Intraoperatively Iterative Hough Transform Based In-plane Hybrid Control of Arterial Robotic Ultrasound for Magnetic Catheterization. - Zhengyang Li; Magejiang Yeerbulati; Qingsong Xu (ICRA, 2024)

Design and Hierarchical Control of a Homocentric Variable-Stiffness Magnetic Catheter for Multiarm Robotic Ultrasound-Assisted Coronary Intervention. - Zhengyang Li; Junan Li; Zehao Wu; Yuanhe Chen; Magejiang Yeerbulati; Qingsong Xu (IEEE Trans. Robotics, 2024)