秦岩丁｜南开大学｜学者主页

2026

上肢康复外骨骼机器人关键技术研究综述与展望

秦岩丁，孟京艳，于宁波，韩建达

《机器人》

DOI

2026

Permanent magnetic tracking for fast medical navigation based on simplified magnetic dipole model

Yanding Qin, Mingyu Wang, Zhuocong Cai, Yuan Zhang, Ge Fang, Hongpeng Wang, Jianda Han

Measurement

DOI

2026

Design and Validation of an MRI-Compatible Puncture Needle with Fiber Bragg Grating Force Sensing for Neurosurgery

Longxin Wang, H. Y. Guo, Ge Fang, Yanding Qin, Hongpeng Wang, Jianda Han

IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)

DOI

2026

Active-Model Compensated Model Predictive Control for Ultrasonic Motors in MRI-Compatible Surgical Robots

Ke Xu, Longxin Wang, Ge Fang, Yanding Qin, Hongpeng Wang, Jianda Han

IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)

DOI

2026

Uncertainty-Resilient Fuzzy Reinforcement Learning for Autonomous Endovascular Navigation of Magnetic Vascular Catheter Robots

Zhengyang Li, Ge Fang, Yanding Qin, Jianda Han

IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)

DOI

2026

A dual-microgripper biomimetic feeding system for vascular intervention using piezo-actuation and compliant mechanism

HS Wu, Chenglin Wu, Hongpeng Wang, Jianda Han, Yanding Qin

Smart Materials and Structures

DOI

2026

Frequency-aware and cross-mamba-enhanced medical image fusion for a real-time surgical navigation framework

Xinhao Bai, Ge Fang, Hongpeng Wang, Yanding Qin, Jianda Han, Ningbo Yu

Expert Systems with Applications

DOI

2026

Modeling of Coupled Input-Force-Displacement Hysteresis in Pneumatic Artificial Muscles

Yanding Qin, Tianying Dong, Haoqi Zhang, Jianda Han

IEEE Transactions on Medical Robotics and Bionics

DOI

2026

In Situ Temperature-Compensated Puncture Force Sensing for Brain Stereotactic Puncture Needle Using Fiber Bragg Grating

Yanding Qin, H. Y. Guo, Zikang Wen, Linlin Wang, Liang Yi, Yanqi Huang, Ge Fang, Hongpeng Wang, Jianda Han

IEEE Sensors Journal

DOI

2026

A Review and Perspective of Techniques for Autonomous Robotic Ultrasound Acquisitions

Yanding Qin, Lele Dang, Fan Ren, Zhuomao Li, Lijun Duan, Hongpeng Wang, Jianda Han

Sensors

DOI

2026

Design and Control of a Dual‐Coil Magnetic Guidewire for Smooth and Adaptive Curvature Steering in Vascular Intervention

Yanding Qin, Shuning Wang, Zhuocong Cai, Yuanyuan Liu, Qingsong Xu, Hao Wang, Zhengyang Li, Jianda Han

SmartBot

DOI

2026

Dimension-Aware Safe Trajectory Planning and Real-Time MRI-Guided Intraoperative Tracking for Robotic Neurosurgery

Xiao-Xue Sun, Pei-Cheng Song, Hongpeng Wang, Xiuli Shao, Yanding Qin, Longxin Wang, Ningbo Yu, Yuanli Zhao, Ne Yang, Jianda Han

IEEE Transactions on Automation Science and Engineering

DOI

2025

基于迟滞逆补偿的气动人工肌肉并联机器人同步控制

刁淑贞，张欣霖，刘根娣，秦岩丁，方勇纯，孙宁

《机器人》

DOI

2025

Anatomical Feature Constrained Path Planning for Robot-Assisted Pedicle Screw Placement Surgery

Yanding Qin, Jianpeng Liu, Pengxiu Geng, Hongpeng Wang, Mengmeng Zhou, Rusen Zhu, Jianda Han

Chinese Journal of Mechanical Engineering

2025

Interpretable wavelet transformer‐enhanced framework for unsupervised deformable image registration

