汪一苇  助理研究员

个人简介：

汪一苇，2021年于美国亚利桑那州立大学机械工程专业获得硕博士学位，研究方向为机器人与人的复杂交互机制。同年归国后于华中科技大学机械学院开展博士后研究工作，主要研究方向为医疗机器人关键技术，2024年入职华中科技大学医疗装备科学与工程研究院，并继续依托iRobotCARE医疗机器人研究团队开展机器人辅助手术相关研究工作。近5年，先后主持国家自然科学基金青年科学基金项目（C类）“腹腔镜手术内蕴专家行为模式的机器人自主运镜机制”、中国博士后科学基金特别资助等5项，以核心成员身份参与国家自然科学基金重点项目、武汉市科技局科技重大专项子课题等3项；围绕机器人辅助手术，开展了基于腹腔镜手术影像的手术操作提取与流程分析、人机协作遥操作手术控制方法、柔性组织机器人自主操作等面向手术自动化与自主化的研究工作，具有扎实的理论基础和丰富的工作经验；并在IEEE Trans. Med. Imaging（IF：8.9）、IEEE J. Biomed. Health Inform（IF：6.7）、IEEE Robot.Autom.Lett.（IF：4.6）等国际一流期刊上以第一/通讯作者身份发表论文12篇，在ICRA、IROS等机器人、人工智能国际顶级会议以第一/通讯作者身份发表论文10篇，申请医疗手术机器人相关专利15项（已授权2项），获得湖北省首届转化医学创新大赛二等奖（排名2）。

邮箱：wang_yiwei@hust.edu.cn

研究方向：

医疗手术机器人

人机复杂交互

科研项目：

[1]国家自然科学基金青年科学基金项目（C类）[原青年科学基金项目] (项目编号：62203180)，腹腔镜手术内蕴专家行为模式的机器人自主运镜机制，2023.1-2025.12，主持

[2]中国博士后科学基金第16批特别资助（站中）（项目编号：2023T160246），腹腔镜手术机器人自主运镜辅助系统研发，2023.1-2024.6，主持

[3]中国博士后科学基金面上项目(项目编号：2022M721246)，基于力交互的机器人微创手术机器人操作技能训练辅助方法，2023.1-2024.6，主持

[4]博士后交流计划引进项目，“人-机器人-环境”协作共融医疗机器人遥操作，2021.5-2023.4，主持

[5]湖北省JD计划技术攻关项目(项目编号：2023BAA016)， 多模态图像融合主从力感知手术机器人系统设计及临床研究，2023.4-2026.4，子任务负责人

[6]湖北省科技重大专项子课题(项目编号：2023BCA002)，感知手术态势的腹腔镜智能机器人运镜系统研发，2023.1-2025.12，核心成员参与（排名：2）

[7]武汉市科技重大专项“卡脖子”技术攻关项目(项目编号. 2021022002023426)， 三维影像导航手术机器人整机系统研发，2021.9-2024.8，核心成员参与（排名：2）

[8]国家自然科学基金重大研究计划重点支持项目(项目编号：92148206)，脑出血微创手术机器人多源感知融合与智能抽吸控制，2023.1-2025.12，参与

论文专著与专利：

期刊论文：

[1] Y. Wang, H. Cheng, Y. Sheng, H. Zhao, and H. Ding, “An adaptive auxiliary framework for teleoperated laparoscopic surgery”, International Journal of Intelligent Robotics and Applications, pp. 1–14, 2024.

[2] N. Li, Y. Wang, H. Zhao, and H. Ding, “Sensor-free strategy for estimatingguidewire/catheter shape and contact force in endovascular interventions”, IEEE Robotics and Automation Letters, 2024.

[3] J. Zhang, S. Zhou, Y. Wang, H. Zhao, and H. Ding, “Knowledge-driven framework for anatomical landmark annotation in laparoscopic surgery”, IEEE Transactions on Medical Imaging, 2025.

[4] Y. Yin, X. Li, H. Zhao, W. Ning, Y. Wang, and H. Ding, “Direct visual servoing based on a new basis set and switching strategy”, The International Journal of Robotics Research, p. 02 783 649 251 318 359, 2025.

[5] N. Li, Wang, Yiwei∗, H. Zhao, and H. Ding, “Robotic systems design in endovascular treatment”, IEEE Transactions on Medical Robotics and Bionics, 2024.

[6] X. Yan, H. Zhao, Z. Wen, Y. Wang, P. Li, and H. Ding, “Investigation on grinding

temperature characteristics of cf/peek and material removal mechanism under temperature treatments”, Composites Science and Technology, p. 110 621, 2024.

[7] D. Ge, H. Zhao, Wang, Yiwei, D. Li, X. Li, and H. Ding, “Learning compliant dynamical system from human demonstrations for stable force control in unknown environments”, Robotics and Computer-Integrated Manufacturing, vol. 86, p. 102 669, 2024.

[8] Y. Sheng, H. Cheng, Wang, Yiwei∗, H. Zhao, and H. Ding, “Teleoperated surgical robot with adaptive interactive control architecture for tissue identification”, Bioengineering, vol. 10, no. 10, p. 1157, 2023.

