Zuo Siyang
School
School of Mechanical Engineering
Professional Title
Professor
Contact Information
siyang_zuo@tju.edu.cn
Brief Introduction
左思洋，天津大学机械工程学院，讲席教授
国家级领军人才，科技部中青年科技创新领军人才，国家海外高层次人才（青年项目）。担任国家重点研发计划项目首席科学家、国家自然科学基金重点项目负责人。手术机器人领域专家。日本东京大学获得硕士、博士学位，曾就职于日本奥林巴斯公司内镜研发部、英国帝国理工学院哈姆林手术机器人中心，具有近14年的海外学习工作经历。
主要研究方向：(1) 刚-柔-软体机器人；(2) 微创诊疗机器人；（3）柔性传感器；(4) 外骨骼机器人。被本领域著名的MICCAI协会授予青年科学家奖。获日本学术协会JSCAS年度工学奖等7项国际学术奖。担任机器人领域著名期刊RA-L副主编、Front. Neurosci.特刊副主编、JMRR客座主编、国际会议ICRA副主编等。
Education Background
- Ph.D in Information Science and Technology| University of Tokyo, Tokyo, Japan| 智能机械专业| 2013
- M.Eng. in Information Science and Technology| University of Tokyo, Tokyo, Japan| 智能机械专业| 2009
- Bachelor of Mechanical Engineering| Tokyo Institute of Technology, Tokyo, Japan| 机械科学学科| 2007
Research Interests
- 医疗图像处理
- 微创诊疗机器人
- 刚-柔-软体机器人
- Medical robotics and instruments
- Flexible robots
- Robotic-assisted endomicroscopy
Professional Membership
- 亚洲计算机辅助外科学会理事，Asian Conference on Computer Aided Surgery
- International Conference on Information Processing in Computer-Assisted Interventions（IPCAI）领域主席
- IEEE机器人与自动化国际会议(ICRA)副主编
- 国际期刊Journal of Medical Robotics Research 客座主编
- 国际期刊Frontiers in Neuroscience特刊副主编
- 国际期刊IEEE Robotics and Automation Letters副主编
Positions & Employments
-
2016.1-Now
The School of Mechanical Engineering | Tianjin University | Professor -
2013.4-2015.12
The Hamlyn Centre for Robotics Surgery | Imperial College London, London, United Kingdom | Research Associate -
2009.4-2010.3
Dept. of Endoscope Development | Olympus Medical Systems Corp., Tokyo, Japan | Product Engineer
Academic Achievements
- Papers
- [1] Q. He, G. Feng, S. Bano, D. Stoyanov, S. Zuo*, MonoLoT: Self-Supervised Monocular Depth Estimation in Low-Texture Scenes for Automatic Robotic Endoscopy, IEEE Journal of Biomedical and Health Informatics, 2024, 28(10): 6078-6091.
- [2] Z. Zhang, C. Zhang, S. Zuo*, A Novel Bioinspired Whisker Sensor for Gastrointestinal Endoscopy, IEEE/ASME Transactions on Mechatronics, 2024, 29(1): 636-646.
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- [3] T. Zhang, B. Chen, S. Zuo*, A Novel 3-DOF Force Sensing Microneedle with Integrated Fiber Bragg Grating for Microsurgery. IEEE Transactions on Industrial Electronics, 2022, 69(1): 940-949.
- [4] H. Wang, Z. Chen, S. Zuo*, Flexible Manipulator with Low-Melting-Point Alloy Actuation and Variable Stiffness, Soft robotics, 2022, 9(3): 577–590.
- [5] S. Zuo*, G.-Z. Yang, Endomicroscopy for computer and robot assisted intervention, IEEE Reviews in Biomedical Engineering, 2017, 10: 12-25.
- [6] S. Zuo*, M. Hughes, G.-Z. Yang, Flexible robotic scanning device for intraoperative endomicroscopy in MIS, IEEE/ASME Transactions on Mechatronics, 2017, 22(4): 1728-1735.
