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会议论文

  1. Zhaoyun Wu; Xue Li; Weiyan Kong; Lianliang Li; Xingguang Duan; Changsheng Li*, MedCAT-Seg: Medical Specific Prompt and Structure Cost Aggregation for Surgical Image Semantic Segmentation[C]//2026 International Conference on Biomimetic Intelligence and Robotics (ICBIR 2026).

  2. Zeyu Wang; Jiahao Wang; Xingguang Duan; Changsheng Li*, A Unified and Differentiable Handling of Multilevel Constraint Method for Time Varying Quadratic Optimal Problem and Its Application to Robot Control[C]//2026 IEEE 20th International Conference on Control and Automation (ICCA 2026).

  3. Xipeng Wu; Chao Qian; Weize Wang; Xufeng Lyu; Xingguang Duan; Changsheng Li*, A Continuum Manipulator with Variable Curvature for Electrocautery Hemostasis in Spinal Endoscopic Surgery: Design, Modeling and In Vivo Validation[C]//2026 IEEE 20th International Conference on Control and Automation (ICCA 2026).

  4. Jiapeng Wang; Weijun Zhang; Sida Lyu; Xinye Liang; Changsheng Li; Xingguang Duan*, TimesNet-Based Human-Robot Interaction Intent Recognition for the Orthopedic Surgical Robot[C]//2026 IEEE 20th International Conference on Control and Automation (ICCA 2026).

  5. Xinye Liang; Jiapeng Wang; Weijun Zhang; Peng Li; Ye Tian; Changsheng Li; Xingguang Duan*, Flexible Interactive Control for Robot-assisted Orthopedic Procedures[C]//2026 IEEE 20th International Conference on Control and Automation (ICCA 2026).

  6. Weiyan Kong; Xue Li; Zhaoyun Wu; Lianliang Li; Jing Zhao; Changsheng Li; Xingguang Duan*; Laparoscopic Surgical Operation Understanding Algorithm Based on Attention Mechanism[C]//2026 International Conference on Biomimetic Intelligence and Robotics (ICBIR 2026).

  7. Lianliang Li; Xue Li; Changsheng Li; Xingguang Duan*; SurgMamba: A Lightweight Mamba-Based Vision-Language Framework for Surgical Visual Question Answering[C]//2026 International Conference on Information Automation (ICIA 2026).

  8. Yiming Xue; Jiale Huan; Zhongyue Zhang; Fusen Zhang; Changsheng Li; Xingguang Duan*; Safe Teleoperation in Nuclear Environments: A Passivity-Assured Robust Gravity Compensation Scheme[C]//2026 International Conference on Intelligent Automation (ICIA 2026).

  9. Huxin Gao; Xiaoxiao Yang; Tao Zhang; Xiao Xiao; Changsheng Li; Max Meng; Xiuli Zuo; Yanqing Li; Hongliang Ren*; A Transendoscopic Telerobotic System Using Heterogeneous Flexible Manipulators for Bimanual Endoscopic Submucosal Dissection[C]//2026 IEEE International Conference on Robotics and Automation (ICRA2026).

  10. Pu Chen; Hao Wen; Haibo Jing; Jiexi Tian; Yongzheng He; Xingguang Duan; Changsheng Li*, AcuFlexBot: A Force-Controlled Robot for Breathing-Synchronized Acupuncture[C]//2025 IFAC Symposium on Analysis, Design and Evaluation of Human-Machine Systems (IFAC HMS 2025)

  11. Xipeng Wu; Chao Qian; Jinpeng Diao; Xingguang Duan; Changsheng Li*, Fast Real-Time Neural Network-Based Kinematics Solving of the Cosserat Rod Model for a Parallel Continuum Surgical Manipulator[C]//2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025).

  12. Rong Cong; Xipeng Wu; Chao Qian; Kaijie Zhang; Xing-guang Duan; Changsheng Li*, Development of a Novel Miniaturized Dexterous Manipulator with Variable Stiffness for NOTES[C]//2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025).

