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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!
WHAT'S NEW!
EDUCATION

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.

RESEARCH INTERESTS
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
PUBLICATIONS

 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
  • ————. “An Interaction-Reactive Framework for Robot Manipulation of Soft Objects with Unknown Heterogeneous Deformation”, IEEE Transactions on Robotics. (Under Review)

  • 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

  • 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

  • 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 Letters2020. (Published) doi

  • 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​

  • F. ZhongY. 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​

  • 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. 476-4822018(Published) â€‹doi

  • 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

  • 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
  • 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

  • F. Zhong et al. "Collaborative Needle Insertion with Active Tissue Deformation Control", IEEE International Conference on Intelligent Robots and Systems (IROS), 2019(Oral)​

  • 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

  • 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

CONTACT
PATENTS
  • 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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