- [7] Z. Gao, X. Wang, Y. Yang, C. Mu, Q. Cai, W. Dang, S. Zuo, EEG-Based Spatio-Temporal Convolutional Neural Network for Driver Fatigue Evaluation , IEEE Transactions on Neural Networks and Learning Systems, 2019, 30(9): 2755-2763.
- [8] L. Gong, J. Zheng, Z. Ping, Y. Wang, S. Wang, S. Zuo*, Robust mosaicing of endomicroscopic videos via context-weighted correlation ratio, IEEE Transactions on Biomedical Engineering, 2021, 68(2): 579-591.
- [9] S. Zuo*, M. Hughes, C. Seneci, T. Chang, G.-Z. Yang, Toward Intraoperative Breast Endomicroscopy with a Novel Surface Scanning Device, IEEE Transactions on Biomedical Engineering, 2015, 62(12): 2941-2952.
- [10] Y. Qu, C. Zhang, Y. Wang, B. Chen, S. Zuo*, A Novel Haptic Master Manipulator with a Pneumatic-electric Mechanism for Natural Orifice Transluminal Endoscopic Surgery, IEEE Transactions on Instrumentation and Measurement, 2022, 71: 1-12, Art no. 7504212.
- [11] Q. He, S. Bano, J. Liu, W. Liu, D. Stoyanov, S. Zuo*, Query2: Query over queries for improving gastrointestinal stromal tumour detection in an endoscopic ultrasound, Computers in Biology and Medicine, 2023, 152:106424.
- [12] L. Gong, H. Wang, S. Zuo*, Intensity-based nonrigid endomicroscopic image mosaicking incorporating texture relevance for compensation of tissue deformation, Computers in Biology and Medicine, 2022, 142: 105169.
- [13] C. Zhang, J. Guo, B. Chen, S. Zuo*, A Novel 6-DOF Flexible Instrument With High-Resolution Three-Axis Force Sensing Unit for Endoscopic Submucosal Dissection, IEEE Sensors Journal, 2025, doi: 10.1109/JSEN.2025.3542848
- [14] J. Wei, S. Wang, J. Li, S. Zuo*, Novel integrated helical design of single optic fiber for shape sensing of flexible robot, IEEE Sensors Journal, 2017, 17(20): 6627-6636.
- [15] Y. Liu, S. Zuo*, Self-supervised monocular depth estimation for gastrointestinal endoscopy, Computer Methods and Programs in Biomedicine, 2023, 238: 107619.
- [16] L. Gong, L. Duan, Y. Dai, Q. He, S. Zuo, T. Fu, X. Yang, J. Zheng*, Locally adaptive total p-variation regularization for non-rigid image registration with sliding motion, IEEE Transactions on Biomedical Engineering, 2020, 67(9): 2560-2571.
- [17] J. Guo, X. Xu, Z. Zhang, S. Zuo*, A Multiple-mode Sensorized Surgical Forceps for Tissue Palpation During MIS, Measurement, 2025, 244: 116550.
- [18] G. Feng, S. Wang, J. Li, S. Zuo*, Toward Safer GI Endoscopy With a Novel Robot-Assisted Endoscopic System, IEEE Robotics and Automation Letters, 2024, 9(11): 9907-9914.
- [19] C. Zhang, Y. Wang, T. Liang, K. Kong, Q. Yao, S. Zuo*, A Novel Miniature Flexible Instrument With Unfolding and Decoupling Design for Endoscopic Surgery, IEEE Robotics and Automation Letters, 2023, 9(1):787-794.
- [20] H. Wang, S. Zuo*, A Novel Variable-Diameter-Stiffness Guiding Sheath for Endoscopic Surgery, IEEE Robotics and Automation Letters, 2022, 8(1): 89-96.
