代表性期刊论文

1. Lianliang Li; Xue Li; Wenxin Chen; Sida Lyu; Changsheng Li*; Xingguang Duan*; MambaMatch: A Novel Model for Semi-Supervised Spinal Cortical and Cancellous Bone Segmentation, IEEE Transactions on Medical Imaging, 2026.

2. Fansheng Meng; Xingguang Duan; Xinya Song; Fengxinyun Fang; Jiexi Tian; Xujia Wang; Yu Chen; Yuanli Zhao; Changsheng Li. EA‐Net: Edge Attention Network for Brain Tumour Segmentation in MRI, The International Journal of Medical Robotics and Computer Assisted Surgery, 2026.

3. Xingguang Duan; Xiaolong Zhu; Jiapeng Wang; Peng Li; Yiding Tian; Changsheng Li*; Morphology-adaptive feature extraction and geometric consistency evaluation for robot-assisted orthopedic surgery registration, Optics & Laser Technology, 2026.

4. Xingguang Duan; Xiaolong Zhu; Zhou Cao; Jiapeng Wang; Changsheng Li; Unsupervised point cloud registration using heat diffusion serialization and deeply interactive attention, Displays, 2026.

5. Junhui Huang; Xingguang Duan; Arthur Bucker; Changsheng Li*; Luis Figueredo*; CHAI – Compliant Human-centered Adaptive Interaction through Diffusion-based Language Trajectory Transformer, IEEE Robotics and Automation Letters, 2026.

6. Xue Li;  Lianliang Li; Weiwei Xia; Chenjun Liu;  Kaifeng Wang; Haiying Liu; Lin Cao;  Xingguang Duan;  Changsheng Li*; Semi-supervised Nerve Segmentation for Enhanced Visualization in PELD, Cyborg Bionic Syst, 2026.

7. Zhang Zhongyue; Xingguang Duan; Fusen Zhang; Jiale Huan; Changsheng Li; Shikui Jia*; A Lightweight Object Detection Model for ROV-based Underwater Foreign Object Salvage, IET Cyber-Systems and Robotics, 2026.

8. Dongsheng Xie; Xingguang Duan*; Fengxinyun Fang; Liuhong Ma; Minghao Zhao; Jianjian Lu; Changsheng Li*; Mixed reality versatile platform for intraoperative navigation of craniomaxillofacial plastic surgery, Expert Systems with Applications, 2026.

9. Wenxin Chen; Xingguang Duan; Ye Yuan; Pu Chen; Tengfei Cui*; Changsheng Li*; Semi-Supervised Instrument Segmentation for Endoscopic Spinal Surgery, CAAI Transactions on Intelligence Technology, 2025.

10. 段星光; 何睿; 温浩; 董梦醒; 吴佳岩; 崔敏*; 李长胜*;穿刺手术机器人技术发展综述, 机器人外科学杂志(中英文), 2025 .

11. 李长胜; 丛榕; 李卓衡; 钱超; 武锡彭; 张凯捷; 段星光*;新型手术执行器虚拟操作环境建模与仿真实验教学探索, 实验技术与管理, 2025.

12. Changsheng Li; Jinpeng Diao; Chao Qian; Xipeng Wu; Hongliang Ren; Lin Cao; Xingguang Duan*; Compact manipulator with flexible parallel mechanisms and variable stiffness for keyhole procedures, SmartBot, 2025.

13. Hengbin Liu; Xin Wang; Changsheng Li*; Ning Tan*; Liquid State Machines Gaussian Process, Neural Networks, 2025.

14. Chen Zhao^#; Changsheng Li^#; Mingchang Du; Haolei Fan; Jinpeng Diao; Kaifeng Wang; Jun Wang; Weiwei Xia; Haiying Liu; Yuegang Tan; Tianliang Li*; 3-axial force Self Fault-tolerant Decoupling of Surgical Forceps Integrating Step-coated FBG for Spinal Endoscopic Robot, IEEE Transactions on Automation Science and Engineering, 2025.