Xinhao Bai, Hongpeng Wang, Yanding Qin, Jianda Han, Ningbo Yu

Medical Physics

DOI

2025

Modeling and control for PAM-actuated robots: an overview

Xinlin Zhang, Shuzhen Diao, Tong Yang, Yanding Qin, Ning Sun

Smart Materials and Structures

DOI

2025

Design and Modeling of a 7-DOF MR-Conditional Robot for MRI-Guided Brain Stereotactic Surgery

Jianda Han, Longxin Wang, Yueyang Shi, Xiaoxue Sun, Hongpeng Wang, Yanding Qin

IEEE Transactions on Medical Robotics and Bionics

DOI

2025

Submillimeter-Level Extremely High-Precision Planning and Operation: An Example of Robotic Cochlear Implant Microsurgery

Hongpeng Wang, Pei-Cheng Song, Xiao-Xue Sun, Lin Shen, Xiuli Shao, Hongjian Yu, Ningbo Yu, Guodong Feng, Hui Zhao, Yanding Qin, Jianda Han

IEEE Transactions on Instrumentation and Measurement

DOI

2024

压电驱动在超精密加工领域的应用现状与发展趋势综述

肖晓兰，林健鑫，区楚塬，张锦河，郑美思，李享，秦岩丁，田延岭

《机电工程技术》

2024

Hysteresis compensation and decoupling control of an XYΘ-type flexure-based mechanism via inverse hysteresis-coupling hybrid modeling

Yanding Qin, Jie Yuan, Yunpeng Zhang, Hui Tang, Jianda Han

Nanotechnology and Precision Engineering

DOI

2024

SparseMorph: A weakly-supervised lightweight sparse transformer for mono- and multi-modal deformable image registration

Xinhao Bai, Hongpeng Wang, Yanding Qin, Jianda Han, Ningbo Yu

Computers in Biology and Medicine

DOI

2024

MatchMorph: A real-time pre- and intra-operative deformable image registration framework for MRI-guided surgery

Xinhao Bai, Hongpeng Wang, Yanding Qin, Jianda Han, Ningbo Yu

Computers in Biology and Medicine

DOI

2024

A Neural-Network-Based Robust Controller for Robotic Flexible Endoscope with Unknown Parameters and Uncertain Disturbance

Longxin Wang, Xiangyu Wang, Yanding Qin, Ningbo Yu, Jianda Han

IEEE International Conference on Real-time Computing and Robotics (RCAR)

DOI

2024

Design, Modeling and Optimization of a Magnetic Resonance Conditional 3-RRR Spherical Parallel Robot for Neurosurgery

Yanding Qin, Yueyang Shi, Longxin Wang, Hongpeng Wang, Jianda Han

IEEE Transactions on Medical Robotics and Bionics

DOI

2024

An Occlusion-Free Intraoperative Active Navigation System for Orthopedic Surgery

Yiyang Meng, Pengxiu Geng, Mengde Luo, Yanding Qin, Jianda Han

IEEE Transactions on Instrumentation and Measurement

DOI

2023

一种基于指数积的移动机械臂联合标定方法

陈新伟，范崇山，孙凤池，秦岩丁，王鸿鹏

《控制与决策》

DOI

2023

机器人辅助神经介入手术研究进展

于宁波，游煜根，王鸿鹏，秦岩丁，梁思泉，韩建达

《中国现代神经疾病杂志》

2023

High-Bandwidth Repetitive Trajectory Tracking Control of Piezoelectric Actuators via Phase–Hysteresis Hybrid Compensation and Feedforward–Feedback Combined Control

Jie Yuan, Haitao Wu, Yanding Qin, Jianda Han

Micromachines

DOI

2023

Full-Perception Robotic Surgery Environment with Anti-Occlusion Global–Local Joint Positioning

Hongpeng Wang, Tianzuo Liu, Jianren Chen, Chongshan Fan, Yanding Qin, Jianda Han

Sensors

DOI

2023

Feedforward and Feedback Combined Control of an XYΘ-Type Micro/nano Mechanism Using Multilayer Feedforward Neural Network