- [21] J. Liu, Z. Ma, Y. Wang, S. Zuo*, Reconfigurable Self-Sensing Pneumatic Artificial Muscle With Locking Ability Based on Modular Multi-Chamber Soft Actuator, IEEE Robotics and Automation Letters, 2022, 7 (4): 8635-8642.
- [22] S. Zuo, H. Li, Z. Hua, J. Liu, B. Chen*, A Novel Jamming Structure with Interlocking Mechanism towards Applications in Wearable Robots, IEEE Robotics and Automation Letters, 2022, 7 (3): 6305-6312.
- [23] S. Zuo, T. Chen, X. Chen, B. Chen*, A Wearable Hands-Free Human-Robot Interface for Robotized Flexible Endoscope, IEEE Robotics and Automation Letters, 2022, 7(2): 3953-3960.
- [24] X. Xu, R. Tang, L. Gong, B. Chen, S. Zuo*, Two Dimensional Position-based Visual Servoing for Soft Tissue Endomicroscopy, IEEE Robotics and Automation Letters, 2021, 6(3): 5728-5735.
- [25] H. Wang, S. Wang, S. Zuo*, Development of Visible Manipulator With Multi-Gear Array Mechanism for Laparoscopic Surgery, IEEE Robotics and Automation Letters, 2020, 5(12): 3090-3097.
- [26] D. Xie, J. Liu*, S. Zuo*, Pneumatic Artificial Muscle with Large Stroke Based on a Contraction Ratio Amplification Mechanism and Self-Contained Sensing, IEEE Robotics and Automation Letters, 2021, 6(4): 8599-8606.
- [27] D. Xie, J. Liu*, R. Kang, S. Zuo*, Fully 3D-Printed Modular Pipe-Climbing Robot, IEEE Robotics and Automation Letters, 2021, 6(2): 462-469.
- [28] H. Wang, S. Wang, J. Li, S. Zuo*, Robotic Scanning Device for Intraoperative Thyroid Gland Endomicroscopy, Annals of Biomedical Engineering, 2018, 46(4): 543-554.
- [29] Z. Ping, H. Wang, X. Chen, S. Wang, S. Zuo*, Modular Robotic Scanning Device for Real-Time Gastric Endomicroscopy, Annals of Biomedical Engineering, 2019, 47(2): 563-575.
- [30] Z. Ping, T. Zhang, L. Gong, C. Zhang, S. Zuo*, Miniature Flexible Instrument with Fibre Bragg Grating-Based Triaxial Force Sensing for Intraoperative Gastric Endomicroscopy, Annals of Biomedical Engineering, 2021, 49(9): 2323-2336.
- [31] T. Zhang, L. Gong, S. Wang, S. Zuo*, Hand-Held Instrument with Integrated Parallel Mechanism for Active Tremor Compensation During Microsurgery, Annals of Biomedical Engineering, 2020, 48 (1):413-425.
- [32] S. Zuo*, M. Hughes, G.-Z. Yang, Novel Balloon Surface Scanning Device for Intraoperative Breast Endomicroscopy, Annals of Biomedical Engineering, 2016, 44(7): 2313-2326.
- [33] X. Li, H. Wang, S. Zuo*, A Novel Flexible Catheter with Integrated Magnetic Variable Stiffness and Actuation, Smart Materials and Structures, 2024, 33: 025028.
- [34] X. Xu, C. Zhang, C. Zhang, S. Zuo*, A Novel Flexible Endomicroscopic Scanning Instrument with Visual Servoing Control, Advanced Intelligent Systems, 2024, 2300656.
- [35] J. Liu, G. Ma, Z. Ma, S. Zuo*, Origami-inspired soft-rigid hybrid contraction actuator and Its application in pipe-crawling robot, Smart Materials and Structures, 2023, 32(6): 065015.
- [36] J. Liu, Z. Chen, S. Wang, S. Zuo*, Novel shape-lockable self-propelling robot with a helical mechanism and tactile sensing for inspecting the large intestine, Smart Materials and Structures, 2021, 30(12): 125023.