15. Huanyu Tian; Martin Huber; Christopher E. Mower; Zhe Han; Changsheng Li; Xingguang Duan; Christos Bergeles*; Semi-Autonomous Laparoscopic Robot Docking with Learned Hand-Eye Information Fusion, IEEE Transactions on Biomedical Engineering, 2025.

16. Duan Xingguang, Zhongyue Zhang, Wu Tong* ,Changsheng Li，Jiale Huan，Haibo Jing, Jiapeng Wang, Chuang Zhang, Tengfei Cui*; MkT-yolo_SKD_P: a lightweight real-time object detector for foreign object retrieval in pressurized water reactors, Journal of Real-Time Image Processing, 2025.

17. Huxin Gao; Xiaoxiao Yang; Tao Zhang; Xiao Xiao; Changsheng Li; Max Q.-H. Meng; Xiuli Zuo; Yanqing Li; Hongliang Ren*; A Transendoscopic Telerobotic System Using Heterogeneous Flexible Manipulators for Bimanual Endoscopic Submucosal Dissection, IEEE Robotics and Automation Magazine, 2025.

18. Yupeng Zou; Yanxing Zhang; Tianyu Lan; Xiaojing Lai; Zhishen Zhou; Changsheng Li; Parallel Cable-Driven Prostate Puncture Robot: Design and Performance Evaluation, The International Journal of Medical Robotics and Computer Assisted Surgery, 2025.

19. Xingtao Wang; Zhen Qiu; Ximgchen Liu; Chuanbin Guo; Xiaojing Liu; Jing Wang; Xingguang Duan; Changsheng Li; Jiamg Deng; Yubin Xue; Research on the robot-assisted navigation technology in mandibular reconstruction surgery, Robotica, 2025.

20. Bai-Quan Su; Xu-Dong Ma; Weihan Li; Zi-Ao Kuang; Yi Gong; Gang Wang; Qingqian Zhang; Wenyong Liu; Changsheng Li; Li Gao*; Junchen Wang*; Cutting Skill Assessment by Motion Analysis Using Deep Learning and Spatial Marker Tracking, IEEE Transactions on Biomedical Engineering, 2025.

21. Qingxin Shi; Rui He; Changsheng Li; Tengfei Cui*; Xingguang Duan*; Output-Finitely-Constrained Control of Robotic Manipulators With Composite Desaturation Method, IEEE/ASME Transactions on Mechatronics, 2025.

22. Yupeng Zou*; Keyu Pan; Mengfei Wang; Xiaojing Lai; Tianyu Lan; Zhishen Zhou; Changsheng Li; Accurate Kinematic and Stiffness Analysis of Parallel Cable-Driven Upper Limb Rehabilitation Robot with Spherical Guide Wheel Cable Guiding Mechanism, Robotica, 2025.

23. Xue Li; Wenxin Chen; Xingguang Duan; Xiaoyi Gu; Changsheng Li; Collaborative Surgical Instrument Segmentation for Monocular Depth Estimation in Minimally Invasive Surgery[J]. Medical Image Analysis.

24. Chao Qian; Xipeng Wu; Jinpeng Diao; Xiaoyi Gu; Hongliang Ren; Xingguang Duan; Kaifeng Wang; Yuqiao Li; Changsheng Li. A Two-Segment 7-DOF Miniature Flexible Parallel Manipulator Towards Minimally Invasive Transluminal Endoscopic Surgery[J]. IEEE/ASME Transactions on Mechatronics, 2025.
    

25. Xingguang Duan; Rui He; Qingjie Zhao; Xiangqian Chen; Changsheng Li; Unified Admittance Control for Accurate Puncture and Respiration Following Based on Disturbance Observation and Model Predictive Control[J]. IEEE Robotics and Automation Letters, 2025, 10(4): 3526-3533.
    

