王君臣

王君臣，男，工学博士，副教授，博士生导师。分别于2006年和2012年毕业于北京航空航天大学机械工程及自动化学院，取得机械工程及自动化专业学士学位和机械电子工程专业博士学位。受留学基金委资助，2008年-2010年日本东京大学工学系研究科联合培养博士研究生。2012年-2016年任日本东京大学大学院工学系研究科研究员、主任研究员。2016年2月至今任北京航空航天大学机械工程及自动化学院机器人研究所副教授，北航卓越百人。

主要研究领域与成果：一直从事医疗机器人与手术导航相关的科学研究工作，主要研究方向包括机器人技术、外科手术视觉、医学图像计算与微创手术导航、深度学习与人工智能。近年共发表论文100余篇，SCI检索56篇，以一作或通讯作者发表包括T-ASE，JBHI, CBM, CMIG等中科院Top或JCR Q1区在内的SCI 论文31篇，第一发明人授权发明专利16项，转化6项。主持国家自然科学基金青年项目、面上项目、国际交流合作项目、重点项目课题，国家重点研发计划“智能机器人”专项与“数字诊疗”专项等国家级项目、课题10项。主编教材1部。

论文（一作&通讯）

Journal Paper

  1. Runshi Zhang, Bimeng Jie, Yang He, Liang Zhu, Zefeng Xie, Zhan Liu, Hao Mo, Junchen Wang*, “Craniomaxillofacial Bone Segmentation and Landmark Detection Using Semantic Segmentation Networks and an Unbiased Heatmap,” in IEEE Journal of Biomedical and Health Informatics, 2023, doi: 10.1109/JBHI.2023.3337546.
  2. J. Wang, C. Lu, Y. Lv, S. Yang, M. Zhang* and Y. Shen*, “Task Space Compliant Control and Six-Dimensional Force Regulation Toward Automated Robotic Ultrasound Imaging,” in IEEE Transactions on Automation Science and Engineering, 2023.
  3. Yifei LYU, Yu SHEN, Mingbo ZHANG, Junchen WANG*, Real-time 3D Ultrasound Imaging System Based on a Hybrid Reconstruction Algorithm, Chinese Journal of Electronics, 2023, in press, 1-12.
  4. R. Zhang, J. Wang* and C. Chen*, Automatic implant shape design for minimally invasive repair of pectus excavatum using deep learning and shape registration, Computers in Biology and Medicine, 158, 2023
  5. Zhang, X., Ji, X.*, Wang, J*, Fan, Y., Tao C.*. Renal surface reconstruction and segmentation for image-guided surgical navigation of laparoscopic partial nephrectomy. Biomed. Eng. Lett. (2023). https://doi.org/10.1007/s13534-023-00263-1
  6. Ke J#, Lv Y#, Ma F, Du Y, Xiong S, Wang J*, Wang J*. Deep learning-based approach for the automatic segmentation of adult and pediatric temporal bone computed tomography images. Quant Imaging Med Surg 2023.
  7. Baiquan Su, Han Li, Wei Xiu, Yang Gao, Yi Gong, Zehao Wang, Yida David Hu, Wei Yao, Jie Tang, Wenyong Liu, Junchen Wang* & Li Gao* (2022): Autonomous aspirating robot for removing saliva blood mixed liquid in oral surgery, Computer Methods in Biomechanics and Biomedical Engineering
  8. Chen, Y., Du, S., Lin, Z., Zhang P., Zhang X., Bin Y., Wang J.*, Zhao Z.*. Application of trans-sutural distraction osteogenesis based on an optical surgical navigation system to correct midfacial dysplasia. Sci Rep 12, 13181 (2022).
  9. Zhen Su, Tianmiao Wang, Chunheng Lu, Yu Shen, Junchen Wang*. Robotic System with Programmable Motion Constraint for Transurethral Resection. Int J CARS (2022).
  10. Baiquan Su, Zehao Wang, Yi Gong, Mingcheng Li, Yunlai Teng, Shi Yu, Ye Zong, Wei Yao*, Junchen Wang*. Anal center detection and classification of perianal healthy condition. Biomedical Signal Processing and Control, 77:103759, 2022
  11. Baiquan Su, Yi Gong, Yijun Chen, Yuanjie Liu, Zehao Wang, Muzhi Dai, Yan Zhuang, Wenyong Liu, Shaolong Kuang, Ye Zong, Junchen Wang* , Wei Yao*. Detection of Healthy and Diseased Pylorus Natural Anatomical Center with Convolutional Neural Network Classification and Filters. J. Med. Biol. Eng. 42, 216–224 (2022)
