J1. Liu X, He C, Wu M, Ping A, Zavodni A, Matsuura N, Diller E. Transformer-based Robotic Ultrasound 3D Tracking for Capsule Robot in GI Tract. The International Journal of Computer Assisted Radiology and Surgery, 2025 Jun 9:1-8.
J2. He C, Nguyen R, Mayer H, Cheng L, Kang P, Aubeeluck DA, Thiong’ᴏ G, Fredin E, Drake J, Looi T, Diller E. Magnetically actuated dexterous tools for minimally invasive operation inside the brain. Science Robotics. 2025 Mar 26;10(100):eadk4249.
J3. Schonewille A*, He C*, Forbrigger C, Wu N, Drake J, Looi T, Diller E. Electromagnets under the table: an unobtrusive magnetic navigation system for microsurgery. IEEE Transactions on Medical Robotics and Bionics, vol. 6, no. 3, pp. 980-991, Aug. 2024, doi: 10.1109/TMRB.2024.3421249 (*Co-first author)
J4. Han S, He C, Ma K, Yang Y. A study for lens capsule tearing during capsulotomy by finite element simulation. Computer Methods and Programs in Biomedicine. 2021 May 1; 203:106025. doi: https://doi.org/10.1016/j.cmpb.2021.106025
J5. Zheng Y, HE C., Lin C., Han S., Guang C., Chen Z., Yang Y. An Admittance Control Method for Ophthalmic Surgery Instrument Manipulating Viscoelastic Tissue. ROBOT, 2021, 43(3): 289-295. DOI: 10.13973/j.cnki.robot.200497. (in Chinese)
J6. Zheng Y, Yang Y, Wu R, He C, Guang C. Dynamic analysis of a hybrid compliant mechanism with flexible central chain and cantilever beam. Mechanism and Machine Theory. 2021 Jan 1;155:104095. doi: https://doi.org/10.1016/j.mechmachtheory.2020.104095
J7. He C, Yang E, Patel N, Ebrahimi A, Shahbazi M, Gehlbach P, Iordachita I. Automatic Light Pipe Actuating System for Bimanual Robot-Assisted Retinal Surgery, IEEE/ASME Transactions on Mechatronics, vol. 25, no. 6, pp. 2846-2857, Dec. 2020, doi: 10.1109/TMECH.2020.2996683.
J8. He C, Patel N, Shahbazi M, Yang Y, Gehlbach P, Kobilarov M, Iordachita I. Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-Based Active Interventional Control Framework, IEEE Transactions on Biomedical Engineering, vol. 67, no. 4, pp. 966-977, April 2020, doi: 10.1109/TBME.2019.2926060. (Feature article)
J9. Ebrahimi A, Alambeigi F, Sefati S, Patel N, He C, Gehlbach P, Iordachita I. Stochastic force-based insertion depth and tip position estimations of flexible FBG-equipped instruments in robotic retinal surgery. IEEE/ASME Transactions on Mechatronics. 2020 Sep 8;26(3):1512-23. doi: 10.1109/TMECH.2020.3022830.
J10. He C, Patel N, Ebrahimi A, Kobilarov M, Iordachita I. Preliminary study of an rnn-based active interventional robotic system (airs) in retinal microsurgery. International Journal of Computer Assisted Radiology and Surgery. 2019 Jun;14(6):945-54. doi: https://doi.org/10.1007/s11548-019-01947-9
J11. He C, Huang L, Yang Y, Liang QF, Li YK. Research and realization of a master-slave robotic system for retinal vascular bypass surgery. Chinese Journal of Mechanical Engineering. 2018 Dec;31(1):1-0. (Cover paper)
J12. He C, Yang Y, Liang Q, Han S. Applications and research progress of robot assisted eye surgery. ROBOT, 2019, 41(2): 265-275. doi: 10.13973/j.cnki.robot.180292 (in Chinese)
J13. Urias MG, Patel N, He C, Ebrahimi A, Kim JW, Iordachita I, Gehlbach PL. Artificial intelligence, robotics and eye surgery: are we overfitted?. International Journal of Retina and Vitreous. 2019 Dec;5(1):1-4. Doi: https://doi.org/10.1186/s40942-019-0202-y
J14. Li Y, He C, Yang Y. Temperature and Thermal Expansion Analysis of the Cooling Roller Based on the Variable Heat Flux Boundary Condition. JOM. 2018 Jun;70(6):855-60. doi: https://doi.org/10.1007/s11837-018-2853-9
J15. Li Y, He C, Yang Y. Three-dimensional transient temperature analysis of cooling roller for preparing amorphous ribbon. Journal of Non-Crystalline Solids. 2018 Feb 1;481:276-81. doi: https://doi.org/10.1016/j.jnoncrysol.2017.10.052
J16. Huang L, He C, Yang Y, Guang C. Equilibrium conformation of concentric-tube robots under loads based on the minimum energy principle. Mechanism and Machine Science. 2016 Dec 15 (pp. 209-221). doi: https://doi.org/10.1007/978-981-10-2875-5_18
C1. Roshanfar M, He C, Huang L, Li Z, Cheng L, Podolsky D, Looi T, Diller E. 3-DoF Magnetically Actuated Robotic Manipulator for Precision Soft Tissue Resection. International Conference on Manipulation, Automation and Robotics at Small Scales, 2025
C2. Roshanfar M, Fekri P, Nguyen RH, He C, Kang PH, Drake J, Diller E, Looi T. Learning-Based Tip Contact Force Estimation for FBG-Embedded Continuum Robots. In 2025 IEEE International Conference on Robotics and Automation (ICRA) 2025 May 19 (pp. 844-850).