26. 段星光；谢东升；方冯歆云；何睿；李长胜；支气管镜手术机器人发展现状及关键技术分析，工程科学学报，2025.
    

27. Xiaolong Zhu; Yuzhen Jiang; Rui He; ChangshengLi*; XingguangDuan*; Development and Validation of a Robot-Assisted Retraction System for Orthopedic Surgery; IEEE Transactions on Medical Robotics and Bionics, 2025.
    

28. Junhui Huang; Qingxin Shi; Dongsheng Xie; Yiming Ma; Xiaoming Liu; Changsheng Li; Xingguang Duan; Visuomotor Policy Learning for Task Automation of Surgical Robot[J]. IEEE Transactions on Medical Robotics and Bionics, 2024.
    

29. Wenxin Chen; Kaifeng Wang; Xinya Song; Dongsheng Xie; Xue Li; Mobarakol Islam; Changsheng Li; Xingguang Duan; Dual-Stage Semantic Segmentation of Endoscopic Surgical Instruments[J]. Medical physics, 2024.

30. Hao Wen; Wen Fu; Wu Chen; Jiale Huan; Changsheng Li; Xingguang Duan; Imitation Learning and Teleoperation Shared Control With Unit Tangent Fuzzy Movement Primitives[J]. IEEE Transactions on Fuzzy Systems, 2024.
    

31. Changsheng Li; Xue Li; Kaifeng Wang; Wenxin Chen; Qingyao Liu; Xingguang Duan; Self-Supervised Monocular Depth Estimation for Endoscopic Imaging[J]. IEEE Journal of Biomedical and Health Informatics, 2024.
    

32. Changsheng Li, Gongzi Zhang, Baoliang Zhao, Dongsheng Xie, Hailong Du, Xingguang Duan, Ying Hu, Lihai Zhang, Advances of surgical robotics: image-guided classification and application, National Science Review, 2024, nwae186, https://doi.org/10.1093/nsr/nwae186.

33. 马伟佳,朱小龙,刘青瑶,段星光,李长胜.人工智能在机器人辅助手术中的应用[J].机械工程学报:1-18.

34. Qingxin Shi; Hao Wen; changsheng Li; Xingguang Duan; Observer-Based Gate Recurrent Learning for Model-Free Control of 6-DoFManipulators: Considerations for input Saturation and Output Constraints[J]. IEEE Transactions on Industrial Electronics, 2024.
    

35. Wenxin Chen; Kaifeng Wang; Chao Qian; Xue Li; Changsheng Li; Xingguang Duan; PPFormer: A Novel Model for Polyp Segmentation in Digestive Endoscopy[J]. IEEE Transactions on Medical Robotics and Bionics, 2024.
    

36. Zhe Han; Huanyu Tian; Xiaoguang Han; Jiayuan Wu, Weijun Zhang; Changsheng Li; Liang Qiu; Xingguang Duan; Wei Tian; A Respiratory Motion Prediction Method Based on LSTM-AE with Attention Mechanism for Spine Surgery[J]. Cyborg and Bionic Systems, 2024, 5: 0063.

37. Huanyu Tian; Xingguang Duan; Zhe Han; Tengfei Cui; Rui He; Hao Wen; Changsheng Li; Virtual-Fixtures Based Shared Control Method for Curve-Cutting With a Reciprocating Saw in Robot-Assisted Osteotomy[J].IEEE Transactions on Automation Science and Engineering, 2023. 

38. Changsheng Li; Xiaoyi Gu; Xiao Xiao; Chwee Ming Lim; Xiuli Zuo; Yanqing Li; Xingguang Duan; Hongliang Ren; Deployable Parallelogram Mechanism and Constrained Bendable Segment for Flexible Robot toward Transoral Procedures[J]. IEEE Transactions on Medical Robotics and Bionics, 2023.