  12. J. Wang, C. Yue, G. Wang, Y. Gong, H. Li, W. Yao, S. Kuang, W. Liu, J. Wang*, B. Su*, “Task Autonomous Medical Robot for Both Incision Stapling and Staples Removal,” in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 3279-3285, April 2022
  13. Yan-Song Qi, Hu-Ri-Cha Bao, Li-Yuan Tao, Pei-Liang Gu, Chao-Le-Men Kong, Jun-Chen Wang*, Yong-Sheng Xu*. The effects of lateral meniscus posterior root tear and its repair on knee stability of internal rotation and forward shift: a biomechanical kinematics cadaver study. Frontiers in Bioengineering and Biotechnology, 19 January 2022
  14. Wang, J., Lu, C., Zhang, Y., Sun, Z., and Shen, Y. (February 18, 2022). “A Numerically Stable Algorithm for Analytic Inverse Kinematics of 7-Degrees-of-Freedom Spherical-Rotational-Spherical Manipulators With Joint Limit Avoidance.” ASME. J. Mechanisms Robotics. October 2022; 14(5): 051005.
  15. Chen Jiahe, Yuan Fuzhen, Shen Yu, Wang Junchen*. Multimodality-based knee joint modeling method with bone and cartilage structures for total knee arthroplasty. The International Journal of Medical Robotics and Computer Assisted Surgery. 2021,17(6): e2316.
  16. Yi Lv#, Jia Ke#, Ying Xu, Junchen Wang*, Jiange Wang. Automatic Segmentation of Temporal Bone Structures from Clinical Conventional CT Using a CNN Approach. The International Journal of Medical Robotics and Computer Assisted Surgery, 2021, 17(2): e2229
  17. Baiquan Su, Shi Yu ,  Xintong Li , Yi Gong , Han Li , Zifeng Ren , Yijing Xia , He Wang , Yucheng Zhang , Wei Yao , Junchen Wang* , Jie Tang* , “Autonomous Robot for Removing Superficial Traumatic Blood,” in IEEE Journal of Translational Engineering in Health and Medicine, vol. 9, pp. 1-9, 2021.
  18. Baiquan Su, Shi Yu, Hao Yan, Yida Hu, Ivan Buzurovic, Dongyun Liu, Liaoliao Liu, Yunlai Teng, Jie Tang, Junchen Wang*, Wenyong Liu*. Biopsy Needle System with a Steerable Concentric Tube and Online Monitoring of Electrical Resistivity and Insertion Forces. IEEE Transactions on Biomedical Engineering, 2021, 68(5): 1702-1713.
  19. Shanshan Du#, Chen Zhang#, Hongsen Bi, Xin Yang, Yi Lv, Juan Zhi, Zhenmin Zhao*, Junchen Wang*. Digital Analysis of Cranial Sutures Computed Tomography Data in Adolescents. Journal of Craniofacial Surgery, 2021, 32(1): 290-292
  20. Xiaohui Zhang, Tianmiao Wang, Xuebin Zhang, Yinghao Zhang, Junchen Wang*. Assessment and application of the coherent point drift algorithm to augmented reality surgical navigation for laparoscopic partial nephrectomy. International Journal of Computer Assisted Radiology and Surgery, 2020, 15(6):989-999.
  21. Junchen Wang, Zhen Sun, Honglei Ji, Xiaohui Zhang, Tianmiao Wang, Yu Shen*. A Fast 3D Brain Extraction and Visualization Framework Using Active Contour and Modern OpenGL Pipelines. IEEE Access, 2019, 7: 156097-156109.
  22. Junchen Wang, Hideyuki Suenaga, Kazuto Hoshi, Liangjing Yang, Etsuko Kobayashi, Ichiro Sakuma, Hongen Liao. Augmented Reality Navigation With Automatic Marker-Free Image Registration Using 3-D Image Overlay for Dental Surgery. IEEE Transactions on Biomedical Engineering, 2014, 61(4): 1295-1304