Haitao Wu, Yunpeng Zhang, Yanding Qin

IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

DOI

2022

帕金森病康复机器人研究综述与展望

游煜根，侯玮佳，于宁波，张松，于洋，朱志中，党宇，秦岩丁，赵新刚，巫嘉陵，韩建达

《机器人》

2022

基于表面肌电信号的智能康复技术

张松，游煜根，林家能，王鸿鹏，秦岩丁，韩建达，于宁波

《人工智能》

2021

气动人工肌肉驱动的肘关节辅助机器人迟滞补偿

秦岩丁，徐圆凯，韩建达

《机器人》

2019

采用扰动估计的气动人工肌肉系统非线性控制

梁定坤，孙宁，吴易鸣，陈轶珩，秦岩丁，方勇纯

《控制理论与应用》

2018

Development of a 4-DOF haptic micromanipulator utilizing a hybrid parallel-serial flexure mechanism

Joshua Pinskier, Bijan Shirinzadeh, Leon Clark, Yanding Qin

Mechatronics

DOI

2017

Adaptive hysteresis compensation of piezoelectric actuator using direct inverse modelling approach

Yanding Qin, Rurui Jia

Micro & Nano Letters

DOI

2016

Design, development and analysis of a haptic-enabled modular flexure-based manipulator

Joshua Pinskier, Bijan Shirinzadeh, Leon Clark, Yanding Qin, Sergej Fatikow

Mechatronics

DOI

2016

Development of a dexterous haptic micro/nanomanipulator utilizing a hybrid parallel-serial flexure mechanism

Joshua Pinskier, Bijan Shirinzadeh, Leon Clark, Yanding Qin

International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

DOI

2015

Design, development and analysis of a haptic-enabled modular flexure-based manipulator

Joshua Pinskier, Bijan Shirinzadeh, Umesh Bhagat, Leon Clark, Yanding Qin

International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

DOI

2015

A novel method for measuring the coupled linear and angular motions of XYΘ-type flexure-based manipulators

Yanding Qin, Xin Jie Zhao

Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI

2014

基于运动学模型的细胞拨动方法

赵启立，崔茂盛，孙明竹，秦岩丁，赵新

《机器人》

2013

A novel pneumatic micropipette aspiration method using a balance pressure model

Qili Zhao, Ming Wu, Maosheng Cui, Yanding Qin, Jin Yu, Mingzhu Sun, Xin Jie Zhao, Xizeng Feng

Review of Scientific Instruments

DOI

2013

Design and Kinematics Modeling of a Novel 3-DOF Monolithic Manipulator Featuring Improved Scott-Russell Mechanisms

Yanding Qin, Bijan Shirinzadeh, Dawei Zhang, Yanling Tian

Journal of Mechanical Design

DOI

2013

Design, analysis, and experimental investigations of a 2-DOF monolithic parallel mechanism

Yanding Qin, Bijan Shirinzadeh, Yanling Tian, Dawei Zhang, Umesh Bhagat

IEEE/ASME International Conference on Advanced Intelligent Mechatronics

DOI

2013

Design and Computational Optimization of a Decoupled 2-DOF Monolithic Mechanism

Yanding Qin, Bijan Shirinzadeh, Yanling Tian, Dawei Zhang, Umesh Bhagat

IEEE/ASME Transactions on Mechatronics

DOI

2012

Rate-Dependent Hysteresis Modeling and Compensation of Piezo-Driven Flexure-Based Mechanism

秦岩丁，高卫国，张大卫

Transactions of Tianjin University

2011

两自由度精密定位平台结构设计与运动控制

秦岩丁

《天津大学》

精选作品

期刊论文

上肢康复外骨骼机器人关键技术研究综述与展望

Permanent magnetic tracking for fast medical navigation based on simplified magnetic dipole model

Design and Validation of an MRI-Compatible Puncture Needle with Fiber Bragg Grating Force Sensing for Neurosurgery

Active-Model Compensated Model Predictive Control for Ultrasonic Motors in MRI-Compatible Surgical Robots

Uncertainty-Resilient Fuzzy Reinforcement Learning for Autonomous Endovascular Navigation of Magnetic Vascular Catheter Robots

A dual-microgripper biomimetic feeding system for vascular intervention using piezo-actuation and compliant mechanism

Frequency-aware and cross-mamba-enhanced medical image fusion for a real-time surgical navigation framework

Modeling of Coupled Input-Force-Displacement Hysteresis in Pneumatic Artificial Muscles