  13. Pu Chen; Hao Wen; Haibo Jing; Jiexi Tian; Yongzheng He; Xingguang Duan; Changsheng Li*, AcuFlexBot: A Force-Controlled Robot for Breathing-Synchronized Acupuncture[C]//2025 IFAC Symposium on Analysis, Design and Evaluation of Human-Machine Systems (IFAC HMS 2025)

  14. Hao Wen; Wen Fu; Jiexi Tian; Shitai Lin; Junlan Dong; Changsheng Li; Xingguang Duan*, Kinematics Modeling and Error Compensation for Miniaturized Puncture Surgical Robot[C]//2025 IEEE International Conference on Real-time Computing and Robotics (RCAR 2025).

  15. Huizhou Zhao; Fansheng Meng; Changsheng Li; Jiale Huan; Xujia Wang; Xingguang Duan*, An Autonomous Intelligent Robot for Reagent Handling in Biological Laboratories[C]//2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2025).

  16. Zhongyue Zhang; Jiale Huan; Changsheng Li; Xingguang Duan*, Click2Position: A Vision-Based Interactive System for Underwater Manipulator Guidance[C]//2025 IEEE International Conference on Cyborg and Bionic Systems (CBS 2025).

  17. Weijun Zhang; Changsheng Li; Huanyu Tian; Jingwei Zhao; Tianming Hu; Xingguang Duan*, Design and Verification of an Innovative Spine Surgical Robot Based on Dynamic Compensation[C]//2025 IEEE International Conference on Cyborg and Bionic Systems (CBS 2025).

  18. Lizhong Ding; Wenxin Chen; Qina Wu; Hongdian Zhu; Changsheng Li; Jing Zhao; Xingguang Duan*, Deep Learning-based Quantification of Lumbar Disc Herniation on High-resolution Magnetic Resonance Imaging[C]//2025 International Workshop on Advanced Computational Intelligence and Intelligent Informatics (IWACIII 2025).

  19. Xudong Ma; Anqi Chen; Yubo Yi; Yida Hu; Wenyong Liu; Junchen Wang; Shaolong Kuang; Jie Tang; Yuanzheng Hou; Changsheng Li; Baiquan Su*; Structural Design and Analysis of a Wire-Driven Robot with a Double-Wire Coaxial Drive Mode[C]//2025 World Robot Conference, Symposium on Advanced Robotics and Automation (WRC SARA 2025).

  20. Xujia Wang, Pengtao Shi, Wenxin Chen, Sida Lyu, Min Wei, Yanpeng Zhao, Xingguang Duan, Changsheng Li* Intelligent Planning Method for Femoral Tunnel Placement in Anterior Cruciate Ligament Reconstruction Surgery[C]//2025 International Conference on Biomimetic Intelligence and Robotics (ICBIR 2025).

  21. Fengxinyun Fang; Dongsheng Xie; Jiexi Tian; Xiangyun Xian; Kaijie Zhang; Changsheng Li; Xingguang Duan*, Gesture-to-Robot Mapping in a Mixed Reality System for Safe Bronchoscopic Teleoperation[C]// 2025 International Conference on Biomimetic Intelligence and Robotics (ICBIR 2025).

  22. Sida Lyu, Wenxin Chen, Weijun Zhang, Lianliang Li, Jiapeng Wang, Rui He, Changsheng Li, Xingguang Duan*, A Respiratory Motion Compensation Method for Robotic-Assisted Laminectomy[C]//2025 International Conference on Biomimetic Intelligence and Robotics (ICBIR 2025).

  23. Xingguang Duan, Lianliang Li, Xue Li, Sida Lyu, Lizhong Ding, Changsheng Li*, DINOv2-Enhanced Surgical Instrument Segmentation with Lightweight CNN[C]//2025 International Conference on Biomimetic Intelligence and Robotics (ICBIR 2025).

  24. Kaijie Zhang, Jinpeng Diao , Xipeng Wu , Chao Qian , Xingguang Duan , Changsheng Li*, Kinematic Synthesis of Flexible Manipulator for Spinal Endoscopic Surgery via Bayesian Optimization with Multi-Physical Constraints[C]//2025 International Conference on Biomimetic Intelligence and Robotics (ICBIR 2025).