  23. Wang, Junchen; Shen, Yu; Yang, Shuo. A practical marker-less image registration method for augmented reality oral and maxillofacial surgery. International journal of computer assisted radiology and surgery, 14(5), 763-773, 2019.
  24. Zhang, Xiaohui#; Wang, Junchen#; Wang, Tianmiao; Ji, Xuquan; Shen, Yu; Sun, Zhen; Zhang, Xuebin. A markerless automatic deformable registration framework for augmented reality navigation of laparoscopy partial nephrectomy. International journal of computer assisted radiology and surgery. 2019.
  25. Junchen Wang, Takashi Ohya, Hongen Liao, Ichiro Sakuma, Tianmiao Wang, et al. Intravascular catheter navigation using path planning and virtual visual feedback for oral cancer treatment. The International Journal of Medical Robotics and Computer Assisted Surgery, 2011, 7(2): 214-224
  26. Junchen Wang, Etsuko Kobayashi, Ichiro Sakuma. Coarse-to-fine dot array marker detection with accurate edge localization for stereo visual tracking. Biomedical Signal Processing and Control, 2015, 15: 49-59
  27. Junchen Wang, Hideyuki Suenaga, Hongen Liao, et al. Real-time computer-generated integral imaging and 3D image calibration for augmented reality surgical navigation. Computerized Medical Imaging and Graphics, 2015, 40: 147-159
  28. Junchen Wang, Hideyuki Suenaga, Liangjing Yang, Etsuko Kobayashi, Ichiro Sakuma. Video See-Through Augmented Reality for Oral and Maxillofacial Surgery. The International Journal of Medical Robotics and Computer Assisted Surgery, 2017, 13, E1754
  29. Junchen Wang, Xiaohui Zhang, Zhen Sun, Fuzhen Yuan. An efficient ready-to-use X-ray image stitcher. The International Journal of Medical Robotics and Computer Assisted Surgery, 2018.
  30. Junchen Wang, Xuquan Ji, Xiaohui Zhang, Zhen Sun, Tianmiao Wang, Real-time robust individual X point localization for stereoscopic tracking, Pattern Recognition Letters, 12: 138-144, 2018.
  31. Liu, Jianfeng#; Wang, Junchen#; Tao, Liyuan et al. Comparison of Tibial Tuberosity-Trochlear Groove (TT-TG) distances between different anterior cruciate ligament reconstructions: A retrospective clinical and imaging study. Technology and health care, 27: 229-238, 2019.
  32. Junchen Wang, Hongen Liao. Real-time 3D Medical Imaging using GPU-based Integral Videography. Medical Imaging Technology, 2013, 31(3): 159-166
  33. 杨晓涵, 孙振, 齐岩松*, 王君臣*. 图像引导下的遥操作脑室穿刺手术机器人[J]. 中国生物医学工程学报,2023,42(3):311-320. DOI:10.3969/j.issn.0258-8021.2023.03.007.
  34. 曹旭昶, 孙振, 李飞, 周鑫, 付卫, 王君臣*. 面向TEM手术的柔性机器人设计与控制[J]. 机器人, 2023, 45(4): 451-461.DOI: 10.13973/j.cnki.robot.220031.
  35. 张英豪, 李维全, 陈家禾, 宋国立, 齐岩松 , 徐永胜, 王君臣*. 机器人辅助微创全膝关节置换手术系统. 机器人. 2021, 43(4):9.
  36. 孙振, 王田苗, 王君臣*, 张学斌. 经尿道手术机器人研究进展及关键技术分析. 机器人. 2020, 42(6):78-95.
  37. 季旭全, 王君臣*, 赵江地, 张晓会, 孙振. 基于机器人与视觉引导的星载设备智能装配方法. 机械工程学报, 54(23): 63-72, 2018.
  38. 王田苗，张晓会，张学斌，王君臣*．腹腔镜增强现实导航的研究进展综述．机 器人. 41(1): 124-136, 2019.
  39. 王君臣*, 王田苗, 徐源, 方礼明. 基于ICP 算法的手术导航三维配准技术. 北京航空航天大学学报, 2009, 35(4): 434-438
  40. 王田苗, 王君臣*, 杨艳, 胡磊, 孙磊. 基于Harris 角点的内窥镜图像变形全自动校正算法. 自动化学报, 2011, 37(11): 1360-1367
  41. 王君臣*, 王田苗, 杨艳, 胡磊. 基于无迹卡尔曼滤波的机器人手眼标定. 机器人, 2011, 33(5): 621-627
  42. 王君臣*, 王田苗, 杨艳, 胡磊. 非线性最优机器人手眼标定. 西安交通大学学报, 2011, 45(9): 15-20
  43. 王君臣*, 王田苗, 王芸, 胡磊. 考虑噪声模型的医学图像点对配准算法及误差预测. 上海交通大学学报,2012, 46(9): 1392-1397

