Briefly to all...
I am Fangxun ZHONG who is currently a PostDoc with the CUHK T Stone Robotics Institute and Dept. of Mechanical & Automation Engineering, The Chinese University of Hong Kong, where I received my Ph.D. degree under supervision of Prof. Yun-Hui Liu. My researches focus on surgery autonomy using multi-arm robots, e.g. suturing. I also focus on fundamental applied robot planning and control problems, e.g. dual-arm manipulation planning in confined spaces and soft object manipulation. In addition, I participated in development of surgical robot system prototypes and its clinical study.
Last Updated: 12/2023
WHAT'S NEW!
May 20th, 2020
- Released the virtual presentation of our work published in RA-L '20 on ICRA 2020:
Nov. 12th, 2019
- Attended the IROS 2019 in Cotai, Macau. Check out my newly released vlog in YouTube below:
Jan. 6th, 2020
-My new paper "Hand-Eye Calibration of Surgical Instrument in Robotic Surgery Using Interactive Manipulation" has been ACCEPTED by IEEE Robotics and Automation Letters with ICRA 2020 conference presentation.
Aug. 23rd, 2019
-My journal paper "Foot-controlled Robot-Enabled EnDOscope Manipulator (FREEDOM) for Endoscopic Sinus Surgery: Design, Control and Evaluation", has been ACCEPTED as REGULAR PAPER to IEEE Transactions on Biomedical Engineering.
Jun. 27th, 2019
-My RA-L paper "Dual-Arm Needle Insertion with Active Tissue Deformation Control for Autonomous Suturing", was also accepted for presentation on IROS 2019.
Jun. 8th, 2018
-Passed the Qualifying Examination and becomes a PhD candidate.
May. 4th, 2019
-My journal paper "Image-Based Pose Reconstruction of Surgical Needle In Robot-Assisted Laparoscopic Suturing", was published on the Chinese Journal of Electronics.
EDUCATION
08/15 - 03/21
Ph.D.,
Dept. of Mechanical & Automation Engineering,
The Chinese University of Hong Kong,
Hong Kong SAR, China
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08/14 - 07/15
M.Sc.,
Dept. of Mechanical & Automation Engineering,
The Chinese University of Hong Kong,
Hong Kong SAR, China
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08/10 - 07/14
B.Eng.,
School of Automation,
Beijing Institute of Technology,
Beijing, China
RESEARCH INTERESTS
Vision-Based Robotic Surgery
Autonomous Hand-Eye Calibration of Robotic Surgical Instrument
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Image-based autonomous suturing using da Vinci Research Kit (dVRK)
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Image-based sensing of surgical environment for robotic suturing
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Medical Robotics
Development of surgery-assisted robots and the clinical applicability
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Image processing
ROI recognition and tracking for laparoscopic/endoscopic images
PUBLICATIONS
JOURNALS
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————. “An Interaction-Reactive Framework for Robot Manipulation of Soft Objects with Unknown Heterogeneous Deformation”, IEEE Transactions on Robotics. (Under Review)
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F. Zhong, B. Li, W. Chen, Y. Liu. “Robot-Camera Calibration in Tightly Constrained Environment Using Interactive Perception”, IEEE Transactions on Robotics, 39(6), 4952-4970, 2023. (Published) doi
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F. Zhong, Y. Liu. “Integrated Planning and Control of Robotic Surgical Instruments for Task Autonomy”. The International Journal of Robotics Research, 42(7), 504-536, 2023. (Published) doi
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F. Zhong, Z. Wang, W. Chen, K. He, Y. Wang and Y.-H. Liu. “Hand-Eye Calibration of Robotic Instrument for Autonomous Surgery Using Interactive Manipulation", IEEE Robotics and Automation Letters, 2020. (Published) doi
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F. Zhong, P. Li, J. Shi, Z. Wang, J. Wu, J. Y. K. Chan, N. Leung, I. Leung, M. C. F. Tong and Y.-H. Liu. "Foot-controlled Robot-Enabled EnDOscope Manipulator (FREEDOM) For Sinus Surgery: Design, Control and Evaluation", IEEE Transactions on Biomedical Engineering, 67(6), pp. 1530-1541, 2020. (Published) doi​
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F. Zhong, Y. Wang, Z. Wang and Y.-H. Liu. "Dual-Arm Needle Insertion with Active Tissue Deformation Control for Autonomous Suturing", IEEE Robotics and Automation Letters, 4(3), pp. 2669-2676, 2019. (Published) doi​
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F. Zhong and Y.-H. Liu. "Image-Based Pose Reconstruction of Surgical Needle In Robot-Assisted Laparoscopic Suturing", Chinese Journal of Electronics, 27 (3), pp. 476-482, 2018. (Published) ​doi
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Z. Wang, S. C. Lee, F. Zhong, D. Navarro-Alarcon, Y. Liu, A. Deguet, P. Kazanzides, R. H. Taylor. "Image Based Trajectory Tracking of 4-DoF Laparoscopic Instruments Using a Rotation Distinguishing Marker", IEEE Robotics and Automation Letters, 2(3), pp. 1586-1592, 2017. (Published) doi
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D. Navarro-Alarcon, H. M. Yip, Z. Wang, Y. Liu, F. Zhong, T. Zhang, P. Li. "Automatic 3D Manipulation of Soft Objects by Robotic Arms with Adaptive Deformation Model", IEEE Transactions on Robotics, 32(2), pp. 429-441, 2016. (Published) doi
CONFERENCES
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F. Zhong et al. "Hand-Eye Calibration of Robotic Instrument for Autonomous Surgery Using Interactive Manipulation", IEEE International Conference on Robotics and Automation (ICRA), 2020. (Oral) presentation
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F. Zhong et al. "Collaborative Needle Insertion with Active Tissue Deformation Control", IEEE International Conference on Intelligent Robots and Systems (IROS), 2019. (Oral)​
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F. Zhong, D. Navarro-Alarcon, Z. Wang, Y. Liu, T. Zhang and H. M. Yip. "Adaptive 3D Pose Computation of Suturing Needle Using Constraints From Static Monocular Image Feedback", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, pp. 5521-5526. (Published) doi
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D. Navarro-Alarcon, Z. Wang, H.M. Yip, Y.-H. Liu, F. Zhong, and T. Zhang. "Robust Image-based Computation of the 3D Position of Laparoscopic Instruments and its Application to Image-guided Manipulation", IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 4115-4121. (Published) doi
PATENTS
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Y Liu, C. F. Tong, F. Zhong, Z Wang and H. M. Yip. "Endoscope manipulator and method for controlling the same", U.S. Patent, Pub. No.: US 2020/0046441 A1, 2020. (Filed) link
CONTACT
Office Address:
CUHK T Stone Robotics Institute,
1/f, Academic Building No.1,
The Chinese University of Hong Kong,
Shatin, N.T.,
Hong Kong SAR, China
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Office Tel: +852 39433541
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Email: fxzhong[at]mae[dot]cuhk[dot]edu[dot]hk
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