  25. Xingguang Duan; Wenxin Chen; Changsheng Li*, Revisiting Transfer Learning for Polyp Segmentation based on Convolutional Network with Non-polyp Image Generator[C]// 2025 IEEE International Conference on Real-time Computing and Robotics (RCAR 2025).

  26. Xue Li; Lianliang Li; Xingguang Duan; Changsheng Li*, An improved Segformer Method for Polyp Segmentation in Digestive Endoscopy[C]//2025 IEEE International Conference on Real-time Computing and Robotics (RCAR 2025).

  27. Xipeng Wu; Chao Qian; Jinpeng Diao; Xingguang Duan; Changsheng Li*, A Steerable Surgical Drill Based on a Push-Pull Linkage Mechanism for Grinding Operations in Constrained Bony Cavity Environments[C]//2024 2nd International Conference on Frontiers of Intelligent Manufacturing and Automation (CFIMA 2024).

  28. Jiale Huan; Tengfei Cui; Zhe Han; Pu Chen; Ye Tian; Xingguang Duan; A Method for Target Detection and Tracking of the Recycling Robot in Nuclear Power Plant[C]// International Conference on Biomimetic Intelligence and Robotics & Medical Robotics Forum(ICBIR+MRF 2024).

  29. Jiale Huan; Qingxin Shi; Pu Chen; Xingguang Duan; Adaptive Neural Network Sliding Mode Controller for Welding Robot with Uncertain Model in Nuclear Power Plant[C]//International Conference on Intelligent Robotics and Applications(ICIRA 2024).

  30. Chao Qian; Jinpeng Diao; RongCong; Zhuoheng Li; Xingguang Duan; Changsheng Li; Modeling and Analysis of Surgical Parallel Continuum Manipulator[C]//2023 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2023: 1-6.

  31. Jinpeng Diao; Chao Qian; Xiao Xiao; Xingguang Duan ; Changsheng Li; A Flexible Parallel Robotic Wrist Towards Transluminal Endoscopic Surgery[C]//International Conference on Intelligent Robotics and Applications, 2023.

  32. Xue Li; Zihan Zhou; Kaifeng Wang; Haiying Liu; Yalong Qian; Xingguang Duan; Changsheng Li; An Improved Image Super-Resolution Algorithm for Percutaneous Endoscopic Lumbar Discectomy[C]//International Conference on Cognitive Systems and Signal Processing. Singapore: Springer Nature Singapore, 2023: 149-160.

  33. Quanbin Lai; Rui Ma; Haihua Huang; Weiming Li; Xingguang Duan; Remote Robotic System for Thermocouple Maintenance Tasks in Nuclear Power Plants[C]//2023 International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE, 2023: 1041-1046.

  34. Xiaolong Zhu; Huanyu Tian; Rui He; Changsheng Li; Mingxing Fan; Xingguang Duan; Wei Tian; Adaptive Fuzzy Sliding Mode Controller for Robot-Assisted Laminectomy[C]//2023 International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE, 2023: 233-238.

  35. Tengfei Cui; Jingshen Zhao; Lixing Jin; Quanbin Lai; Jiale Huan; Ye Tian; Xingguang Duan; Data-Driven Model of Off-Line Collision Safety Based on Neural Network for Cooperative Robot[C]//2022 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2022: 1-8.

  36. Haihua Huang; Yujie Feng; Yi Tan; Rui Ma; Quanbin Lai; Binxuan Sun ; Xingguang Duan; Robotic Replacement System for Thermocouple Components in the Nuclear Power Plant[C]//International Conference on Intelligent Robotics and Applications. Cham: Springer International Publishing, 2022: 575-586.

  37. Feng Yang; Haihua Huang; Yanzheng Chen; Weiming Li; Quanbin Lai; Rui Ma; Binxuan Sun ; Xingguang Duan; Research and Verification of Robot Master-Slave Control Algorithm for Nuclear Power Maintenance Scenarios[C]//International Conference on Intelligent Robotics and Applications. Cham: Springer International Publishing, 2022: 595-603.

