Automatic Venous Segmentation in Venipuncture Robot Using Deep Learning. - Tianbao He; Chuangqiang Guo; Li Jiang 001; Hansong Liu (RCAR, 2021)

Research on Puncture Status Perception of Venipuncture Robot Based on Electrical Impedance. - Tianbao He; Chuangqiang Guo; Hansong Liu; Li Jiang 001 (ICIRA (3), 2022)

Research on Robotic Humanoid Venipuncture Method Based on Biomechanical Model. - Tianbao He; Chuangqiang Guo; Hansong Liu; Li Jiang 001 (J. Intell. Robotic Syst., 2022)

Puncture Status Perception Method for a Venipuncture Robot Based on Force Prediction. - Tianbao He; Chuangqiang Guo; Li Jiang 001 (IEEE Trans. Instrum. Meas., 2025)