[9] J. Zhang, S. Zhou, Wang, Yiwei∗, S. Shi, C. Wan, H. Zhao, X. Cai, and H. Ding,“Laparoscopic image-based critical action recognition and anticipation with explainable features”, IEEE Journal of Biomedical and Health Informatics, 2023.

[10] S. Yang, Wang, Yiwei∗, H. Zhao, H. Cheng, and H. Ding, “Autonomous laparoscope control for minimally invasive surgery with intuition and rcm constraints”, IEEE Robotics and Automation Letters, 2022.

[11] Wang, Yiwei, Y. Ren, and et. al, “Enabling courteous vehicle interactions throughgame-based and dynamics-aware intent inference”, IEEE Transactions onIntelligentVehicles, vol. 5, no. 2, pp. 217–228, 2019.

[12] Wang, Yiwei, G. J. Lematta, C.-P. Hsiung, K. A. Rahm, E. K. Chiou, and W. Zhang, “Quantitative modeling and analysis of reliance in physical human–machine coordination”, Journal of Mechanisms and Robotics, vol. 11, no. 6, p. 060 901, 2019.

[13] Wang, Yiwei, W. Zhang, and et. al, “Optimal collision-free robot trajectory generation based on time series prediction of human motion”, IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 226–233, 2017.

[14] Wang, Yiwei, X. Wang, M. P. Mignolet, S. Yang, and P. Chen, “Modeling of uncertain spectra through stochastic autoregressive systems”, Mechanical Systems and Signal Processing, vol. 70, pp. 506–526, 2016.

会议论文：

[1] N. Li, Y. Wang, H. Cheng, H. Zhao, and H. Ding, “Vascular centerline-guided autonomous navigation methods for robot-lead endovascular interventions”, in 2024 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2024, pp. 11 578–11 584.

[2] S. Zhou, J. Zhang, Y. Wang, H. Zhao, X. Cai, C. Wan, and H. Ding, “Surgical region of interest detection from laparoscopic images using boundary fuzziness”, in 2024 IEEE International Symposium on Biomedical Imaging (ISBI), IEEE, 2024, pp. 1–5.

[3] Wang, Yiwei, P. Shintre, S. Amatya, and W. Zhang, “Bounded rational game-theoretical modeling of human joint actions with incomplete information”, in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 10 720–10 725.

[4] J. Zhang, S. Shi, Wang, Yiwei∗, C. Wan, H. Zhao, X. Cai, and H. Ding, “Automatic keyframe detection for critical actions from the experience of expert surgeons”, in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 8049–8056.

[5] Y. Ren, S. Elliott, Wang, Yiwei, Y. Yang, and W. Zhang, “How shall i drive? Interaction modeling and motion planning towards empathetic and socially-graceful driving”, in 2019 International Conference on Robotics and Automation (ICRA), IEEE, 2019, pp. 4325–4331.

[6] Wang, Yiwei, X. Ye, and et. al, “Collision-free trajectory planning in human-robotinteraction through hand movement prediction from vision”, in 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), IEEE, 2017, pp. 305–310.

[7] Wang, Yiwei, W. Zhang, and et. al, “Human intention estimation with tactile sensors in human-robot collaboration”, in ASME 2017 Dynamic Systems and Control Conference, American Society of Mechanical Engineers, 2017, V002T04A007–V002T04A007.

[8] Wang, Yiwei, X. Ye, and et. al, “Hand movement prediction based collision-free human-robot interaction”, in Proceedings of the IEEE conference on computer vision and pattern recognition workshops, 2017, pp. 20–21.

专利:

[1]一种手术流程的细粒度组分分析建模与辨识方法及设备，CN202310475341.3

[2]一种基于能量罐的双边遥操作控制方法及系统，CN202211048174.6

[3]一种微创手术中器械操作的前向轨迹预测方法及设备，CN202310501391.4

[4]一种刚柔耦合机械臂、运动学方法及存储介质，CN202311212031.9

[5]微创手术中关键帧辨识的分层判别方法及系统，CN202210867796.5

[6]基于多运动技能先验的人机共享自治遥操作方法及系统，CN202211048193.9

[7]一种腹腔镜运镜模拟力引导手术训练方法及设备，CN202410656247.2

[8]一种基于SAM的无监督手术器械图像分割方法及系统，CN202311053321.3

[9]一种应用于遥操作手术的自适应辅助方法及系统，CN202410656249.1

[10]一种基于视线追踪的腹腔镜自动扶镜方法及设备，CN202310741864.8

[11]一种语音控制的腹腔镜运镜方法及系统，CN202310821146.1

[12]一种基于图像经验的腹腔镜手术机器人自主运镜方法，CN202210338000.7

[13]腹腔镜扶镜技能评估的图像特征提取与分析方法及系统，CN202210871388.7

[14]一种囊管自动标记方法、系统、终端设备及储存介质，CN202311783076.1

荣誉获奖：

[1]基于技能迁移的自主腹腔镜运镜系统,湖北省卫生健康委员会，湖北省首届转化医学创新大赛二等奖,省部二等奖, 2021