, 2020)

Automatic feature group combination selection method based on GA for the functional regions clustering in DBS. - Lei Cao 008; Jie Li; Yuanyuan Zhou 003; Yunhui Liu; Hao Liu 008 (Comput. Methods Programs Biomed., 2020)

Data-Driven Modeling the Nonlinear Backlash of Steerable Endoscope Under a Large Deflection Cannulation in ERCP Surgery. - Wei Jiang; Tao Yu; Xiao He; Yongming Yang; Zhidong Wang; Hao Liu 008 (RCAR, 2021)

Bronchoscopic Interventional Surgery Robot which Constrained by a Shear-Fork Mechanism. - Jie Li; Chao Han; Tao Yu; Xiao He; Zhenming Jiang; Lei Sun; Hao Liu 008 (RCAR, 2021)

An orthogonal calibration method for the multi-core fiber shape sensor. - Zhenxing Wang; Meng Liu; Jie Li; Zhidong Wang; Hao Liu 008 (ROBIO, 2021)

Research on Robot-assisted Accurate Location of Local Craniocerebral Cooling Method. - Shiwei Xu; Jie Li; Yang Liao; Chongyang Wang; Xiuheng Zhang; Huisheng Chen; Hao Liu 008 (ROBIO, 2021)

Accurate and robust feature description and dense point-wise matching based on feature fusion for endoscopic images. - Ranyang Li; Junjun Pan; Yongming Yang; Nan Wei; Bin Yan; Hao Liu 008; Yunsheng Yang; Hong Qin 001 (Comput. Medical Imaging Graph., 2021)

Design and experimental verification of a novel master manipulator with force feedback for vascular interventional robot. - Jie Li; Yang Liao; Peng Lin; Liming Zheng; Chongyang Wang; Jiatao Luo; Ming Liang; Hao Liu 008 (ROBIO, 2022)

Design and motion planning of a dexterous flexible cranial puncture robot. - Jie Li; Wuyue Yuan; Xu Gao; Yang Liao; Tao Yu; Xiao He; Hao Liu 008 (ROBIO, 2022)

Force feedback soft endoscope intervention mechanism and its performance evaluation in digestive tract phantom. - Meng Liu; Tao Yu; Shenglin Zhang; Yumei Liu; Zhuo Yang; Hao Liu 008 (ROBIO, 2022)

Medical image fusion via discrete stationary wavelet transform and an enhanced radial basis function neural network. - Zhen Chao; Xingguang Duan; Shuangfu Jia; Xuejun Guo; Hao Liu 008; Fucang Jia (Appl. Soft Comput., 2022)

Unsupervised learning of depth estimation from imperfect rectified stereo laparoscopic images. - Huoling Luo; Congcong Wang; Xingguang Duan; Hao Liu 008; Ping Wang; Qingmao Hu; Fucang Jia (Comput. Biol. Medicine, 2022)

Shape Sensing for Continuum Robots by Capturing Passive Tendon Displacements With Image Sensors. - Jianhua Li; Fangmin Zhang; Zhenguo Yang; Zhenming Jiang; Zhidong Wang; Hao Liu 008 (IEEE Robotics Autom. Lett., 2022)

A Compact FBG-Based Triaxial Force Sensor With Parallel Helical Beams for Robotic-Assisted Surgery. - Jianhua Li; Chongyang Wang; Zhiyuan Mao; Yu Liu; Zhidong Wang; Hao Liu 008 (IEEE Trans. Instrum. Meas., 2022)

A geometry-aware deep network for depth estimation in monocular endoscopy. - Yongming Yang; Shuwei Shao; Tao Yang; Peng Wang; Zhuo Yang; Chengdong Wu 001; Hao Liu 008 (Eng. Appl. Artif. Intell., 2023)

A lumen-adapted navigation scheme with spatial awareness from monocular vision for autonomous robotic endoscopy. - Tao Yang; Yongming Yang; Peng Wang; Yang Cao; Zhuo Yang; Hao Liu 008 (Robotics Auton. Syst., 2023)

A Hollow FBG-Based 3-Axis Force Sensor for Surgical Robots. - Jie Li; Weiquan Deng; Chongyang Wang; Haoning Cheng; Junlin Cui; Ming Liang; Hao Liu 008 (RCAR, 2024)

Design of a Flexible Robot for Inspection in Confined Spaces. - Jie Li; Ji Shen; Chongyang Wang; Dingjia Li; Junlin Cui; Hao Liu 008 (ROBIO, 2024)

Attention-Aware Laparoscopic Image Desmoking Network with Lightness Embedding and Hybrid Guided Embedding. - Ziteng Liu; Jiahua Zhu; Bainan Liu; Hao Liu 008; Wenpeng Gao; Yili Fu (CoRR, 2024)

Active collision avoidance for teleoperated multi-segment continuum robots toward minimally invasive surgery. - Jianhua Li; Dingjia Li; Chongyang Wang; Wei Guo; Zhidong Wang; Zhongtao Zhang; Hao Liu 008 (Int. J. Robotics Res., 2024)

A Robust Pose Optimization Scheme With Spatial Geometry Awareness for Hybrid Bronchoscopic Navigation. - Hao Liu 008; Shenglin Zhang; Yongming Yang; Lei Sun; Zhan Song; Shun Xu (IEEE Trans. Instrum. Meas., 2024)

Synthesized colonoscopy dataset from high-fidelity virtual colon with abnormal simulation. - Dongdong He; Ziteng Liu; Xunhai Yin; Hao Liu 008; Wenpeng Gao; Yili Fu (Comput. Biol. Medicine, 2025)

Conditional variational underwater image enhancement with kernel decomposition and adaptive hybrid normalization. - Haopeng Zhang 018; Hongli Xu; Hao Liu 008; Xiaosheng Yu; Xiangyue Zhang; Chengdong Wu 001 (Neurocomputing, 2025)