主要研究方向 - Research Interests
智能医疗机器人系统的结构设计、建模、感知、控制、规划、导航等。
具体研究方向包括：
1、手术机器人系统：离心管机器人、同心管机器人、线驱机器人、混合型机器人等。
2、手术导航系统：光学定位系统、电磁定位系统、永磁定位系统、手术配准系统等。
3、人-机器人交互系统：非言辞交互、基于意图的人机协作系统等
手术机器人研究主要成果\
[1] Liu, Tangyou, Katupitiya, J., Wang, Jiaole, Wu, Liao. Automatic Tissue Traction Using Miniature Force-Sensing Forceps for Minimally Invasive Surgery[J]. IEEE Transactions on Robotics, doi: 10.1109/TRO.2024.3486177, 2024.
[2] Wang, Jiaole, Peine J, Pierre Dupont. Eccentric Tube Robots as Multi-armed Steerable Sheaths[J]. IEEE Transactions on Robotics, doi: 10.1109/TRO.2021.3080659, 2021.
[3] Wu, Liao#, Wang, Jiaole#, Lin Qi, Keyu Wu, Hongliang Ren*, Max Q.-H. Meng. Simultaneous Hand–Eye, Tool–Flange, and Robot–Robot Calibration for Comanipulation by Solving the AXB= YCZ Problem[J]. IEEE Transactions on Robotics, 2016, 32(2): 413-428.
[4] Wang, Jiaole, Ha J, Pierre Dupont. Steering a multi-armed robotic sheath using eccentric precurved tubes[C]//2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019: 9834-9840.
[5] Wang, Jiaole, Pierre Dupont. Design and Modelling of a Multi-segment Steerable Sheath for Single-port Endoscopic Procedures[C]//Hamlyn Symposium on Medical Robotics 2019, 2019: 45-46.
[6] Wang, Jiaole#, Liao Wu#, Max Q.-H. Meng, Hongliang Ren. Towards simultaneous coordinate calibrations for cooperative multiple robots[C]//2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2014: 410-415.
[7] Song, Shuang, Xiaoxiao Qiu, Wang, Jiaole, Max Q.-H. Meng. Design and optimization strategy of sensor array layout for magnetic localization system[J]. IEEE Sensors Journal, 2017, 17(6): 1849-1857.
[8] Shi, Qinyuan, Tangyou Liu, Shuang Song, Wang, Jiaole, Max Q.-H. Meng. An Optically Aided Magnetic Tracking Approach for Magnetically Actuated Capsule Robot[J]. IEEE Transactions on Instrumentation and Measurement, 2021, 70: 1-9.
[9] S. Song, S. Wang, S. Yuan, Wang, Jiaole, W. Liu, Max Q.-H. Meng. Magnetic Tracking of Wireless Capsule Endoscope in Mobile Setup Based on Differential Signals[J]. IEEE Transactions on Instrumentation and Measurement, 2021, 70: 1-8.
[10] Song S, Zhang C, Wang, Jiaole, Ren H, Max Q.-H. Meng. Realtime shape estimation of curvilinear flexible surgical robots: Methods, experiments and analysis[J]. International Journal of Robotics and Automation, 2018, 33(5).
手术导航方向主要成果 - Selected Papers of Surgical Navigation
[1] Wang, Jiaole, Song S, Ren H*, Lim C, Max Q.-H. Meng. Surgical instrument tracking by multiple monocular modules and a sensor fusion approach[J]. IEEE Transactions on Automation Science and Engineering, 2018, 16(2): 629-639.
[2] Wang, Jiaole, Max Q.-H. Meng, Ren H*. Towards occlusion-free surgical instrument tracking: A modular monocular approach and an agile calibration method[J]. IEEE Transactions on Automation Science and Engineering, 2015, 12(2): 588-595.
[3] Min Z, Wang, Jiaole, Pan J, Max Q.-H. Meng. Generalized 3-D Point Set Registration With Hybrid Mixture Models for Computer-Assisted Orthopedic Surgery: From Isotropic to Anisotropic Positional Error[J]. IEEE Transactions on Automation Science and Engineering, 2020, doi: 10.1109/TASE.2020.3014420.