Conference Paper

  1. Xuejin Luo; Siqin Yang; Hao Xu; Chunheng Lu; Junchen Wang*,”Cooperative Manipulator Control Based on IgH Ethercat Master,” 2023 WRC Symposium on Advanced Robotics and Automation (WRC SARA), Beijing, China, 2023, pp. 109-114, doi: 10.1109/WRCSARA60131.2023.10261789.
  2. Yingyan Deng; Yang Piao; Chunheng Lu; Xudong Bao*; Yanmei Dong; Junchen Wang*,”Root Canal Therapy Assisted Robot System,” 2023 WRC Symposium on Advanced Robotics and Automation (WRC SARA), Beijing, China, 2023, pp. 91-96, doi: 10.1109/WRCSARA60131.2023.10261785.
  3. Chunheng Lu; Chenghao Chen; Zhihong Song; Junchen Wang*,”Instability Detection during Physical Human Robot Interaction Based on Wavelet Decomposition,” 2023 WRC Symposium on Advanced Robotics and Automation (WRC SARA), Beijing, China, 2023, pp. 85-90, doi: 10.1109/WRCSARA60131.2023.10261866.
  4. Siqin Yang; Chunheng Lu; Xuejin Luo; Junchen Wang*,”A Disturbance Compensation Method Using Adaptive Neural Network for Robotic Manipulator,” 2023 WRC Symposium on Advanced Robotics and Automation (WRC SARA), Beijing, China, 2023, pp. 79-84, doi: 10.1109/WRCSARA60131.2023.10261812.
  5. Runzhe Han; Mengning Yuan; Bimeng Jie; Yang He; Jiayu Zhu; Runshi Zhang; Junchen Wang*, “Acoustic 3D Shape Reconstruction of Zygomatic Bone for Non-Invasive Spatial Registration,” 2023 WRC Symposium on Advanced Robotics and Automation (WRC SARA), Beijing, China, 2023, pp. 45-51, doi: 10.1109/WRCSARA60131.2023.10261857.
  6. Lv, Y., Ning, Y., Wang, J.* (2022). Coarse to Fine Automatic Segmentation of Abdominal Multiple Organs. In: Ma, J., Wang, B. (eds) Fast and Low-Resource Semi-supervised Abdominal Organ Segmentation. FLARE 2022. Lecture Notes in Computer Science, vol 13816. Springer, Cham. https://doi.org/10.1007/978-3-031-23911-3_20
  7. Y. Lv, Y. Ning, Y. Shen, J. Wang* and M. Zhang*, “A Real-time Interactive 3D Ultrasound Imaging System,” 2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA), 2022, pp. 113-119, doi: 10.1109/WRCSARA57040.2022.9903990. (best student paper)
  8. J. Zhu, Z. Sun, Y. Shen, B. Su, Y. Qi* and J. Wang*, “Human-Robot Cooperative Motion Constraint Control of Surgical Robot Based on Virtual Fixture,” 2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA), 2022, pp. 64-70, doi: 10.1109/WRCSARA57040.2022.9903968.
  9. Y. Lv and J. Wang*, “Two-Stage Multi-Organ Automatic Segmentation with Low GPU Memory Occupancy,” 2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA), 2022, pp. 95-100, doi: 10.1109/WRCSARA57040.2022.9903976.
  10. Lv, Y., Wang, J*. Three Uses of One Neural Network: Automatic Segmentation of Kidney Tumor and Cysts Based on 3D U-Net. In: Heller, N., Isensee, F., Trofimova, D., Tejpaul, R., Papanikolopoulos, N., Weight, C. (eds) Kidney and Kidney Tumor Segmentation. KiTS 2021. Lecture Notes in Computer Science, vol 13168, 2022, Springer, Cham. https://doi.org/10.1007/978-3-030-98385-7_6
  11. Y. Zhang, Z. Sun, C. Lu and J. Wang*, “Stable Binocular Vision Tracking Based on Kalman Filtering with Motion State Estimation,” 2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA), 2021, pp. 59-66, doi: 10.1109/WRCSARA53879.2021.9612692.