C3. Huang L, Tang L, He C, Yin L, Chen G. Capsule Robot for Sampling Gastric Juice Based on Origami. Advances in Mechanism and Machine Science and Engineering in China: Proceedings of IFToMM CCMMS 2024, Volume 1. 2025 May 13:157.
C4. Roshanfar M, Zhang A, He C, Hooshiar A, Drake J, Looi T, Diller E. Soft Magnetically Steerable Suction Device for Endoscopic Endonasal Brain Tumor Extraction. In 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft) 2025 Apr 22 (pp. 1-6). IEEE.
C5. Deng Y, Roshanfar M, Mayer H, He C, Drake J, Looi T, Diller E. Towards Bimanual Operation of Magnetically Actuated Surgical Instruments. 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). 2024, (pp. 1295-1300).
C6. Li Z, He C, Verma A, Diller E. 3D Printed Untethered Magnetic Bulb for Liquid Biopsy and Drug Delivery. International Conference on Manipulation, Automation and Robotics at Small Scales, 2024.
C7. Huang L, Tang L, He C, Yin L, Chen G. Motion Characteristics of a Novel Capsule Robot for Sampling Gastric Juice Based on Origami. InIFToMM China International Conference on Mechanism and Machine Science & Engineering 2024 Aug 12 (pp. 157-167). Springer Nature Singapore.
C8. He C, Nguyen R, Diller E, Drake J, Looi T. dVRK-based teleoperation of a CTR robot with stereovision feedback for neurosurgery, Hamlyn Symposium on Medical Robotics 2023.
C9. He C, Nguyen R, Forbrigger C, Drake J, Looi T, Diller E. A Hybrid Steerable Robot with Magnetic Wrist for Minimally Invasive Epilepsy Surgery, IEEE International Conference on Robotics and Automation (ICRA) 2023. doi: 10.1109/ICRA48891.2023.10160446.
C10. He C, Ebrahimi A, Yang E, Urias M, Yang Y, Gehlbach P, Iordachita I. Towards bimanual vein cannulation: preliminary study of a bimanual robotic system with a dual force constraint controller. In 2020 International Conference on Robotics and Automation (ICRA) 2020 May 31 (pp. 4441-4447). IEEE. doi: 10.1109/ICRA40945.2020.9196889.
C11. He C, Patel N, Iordachita I, Kobilarov M. Enabling technology for safe robot-assisted retinal surgery: Early warning for unsafe scleral force. In 2019 International Conference on Robotics and Automation (ICRA) 2019 May 20 (pp. 3889-3894). IEEE. doi: 10.1109/ICRA.2019.8794427.
C12. He C, Yang E, Iordachita I. Dual-stiffness force-sensing cannulation tool for retinal microsurgery. In 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) 2019 Jul 23 (pp. 3212-3216). IEEE.
C13. He C, Roizenblatt M, Patel N, Ebrahimi A, Yang Y, Gehlbach PL. Towards bimanual robot-assisted retinal surgery: Tool-to-sclera force evaluation. In 2018 IEEE SENSORS 2018 Oct 28 (pp. 1-4). IEEE.
C14. He C, Ebrahimi A, Roizenblatt M, Patel N, Yang Y, Gehlbach PL, Iordachita I. User behavior evaluation in robot-assisted retinal surgery. In 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) 2018 Aug 27 (pp. 174-179). IEEE.