39. Huanyu Tian; Zhe Han; Yang Wang; Xiaolong Zhu; Weijun Zhang; Zhengjie Wang; Changsheng Li; Xingguang Duan; Virtual-Fixture based Osteotomy Shared Control: A Framework for Human-Robot Shared Surgical Osteotomy Manipulation[J]. IEEE Transactions on Medical Robotics and Bionics, 2023.

40. Xingguang Duan; Dongsheng Xie; Runtian Zhang; Xiaotian Li; Jiali Sun; Chao Qian; Xinya Song; Changsheng Li; A novel robotic bronchoscope system for navigation and biopsy of pulmonary lesions[J]. Cyborg and Bionic Systems, 2023, 4: 0013.

41. Dongsheng Xie; Wenxin Chen; Jin Zhao; Xinya Song; Kaifeng Wang; Weiwei Xia; Haiying Liu; Fangle Chang; Changsheng Li; Xingguang Duan; Surgical instruments hyalinization: Occlusion removal in minimally invasive endoscopic surgery[J]. Biomimetic Intelligence and Robotics, 2023: 100105.

42. Runtian Zhang; Dongsheng Xie; Chao Qian; Xingguang Duan; Changsheng Li; Design of a flexible robot toward transbronchial lung biopsy[J]. Robotica, 2023, 41(3): 1055-1065.

43. Qingxin Shi; Changsheng Li; Baoqiao Guo; Yonggui Wang; Huanyu Tian; Hao Wen; Fansheng Meng; Xingguang Duan; Manipulator-based autonomous inspections at road checkpoints: Application of faster YOLO for detecting large objects[J]. Defence Technology, 2022, 18(6): 937-951.

44. Lixing Jin; Quanbin Lai; Rui Ma; Weijun Zhang; Xingguang Duan; Changsheng Li; Zero-Free-Length Elastic System for Gravity Compensation of Parallel Mechanisms with Delta and Delta-Like Architectures[J]. Journal of Mechanical Design, 2022, 144(11): 113301.

45. Changsheng Li ; Xiaoyi Gu; Xiao Xiao ; Chwee Ming Lim ; Hongliang Ren; Compliant and flexible robotic system with parallel continuum mechanism for transoral surgery: A pilot cadaveric study[J]. Robotics, 2022, 11(6): 135.

46. Xingguang Duan; Huanyu Tian; Changsheng Li; Zhe Han; Tengfei Cui; Qingxin Shi; Hao Wen; Jin Wang; Virtual-fixture based drilling control for robot-assisted craniotomy: Learning from demonstration[J]. IEEE Robotics and Automation Letters, 2021, 6(2): 2327-2334.

47. Changsheng Li; Xiaoyi Gu; Xiao Xiao; Chwee Ming Lim; Xingguang Duan; Hongliang Ren; A flexible transoral robot towards covid-19 swab sampling[J]. Frontiers in Robotics and AI, 2021, 8: 612167.

48. 段星光;温浩;何睿;李学松;邱建星.胸腹腔经皮穿刺机器人研究进展及关键技术分析[J].机器人,2021,43(05):567-584.DOI:10.13973/j.cnki.robot.200585.

49. 赵新刚;段星光;王启宁;夏泽洋.医疗机器人技术研究展望[J].机器人,2021,43(04):385.

50. Changsheng Li; Yusheng Yan; Xiao Xiao; Xiaoyi Gu; Huxin Gao; Xingguang Duan; Xiuli Zuo; Yanqing Li; Hongliang Ren; A miniature manipulator with variable stiffness towards minimally invasive transluminal endoscopic surgery[J]. IEEE Robotics and Automation Letters, 2021, 6(3): 5541-5548.

51. Lixing Jin; Xingguang Duan; Changsheng Li; Qingxin Shi; Hao Wen; Jin Wang; Haoyuan Li; Design of a novel parallel mechanism for haptic device[J]. Journal of Mechanisms and Robotics, 2021, 13(4): 045001.