  12. Ji H., Lv Y., Wang J*. (2021) Fast Learning from Imperfect Labels to Segment Brain Based on Active Contour Model and 3D U-Net. In: Shiraishi Y., Sakuma I., Naruse K., Ueno A. (eds) 11th Asian-Pacific Conference on Medical and Biological Engineering. APCMBE 2020. IFMBE Proceedings, vol 82. Springer, Cham. https://doi.org/10.1007/978-3-030-66169-4_30
  13. Yi Lv, Ying Xu, Xiaohui Zhang, Zhen Sun, Junchen Wang*. Automatic Kidney CT Segmentation and Optimization Based on Self-Learning. in Proceedings of the 2nd WRC Symposium on Advanced Robotics and Automation 2019 Beijing, China, August 21, 2019. pp. 38-43
  14. Jiahe Chen, Xiaohui Zhang, Junchen Wang*. Coarse-to-Fine Deformable Model-Based Kidney 3D Segmentation. in Proceedings of the 2nd WRC Symposium on Advanced Robotics and Automation 2019 Beijing, China, August 21, 2019. pp. 56-61
  15. Wang L., Sun Z., Zhang X., Sun Z., Wang J*. (2019) A HoloLens Based Augmented Reality Navigation System for Minimally Invasive Total Knee Arthroplasty. In: Yu H., Liu J., Liu L., Ju Z., Liu Y., Zhou D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science, vol 11745. Springer, Cham
  16. Yao Wang, Ying Xu, Xiaohui Zhang, Zhen Sun, Yafang Zhang, Junchen Wang*. 3D Pose Estimation for Robotic Grasping Using Deep Convolution Neural Network, ROBIO2018, 513-517 , 2018.
  17. Jiayue Mao, Zhen Sun, Junchen Wang*. Adaptive Filtering for Interference Removal in FNIRS-based BCI Using Empirical Wavelet Transform , ROBIO2018, 1046-1052, 2018.
  18. Junchen Wang, Ichiro Sakuma, Hongen Liao. A hybrid flexible rendering pipeline for real-time 3D medical imaging using GPU-accelerated integral videography. International Journal of Computer Assisted Radiology and Surgery, 2013, 8(suppl 1): s263-s264
  19. Wang J., Zhao J., Ji X., Zhang X., Li H. (2019) A Surgical Robotic System for Transurethral Resection. In: Lhotska L., Sukupova L., Lacković I., Ibbott G. (eds) World Congress on Medical Physics and Biomedical Engineering 2018. IFMBE Proceedings, vol 68/3. Springer, Singapore
  20. Junchen Wang, Hideyuki Suenaga, Liangjing Yang, Hongen Liao, Etsuko Kobayashi, Tsuyoshi Takato, Ichiro Sakuma. Real-Time Marker-Free Patient Registration and Image-Based Navigation Using Stereovision for Dental Surgery. In: Augmented Reality Environments for Medical Imaging and Computer-Assisted Interventions, Lecture Notes in Computer Science, Volume 8090, 2013, pp 9-18
  21. Junchen Wang; Zhou, Y.; Koizumi, N.; Kubota, N.; Asano, T.; Yuhashi, K.; Mitake, T.; Itani, K.; Takahashi, T.; Takeishi, S.; Sasaki, S.; Kadowaki, T.; Sakuma, I; Hongen Liao, “Automatic distance measurement of abdominal aorta for ultrasonography-based visceral fat estimation,” Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE , pp.6486,6489, 3-7 July 2013
  22. Junchen Wang, Tianmiao Wang, Lei Hu, Hongen Liao, Kuan Luan, Ichiro Sakuma. A fully automatic 2D ultrasound probe calibration using a simple phantom. The 4th International Conference on Biomedical Engineering and Informatics, Vol. 2, 2011: 586-590
  23. Junchen Wang, Hideyuki Suenaga, Liangjing Yang, Hongen Liao, Takehiro Ando, Etsuko Kobayashi, Ichiro Sakuma. 3D Surgical Overlay with Markerless Image Registration Using a Single Camera. In: Augmented Environments for Computer-Assisted Interventions Volume 9365 of the series Lecture Notes in Computer Science, pp 124-133, 2015