C15. He C, Patel N, Kobilarov M, Iordachita I. Real time prediction of sclera force with LSTM neural networks in robot-assisted retinal surgery. Applied Mechanics and Materials, 2020; 896:183–94.
C16. Kim J, He C, Urias M, Gehlbach P, Hager GD, Iordachita I, Kobilarov M. Autonomously navigating a surgical tool inside the eye by learning from demonstration. In 2020 IEEE International Conference on Robotics and Automation (ICRA) 2020 May 31 (pp. 7351-7357). IEEE.
C17. Wu J, He C, Zhou M, Ebrahimi A, Urias M, Patel NA, Liu YH, Gehlbach P, Iordachita I. Force-based safe vein cannulation in robot-assisted retinal surgery: a preliminary study. In 2020 International Symposium on Medical Robotics (ISMR) 2020 Nov 18 (pp. 8-14). IEEE.
C18. Ebrahimi A, He C, Patel N, Kobilarov M, Gehlbach P, Iordachita I. Sclera force control in robot-assisted eye surgery: Adaptive force control vs. auditory feedback. In 2019 International Symposium on Medical Robotics (ISMR) 2019 Apr 3 (pp. 1-7). IEEE.
C19. Ebrahimi A, He C, Roizenblatt M, Patel N, Sefati S, Gehlbach P, Iordachita I. Real-time sclera force feedback for enabling safe robot-assisted vitreoretinal surgery. In 2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) 2018 Jul 18 (pp. 3650-3655). IEEE.
C20. Ebrahimi A, Patel N, He C, Gehlbach P, Kobilarov M, Iordachita I. Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery. In 2019 International Conference on Robotics and Automation (ICRA) 2019 May 20 (pp. 9073-9079). IEEE. (Best student paper)
C21. Han S, Wu R, He C, Iordachita I, Wang N, Yang Y. Tissue Cutting Properties in Robot-assisted Scleral Flap Preparation. In 2020 International Symposium on Medical Robotics (ISMR) 2020 Nov 18 (pp. 15-21). IEEE.
C22. Patel N, Urias M, He C, Gehlbach P, Iordachita I. A Comparison of Manual and Robot Assisted Retinal Vein Cannulation in Chicken Chorioallantoic Membrane. In 2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2020, pp. 5101-5105. IEEE.
C23. Patel N, Urias M, Ebrahimi A, He C, Gehlbach P, Iordachita I. Sclera force evaluation during vitreoretinal surgeries in ex vivo porcine eye model. In 2019 IEEE SENSORS 2019 Oct 27 (pp. 1-4). IEEE.
C24. Ebrahimi A, Urias M, Patel N, He C, Taylor RH, Gehlbach P, Iordachita I. Towards securing the sclera against patient involuntary head movement in robotic retinal surgery. In 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) 2019 Oct 14 (pp. 1-6). IEEE.
C25. Zhou M, Wu J, Ebrahimi A, Patel N, He C, Gehlbach P, Taylor RH, Knoll A, Nasseri MA, Iordachita I. Spotlight-based 3D Instrument Guidance for Retinal Surgery. In 2020 International Symposium on Medical Robotics (ISMR) 2020 Nov 18 (pp. 69-75). IEEE.
C26. Xiao J, Wu Q, Sun D, He C, Chen Y. Classifications and Functions of Vitreoretinal Surgery Assisted Robots-A Review of the State of the Art, In 2019 International Conference on Intelligent Transportation, Big Data & Smart City (ICITBS), 2019, pp. 474-484.
1. C. He, M. Roizenbllat, N. Petal, A. Ebrahimi, P. Gehlbach, I. Iordachita, “Robotic assistance affects manipulation skills in bimanual retinal surgery simulation: a tool-to-sclera force study”, Investigative Ophthalmology & Visual Science, 2019.
2. M. Roizenbllat, A. Ebrahimi, C. He, N. Petal, I. Iordachita, P. Gehlbach, "Quantitative Evaluation of Tool-to-Sclera Forces, in a Model of Retinal Microsurgery." Investigative Ophthalmology & Visual Science, 2018.
• YANG Yang, Changyan He, et al, A massaging visualization system for Meibomian gland. 2017, Chinese Patent (issued)
• YANG Yang, Changyan He, et al, A massaging device of adjuvant therapy for dry eye syndrome. 2017, Chinese Patent (issued)