In Situ Temperature-Compensated Puncture Force Sensing for Brain Stereotactic Puncture Needle Using Fiber Bragg Grating

A Review and Perspective of Techniques for Autonomous Robotic Ultrasound Acquisitions

Design and Control of a Dual‐Coil Magnetic Guidewire for Smooth and Adaptive Curvature Steering in Vascular Intervention

Dimension-Aware Safe Trajectory Planning and Real-Time MRI-Guided Intraoperative Tracking for Robotic Neurosurgery

基于迟滞逆补偿的气动人工肌肉并联机器人同步控制

Anatomical Feature Constrained Path Planning for Robot-Assisted Pedicle Screw Placement Surgery

Interpretable wavelet transformer‐enhanced framework for unsupervised deformable image registration

Modeling and control for PAM-actuated robots: an overview

Design and Modeling of a 7-DOF MR-Conditional Robot for MRI-Guided Brain Stereotactic Surgery

Submillimeter-Level Extremely High-Precision Planning and Operation: An Example of Robotic Cochlear Implant Microsurgery

压电驱动在超精密加工领域的应用现状与发展趋势综述

Hysteresis compensation and decoupling control of an XYΘ-type flexure-based mechanism via inverse hysteresis-coupling hybrid modeling

SparseMorph: A weakly-supervised lightweight sparse transformer for mono- and multi-modal deformable image registration

MatchMorph: A real-time pre- and intra-operative deformable image registration framework for MRI-guided surgery

A Neural-Network-Based Robust Controller for Robotic Flexible Endoscope with Unknown Parameters and Uncertain Disturbance

Design, Modeling and Optimization of a Magnetic Resonance Conditional 3-RRR Spherical Parallel Robot for Neurosurgery

An Occlusion-Free Intraoperative Active Navigation System for Orthopedic Surgery

一种基于指数积的移动机械臂联合标定方法

机器人辅助神经介入手术研究进展

High-Bandwidth Repetitive Trajectory Tracking Control of Piezoelectric Actuators via Phase–Hysteresis Hybrid Compensation and Feedforward–Feedback Combined Control

Full-Perception Robotic Surgery Environment with Anti-Occlusion Global–Local Joint Positioning

Feedforward and Feedback Combined Control of an XYΘ-Type Micro/nano Mechanism Using Multilayer Feedforward Neural Network

帕金森病康复机器人研究综述与展望

基于表面肌电信号的智能康复技术

气动人工肌肉驱动的肘关节辅助机器人迟滞补偿

采用扰动估计的气动人工肌肉系统非线性控制

Development of a 4-DOF haptic micromanipulator utilizing a hybrid parallel-serial flexure mechanism

Adaptive hysteresis compensation of piezoelectric actuator using direct inverse modelling approach

Design, development and analysis of a haptic-enabled modular flexure-based manipulator

Development of a dexterous haptic micro/nanomanipulator utilizing a hybrid parallel-serial flexure mechanism

Design, development and analysis of a haptic-enabled modular flexure-based manipulator

A novel method for measuring the coupled linear and angular motions of XYΘ-type flexure-based manipulators

基于运动学模型的细胞拨动方法

A novel pneumatic micropipette aspiration method using a balance pressure model

Design and Kinematics Modeling of a Novel 3-DOF Monolithic Manipulator Featuring Improved Scott-Russell Mechanisms

Design, analysis, and experimental investigations of a 2-DOF monolithic parallel mechanism

Design and Computational Optimization of a Decoupled 2-DOF Monolithic Mechanism

Rate-Dependent Hysteresis Modeling and Compensation of Piezo-Driven Flexure-Based Mechanism

两自由度精密定位平台结构设计与运动控制

会议论文

Optimization-Based Tracking Method for Active Navigation in Orthopedic Surgeries

High-Bandwidth Hysteresis Modeling of Piezoelectric Actuators Based on Modified NARX Neural Network

Fully Automatic Batch Cell Microinjection Based on Exception Diagnosis

预印本

Design, Analysis and Control of a Novel Flexure-Based Hybrid Mechanism for Micropositioning

Knowledge-Guided Surgery: Augmented Reality based Registration and Projection for Anatomical Tissues and Preoperative Planned Approaches

研究方向