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Our Goals & Missions
Our Goals & Missions
The Intelligent Healthcare & Autonomous Robotics (iHEAR) Lab is located in the campus of The Chinese University of Hong Kong, Shenzhen (CUHK-SZ). The iHEAR Lab is dedicated to pioneering cutting-edge research intersecting robotics, artificial intelligence and next-generation healthcare technology, targeting smart robotic surgeries, intelligent human-robot & robot-environment interaction, and advanced assistive devices & AI in medicine. Particularly, iHEAR Lab pushes the boundaries of the following major research directions:
· Robot autonomy in minimally-invasive surgery
· Multi-robot planning and control in complex environment
· Embodied AI in healthcare application (world model, 3D analysis, etc.)
· Medical robotic system design and validation
The iHEAR Lab comprises a multidisciplinary team of brilliant researchers, engineers, and medical experts. With strong collaborations across academia, industry, and medical institutions, it is not just shaping the future of medical robotics and intelligent systems—we are redefining it. Join us in building a smarter, healthier world.
——Fangxun Zhong, Director of iHEAR Lab
Latest Researches
Latest Researches
Safety distance recognition upon tool-tissue interaction in robotic minimally invasive surgery
Real-time analysis of limb rehabilitation motion and effectiveness without skeleton pre-calibration
Zero-shot real-time 3D reconstruction with monocular vision
Real-time depth estimation under deformable and unseen environment
Interaction-reactive framework for safe manipulation of unknown heterogeneous soft objects
Hybrid servoing of surgical needle for interactive robotic tissue suturing
Integrated planning and control of robotic surgical instruments for laparoscopy
Markerless hand-eye calibration of a surgical robotic instrument using interactive perception
Autonomous hand-eye calibration with point visual cue and limited workspace
Automatic deformation control of soft tissue for needle insertion
Latest Publications (Selected)
Latest Publications (Selected)
Y Meng, B Li, X Wang, T Yang, J Zhao, Y Wang, C Sui, T Huang, J Wu, X Jiang, M Brelen, F Zhong, Y Liu. ``Structured-Light-Based Robotic System with Pre-Fixation for Automated Intravitreal Injection'', IEEE Transactions on Biomedical Engineering, 2026. LINK
石照辉， 钟仿洵. ``机器人与具身智能技术辅助经鼻内镜手术的研究进展与展望'', 中华耳鼻咽喉头颈外科杂志 60 (12), 1624 - 1629, 2025. LINK
G Sun, F Zhong, P Li, L Yue, Z Chen, X Li, YH Liu. ``Smooth Surface-to-Surface Contact Control for Rope-Base Soft-tip Manipulator'', IEEE Transactions on Automation Science and Engineering 22 (-), 16297 - 16308, 2025. LINK
B Yang, T Huang, F Zhong, YH Liu. ``6-DoF Shape Servoing of Deformable Objects in Co-Rotated Space of Modal Graph'', 2025 IEEE International Conference on Robotics and Automation (ICRA), 10538-10544, 2025. LINK
S Li, Z Wang, R Dai, Y Wang, F Zhong, Y Liu. ``Efficient Underwater Object Detection With Enhanced Feature Extraction and Fusion'', IEEE Transactions on Industrial Informatics 21 (6), 4904 - 4914, 2025. LINK
张旭， 马鑫， 贾通宇， 钟仿洵. ``机器人自主手术研究现状及展望'', 临床泌尿外科杂志 40 (1), 1-5, 2025. LINK
B Li, H Lin, F Zhong, Y Liu. ``Real-time geometric joint uncertainty tracking for surgical automation on the dVRK system'', 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2144-2148, 2024. LINK
R Wei, B Li, F Zhong, H Mo, Q Dou, YH Liu, D Sun. ``Absolute monocular depth estimation on robotic visual and kinematics data via self-supervised learning'', IEEE Transactions on Automation Science and Engineering 22, 4269-4282, 2024. LINK
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