Learning From a Steady Hand: A Weakly Supervised Agent for Robot Assistance under Microscopy.

Huanyu Tian

Huanyu Tian Martin Huber Lingyun Zeng Zhe Han Wayne Bennett Giuseppe Silvestri Gerardo Mendizabal-Ruiz Tom Vercauteren Alejandro Chavez-Badiola Christos Bergeles Learning From a Steady Hand: A Weakly Supervised Agent for Robot Assistance under Microscopy. 2026 January abs/2601.20776 CoRR https://doi.org/10.48550/arXiv.2601.20776 db/journals/corr/corr2601.html#abs-2601-20776 streams/journals/corr

Huanyu Tian Martin Huber Christopher E. Mower Zhe Han Changsheng Li Xingguang Duan Christos Bergeles Semi-Autonomous Laparoscopic Robot Docking With Learned Hand-Eye Information Fusion. 2742-2755 2025 September 72 IEEE Trans. Biomed. Eng. 9 https://doi.org/10.1109/TBME.2025.3550974 db/journals/tbe/tbe72.html#TianHMHLDB25 streams/journals/tbe

Huanyu Tian Martin Huber Lingyun Zeng Zhe Han Wayne Bennett Giuseppe Silvestri Alejandro Chavez-Badiola Gerardo Mendizabal-Ruiz Christos Bergeles Uncertainty-Aware Shared Control for Vision-Based Micromanipulation. 407-413 2025 IROS https://doi.org/10.1109/IROS60139.2025.11247762 conf/iros/2025 db/conf/iros/iros2025.html#TianHZHBSCMB25 streams/conf/iros

Martin Huber Huanyu Tian Christopher E. Mower Lucas-Raphael Müller Sébastien Ourselin Christos Bergeles Tom Vercauteren Hydra: Marker-Free RGB-D Hand-Eye Calibration. 2025 April abs/2504.20584 CoRR https://doi.org/10.48550/arXiv.2504.20584 db/journals/corr/corr2504.html#abs-2504-20584 streams/journals/corr

Zhe Han Huanyu Tian Tom Vercauteren Da Liu Changsheng Li Xingguang Duan Collaborative Human-Robot Surgery for Mandibular Angle Split Osteotomy: Optical Tracking based Approach. 2025 July abs/2507.07794 CoRR https://doi.org/10.48550/arXiv.2507.07794 db/journals/corr/corr2507.html#abs-2507-07794 streams/journals/corr

Zhe Han Charlie Budd Gongyu Zhang Huanyu Tian Christos Bergeles Tom Vercauteren ROBUST-MIPS: A Combined Skeletal Pose and Instance Segmentation Dataset for Laparoscopic Surgical Instruments. 2025 August abs/2508.21096 CoRR https://doi.org/10.48550/arXiv.2508.21096 db/journals/corr/corr2508.html#abs-2508-21096 streams/journals/corr

Zhe Han Huanyu Tian Tom Vercauteren Da Liu Changsheng Li Xingguang Duan Collaborative human-robot surgery for Mandibular Angle Split Osteotomy: Optical tracking based approach. 106173 2024 93 Biomed. Signal Process. Control. https://doi.org/10.1016/j.bspc.2024.106173 db/journals/bspc/bspc93.html#HanTVLLD24

Huanyu Tian Xingguang Duan Zhe Han Tengfei Cui Rui He Hao Wen 0003 Changsheng Li Virtual-Fixtures Based Shared Control Method for Curve-Cutting With a Reciprocating Saw in Robot-Assisted Osteotomy. 1899-1910 2024 April 21 IEEE Trans Autom. Sci. Eng. 2 https://doi.org/10.1109/TASE.2023.3252625 db/journals/tase/tase21.html#TianDHCHWL24

Huanyu Tian Martin Huber Christopher E. Mower Zhe Han Changsheng Li Xingguang Duan Christos Bergeles Excitation Trajectory Optimization for Dynamic Parameter Identification Using Virtual Constraints in Hands-on Robotic System. 11605-11611 2024 ICRA https://doi.org/10.1109/ICRA57147.2024.10610950 conf/icra/2024 db/conf/icra/icra2024.html#TianHMHLDB24