  38. Huanyu Tian; Zhe Han; Dongsheng Xie; Xingguang Duan; Xi Fu; Feng Niu; The Region-based Virtual Fixtures Control for Invasive Avoidance in Hands-on Robot-assisted Mandibular Angle Split Osteotomy[C]//2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER). IEEE, 2022: 13-18.

  39. Hao Wen; Wen Fu; Yue Feng; Jiajie Chen; Wu Chen; Quanbin Lai; Binxuan Sun; Xingguang Duan; Dynamic Parameters Identification for Manipulators Considering Physical Feasibility and Nonlinear Friction[C]//2022 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2022: 610-615.

  40. Dongsheng Xie; Xingguang Duan; Liuhong Ma; Minghao Zhao; Jianjian Lu; Changsheng Li; Mixed Reality Assisted Orbital Reconstruction Navigation System for Reduction Surgery of Orbital Fracture[C]//2022 IEEE International Conference on Real-time Computing and Robotics (RCAR). IEEE, 2022: 316-321.

  41. Zihan Zhou; Fengyi Shi; Zhuoheng Li; Jiaxun Li; Runtian Zhang; Chao Qian; Xingguang Duan; Changsheng Li; Mechanical Design and Workspace Optimization of a Flexible Parallel Manipulator for Minimally Invasive Surgery[C]//2022 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2022: 272-277.

  42. Jingshen Zhao; Ying Wang; Lixing Jin; Xingguang Duan; Weijun Zhang; Obstacle Avoidance Strategy of Improved APF Method in C-space[C]//2021 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2021: 2011-2017.

  43. Fansheng Meng; Changsheng Li; Hao Wen; Rui Ma; Xingguang Duan; Weijun Zhang; Preliminary Design of a Reconfigurable Cable-Driven Parallel Haptic Device Towards Robot-Assisted Surgery[C]//2021 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2021: 1749-1754.

  44. Rui He; Hao Wen; Changsheng Li; Xiangqian Chen; Xiaogang Chen; Xiaowei Mao; Xingguang Duan; Development and Control of a CT Fluoroscopy Guided Lung Puncture Robot[C]//Intelligent Robotics and Applications: 14th International Conference, ICIRA 2021, Yantai, China, October 22–25, 2021, Proceedings, Part III 14. Springer International Publishing, 2021: 61-70.

  45. Qingxin Shi; Jianwu Li; Junjie Dong; Fansheng Meng; Rui Ma; Quanbin Lai; Xingguang Duan; Application of CG Pseudo-spectral Method to Optimal Posture Adjustment of Robot Manipulator[C]//Intelligent Robotics and Applications: 14th International Conference, ICIRA 2021, Yantai, China, October 22–25, 2021, Proceedings, Part I 14. Springer International Publishing, 2021: 25-35.

  46. Xingguang Duan; Lixing Jin; Changsheng Li; Rui He; Quanbin Lai; Rui Ma; Kinematic Self-calibration of a 3-DOF Parallel Mechanism with Ill-conditioned Identification Matrix[C]//2021 IEEE International Conference on Real-time Computing and Robotics (RCAR). IEEE, 2021: 314-318.

  47. Changsheng Li; Jingchen Huang; Mengya Su; Diao Wu; Peng Xu; Yushan Xie; Fansheng Meng; Hao Wen; Huanyu Tian;Xingguag Duan; Reconfigurable cable-driven parallel robot with adjustable workspace towards positioning in neurosurgery: A preliminary design[C]//2021 IEEE International Conference on Real-time Computing and Robotics (RCAR). IEEE, 2021: 51-56.

  48. Zhe Han; Huanyu Tian; Fansheng Meng; Hao Wen; Rui Ma; Xingguang Duan; Yilin Zhang; Chenghua Liu; Design and experimental validation of a robotic system for reactor core detector removal[C]//2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2021: 2473-2479.