授权发明专利（Patents）

  1. 王君臣;卢春姮. 一种具有零空间避障能力的基于阻抗控制的人机协同方法. ZL2023102339067权发明专利)
  2. 王君臣;吕弈. 基于W型网络结构的临床颞骨CT多结构提取方法及装置. ZL 202010075659.9 (授权发明专利)
  3. 王君臣;孙振;卢春姮;张英豪;王田苗. 基于旋量理论的手术机器人约束运动控制方法. ZL 202110322566.6. (授权发明专利)
  4. 王君臣;张英豪. 一种基于运动状态估计的卡尔曼滤波视觉追踪稳定方法. ZL 202011447973.1 (授权发明专利)
  5. 王君臣;朱辉;宋友. 基于双目视觉定位的全息三维影像空间定量投影方法. ZL 202110278046.X.(授权发明专利)
  6. 王君臣;曹旭昶;孙振. 柔性手术器械. ZL 202110278032.8.(授权发明专利)
  7. 王君臣;卢春姮;孙振. S-R-S结构七自由度机械臂逆运动学解析解的数值稳定算法. ZL 202110322567.0 (授权发明专利)
  8. 王君臣;王嘉楠;孙振;徐颖. 鼻咽拭子采样机器人人机协同交互控制方法及系统. ZL 202110287765.8 (授权发明专利)
  9. 王君臣, 张晓会, 胡磊, 王田苗. 一种用于增强现实手术导航的腹腔镜视频精准融合方法, 2019-06-28, 中国, ZL 201611019614.X. （授权发明专利）
  10. 王君臣，纪红蕾，孙振. 一种牙科增强现实手术导航的自动实时无标记图像配准方法. 2020-12-04, ZL201910061265.5.（授权发明专利）
  11. 王君臣, 孙振. 用于近红外光谱上肢运动状态脑信号精确采集的打标系统, 2020-7-24, 中国, ZL201811331839.8.（授权发明专利）
  12. 王君臣, 王力，王田苗. 用于微创全膝关节置换手术的增强现实导航方法及系统. 2021-03-12, 中国, ZL201910527900.4.（授权发明专利）
  13. 王君臣，张晓会，孙振. 基于视频叠加的增强现实手术导航方法、系统及电子设备. 2021-4-27, 中国, ZL201910253168.6. (授权发明专利)
  14. 王君臣，季旭全，孙振，等. 一种复杂场景个体x角点提取方法. 2021-6-22, 中国, ZL201710506693.5. (授权发明专利)
  15. 王君臣, 末永英之, 佐久間一郞, 小林英津子, 星和人. 手術ナビゲーションシステムおよび手術ナビゲーション方法並びにプログラム, 2019-8-9, 日本, 6566420. （授权发明专利）
  16. Junchen Wang, Hideyuki Suenaga, Ichiro Sakuma, Etsuko Kobayashi, Kazuto Hoshi. Surgical navigation system, surgical navigation method and program, 2019-12-03, United States, US 10492872B2.（授权发明专利）
  17. 王君臣. 医学图像计算与可视化系统V1.0. 2018-10-17, 中国, 2018SR968948. （软件著作权）

申请发明专利（Patents）

  1. 王君臣; 竺佳宇; 卢春姮; 孙振. 一种机械臂末端六维力传感器重力和惯性力补偿方法. CN202210892069.4
  2. 王君臣;卢春姮;孙振;沈宇.一种兼具运动精度与稳定性的六自由度混合导纳控制方法. CN202210686995.6
  3. 王君臣;孙振;卢春姮. 一种可编程RCM运动精度的测量方法. CN202210459562.7
  4. 王君臣;杨晓涵; 一种人机协同力反馈脑室穿刺机器人装置. CN202110969487.4