[4] Min Z, Wang, Jiaole, Max Q.-H. Meng. Robust generalized point cloud registration with orientational data based on expectation maximization[J]. IEEE Transactions on Automation Science and Engineering, 2019, 17(1): 207-221.
[5] Min Z, Wang, Jiaole, Max Q.-H. Meng. Joint rigid registration of multiple generalized point sets with hybrid mixture models[J]. IEEE Transactions on Automation Science and Engineering, 2019, 17(1): 334-347.
[6] Min Z, Wang, Jiaole, Song S, Max Q.-H. Meng. Robust generalized point cloud registration with expectation maximization considering anisotropic positional uncertainties[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018: 1290-1297.
[7] Wang, Jiaole. Novel Strategies for Enhanced Navigation in Robotic Surgical System[D]. Hong Kong: The Chinese University of Hong Kong, 2016.
[8] Wang, Jiaole, Hongliang Ren, Max Q.-H. Meng. A preliminary study on surgical instrument tracking based on multiple modules of monocular pose estimation[C]//The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent. IEEE, 2014: 146-151.
[9] Wang, Jiaole, Lin Qi, and Max Q.-H. Meng. Robot-assisted occlusion avoidance for surgical instrument optical tracking system[C]//2015 IEEE International conference on information and automation. IEEE, 2015: 375-380.
[10] Min Z, Wang, Jiaole, Max Q.-H. Meng. Robust generalized point cloud registration using hybrid mixture model[C]//2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018: 4812-4818.
人—机器人交互主要成果 - Selected Papers of Human-Robot Interaction
[1] Liu, T, Lyu Erli, Wang, Jiaole, Max Q.-H. Meng. Unified Intention Inference and Learning for Human-Robot Cooperative Assembly[J]. IEEE Transactions on Automation Science and Technology, 2021.
[2] Liu, T, Wang, Jiaole, Seth Hutchinson, Max Q.-H. Meng. Skeleton-based human action recognition by pose specificity and weighted voting[J]. International Journal of Social Robotics, 2019, 11(2): 219-234.
[3] Chi, Wenzheng, Wang, Jiaole, Max Q.-H. Meng. A gait recognition method for human following in service robots[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2017, 48(9): 1429-1440.
[4] Wang, Jiaole, Katayama M. Human arm-posture selection during reaching: Optimization principle and analysis based on co-contraction level of muscles[J]. Neuroscience Research, 2010 (68): e375.
[5] Katayama M, Wang, Jiaole. Optimization principle of human arm posture selection during reaching movement[J]. Neuroscience Research, 2009 (65): S203.
[6] Fujita, Takahiro, Wang, Jiaole, Katayama, Masazumi. Human Cognitive and Behavioral Intelligence: Psychophysical and computational approaches[M]// Human and Artificial Intelligent Systems. Sankei-sha Co. Ltd., 2008: 163-172.
[7] Wang, Jiaole, Katayama M. Optimal model for selecting human arm posture during reaching movement[C]//Advances in Cognitive Neurodynamics (II). Springer, Dordrecht, 2011: 453-458.
[8] Liu T, Wang, Jiaole, Max Q.-H. Meng. Evolving hidden Markov model based human intention learning and inference[C]//2015 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2015: 206-211.
[9] Zheng M, Wang, Jiaole, Max Q.-H. Meng. Comparing two gesture design methods for a humanoid robot: Human motion mapping by an RGB-D sensor and hand-puppeteering[C]//2015 24th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). IEEE, 2015: 609-614.
[10] Liu T, Wang, Jiaole, Max Q.-H. Meng. Human robot cooperation based on human intention inference[C]//2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014). IEEE, 2014: 350-355.
[11] Chi W, Wang, Jiaole, Max Q.-H. Meng. Person verification based on skeleton biometrics by RGB-D camera[C]//2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014). IEEE, 2014: 671-676.
[12] Katayama M, Wang, Jiaole, Xu M. Optimization models for human arm-posture selection during prehension movements[J]. Neuroscience Research, 2011 (71): e346.
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