Huanyu Tian Martin Huber Christopher E. Mower Zhe Han Changsheng Li Xingguang Duan Christos Bergeles Excitation Trajectory Optimization for Dynamic Parameter Identification Using Virtual Constraints in Hands-on Robotic System. 2024 abs/2401.16566 CoRR https://doi.org/10.48550/arXiv.2401.16566 db/journals/corr/corr2401.html#abs-2401-16566

Huanyu Tian Martin Huber Christopher E. Mower Zhe Han Changsheng Li Xingguang Duan Christos Bergeles Semi-Autonomous Laparoscopic Robot Docking with Learned Hand-Eye Information Fusion. 2024 abs/2405.05817 CoRR https://doi.org/10.48550/arXiv.2405.05817 db/journals/corr/corr2405.html#abs-2405-05817

Christopher E. Mower Martin Huber Huanyu Tian Ayoob Davoodi Emmanuel B. Vander Poorten Tom Vercauteren Christos Bergeles Vision and Contact based Optimal Control for Autonomous Trocar Docking. 2024 abs/2407.21570 CoRR https://doi.org/10.48550/arXiv.2407.21570 db/journals/corr/corr2407.html#abs-2407-21570 streams/journals/corr

Xiaolong Zhu Huanyu Tian Rui He Changsheng Li Mingxing Fan Xingguang Duan Wei Tian Adaptive Fuzzy Sliding Mode Controller for Robot-Assisted Laminectomy. 233-238 2023 ICARM https://doi.org/10.1109/ICARM58088.2023.10218908 conf/icarm/2023 db/conf/icarm/icarm2023.html#ZhuTHLFDT23

Xingguang Duan Huanyu Tian Changsheng Li Zhe Han Tengfei Cui Qingxin Shi Hao Wen 0003 Jin Wang Virtual-Fixture Based Drilling Control for Robot-Assisted Craniotomy: Learning From Demonstration. 2327-2334 2021 6 IEEE Robotics Autom. Lett. 2 https://doi.org/10.1109/LRA.2021.3061388 db/journals/ral/ral6.html#DuanTLHCSWW21

Zhe Han Huanyu Tian Fansheng Meng Hao Wen 0003 Rui Ma Xingguang Duan Yilin Zhang Chenghua Liu Design and Experimental Validation of a Robotic System for Reactor Core Detector Removal. 2473-2479 2021 ICRA https://doi.org/10.1109/ICRA48506.2021.9560847 conf/icra/2021 db/conf/icra/icra2021.html#HanTMWMDZL21 Changsheng Li Jingchen Huang Mengya Su Diao Wu Peng Xu Yushan Xie Fansheng Meng Hao Wen 0003 Huanyu Tian Xingguang Duan Reconfigurable Cable-Driven Parallel Robot with Adjustable Workspace Towards Positioning in Neurosurgery: A Preliminary Design. 51-56 2021 RCAR https://doi.org/10.1109/RCAR52367.2021.9517400 conf/rcar/2021 db/conf/rcar/rcar2021.html#LiHSWXXMWTD21 Huanyu Tian Xingguang Duan Tengfei Cui Jin Wang Qingxin Shi Junjie Dong A Dual-six-dimensional Force Sensors Calibration Method for pHRI based on Ridge Regression. 515-520 2020 RCAR https://doi.org/10.1109/RCAR49640.2020.9303303 conf/rcar/2020 db/conf/rcar/rcar2020.html#TianDCWSD20 Lixing Jin Xingguang Duan Yonggui Wang Huanyu Tian Hao Wen 0003 Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System. 128-133 2019 ARSO https://doi.org/10.1109/ARSO46408.2019.8948812 conf/arso/2019 db/conf/arso/arso2019.html#JinDWTW19 Wayne Bennett Christos Bergeles Charlie Budd Alejandro Chavez-Badiola Tengfei Cui Ayoob Davoodi Junjie Dong Xingguang Duan Mingxing Fan Zhe Han Rui He Jingchen Huang Martin Huber Lixing Jin Changsheng Li Chenghua Liu Da Liu Rui Ma Gerardo Mendizabal-Ruiz Fansheng Meng Christopher E. Mower Lucas-Raphael MullerLucas-Raphael Müller Sébastien Ourselin Emmanuel B. Vander Poorten Qingxin Shi Giuseppe Silvestri Mengya Su Wei Tian Tom Vercauteren Jin Wang Yonggui Wang Hao Wen 0003 Diao Wu Yushan Xie Peng Xu Lingyun Zeng Gongyu Zhang Yilin Zhang Xiaolong Zhu