- [37] D. Xie, S. Zuo*, J. Liu*, A novel flat modular pneumatic artificial muscle, Smart Materials and Structures, 2020, 29(6): 065013.
- [38] T. Liang, C. Zhang, Y. Wang, K. Kong, X. Chen, B. Wei, S. Wang, S. Zuo*, A novel miniature flexible robotic system for endoscopic mucosal dissection: an animal experimental study, Journal of Robotic Surgery, 2024, 18(1): 1-7.
- [39] Z. Ping, T. Zhang, C. Zhang, J. Liu, S. Zuo*, Design of Contact-aided Compliant Flexure Hinge Mechanism Using Superelastic Nitinol, Journal of Mechanical Design, 2021, 143 (11):114501.
- [40] J. Liu, J. Wei, G. Zhang, S. Wang, S. Zuo*, Pneumatic Soft Arm Based on Spiral Balloon Weaving and Shape Memory Polymer Backbone. Journal of Mechanical Design, 2019, 141(8): 082302.
- [41] Y. Liu, X. Chen, S. Zuo*, A deep learning-driven method for safe and effective ERCP cannulation. International Journal of Computer Assisted Radiology and Surgery, 2025, https://doi.org/10.1007/s11548-025-03329-w
- [42] X. Xu, S. Zhao, L. Gong, S. Zuo*, A novel contact optimization algorithm for endomicroscopic surface scanning, International Journal of Computer Assisted Radiology and Surgery, 2024, https://doi.org/10.1007/s11548-024-03223-x.
- [43] Q. He, S. Bano, O. Ahmad, B. Yang, X. Chen, P. Valdastri, L. Lovat, D. Stoyanov, S. Zuo*, Deep Learning Based Anatomical Site Classification for Upper Gastrointestinal Endoscopy, International Journal of Computer Assisted Radiology and Surgery, 2020, 15:1085–1094.
- [44] C. He, S. Wang, S. Zuo*, A linear stepping endovascular intervention robot with variable stiffness and force sensing, International Journal of Computer Assisted Radiology and Surgery, 2018, 13 (5): 671-682.
- [45] S. Zuo*, K. Iijima, T. Tokumiya, K. Masamune*, Variable stiffness outer sheath with "Dragon skin" structure and negative pneumatic shape-locking mechanism, International Journal of Computer Assisted Radiology and Surgery, 2014, 9(5):857-865.
- [46] S. Zuo, S. Wang*, Current and emerging robotic assisted intervention for NOTES, Expert Review of Medical Devices, 2016, 13(12): 1095-1105.
- [47] Y. Wang, L. Zhao, L. Gong, X. Chen, S. Zuo*, A Monocular SLAM System Based on SIFT Features for Gastroscope Tracking, Medical & Biological Engineering & Computing, 2023, 61:511–523.
- [48] C. Zhang, W. Huang, X. Xu, S. Zuo*, Flexible endoscopic instrument for diagnosis and treatment of early gastric cancer, Medical & Biological Engineering & Computing, 2023, 61(11):2815-2828.
- [49] H. Wang, S. Zuo*, Laparoscopic Surgical Device with Modular End Tools for Real-Time Endomicroscopy and Therapy, Medical & Biological Engineering & Computing, 2021, 59(4): 787-797.
- [50] Z. Chen, J. Liu, S. Wang, S. Zuo*, A bio-inspired self-propelling endoscopic device for inspecting the large intestine. Bioinspiration & Biomimetics, 2019, 14(6): 066013.
- [51] Z. Ma, J. Liu*, G. Ma, J. Gao, B. Chen, and S. Zuo*, Lockable Lower Limb Exoskeleton Based on a Novel Variable-Stiffness Joint: Reducing Physical Fatigue at Squatting, Journal of Mechanisms and Robotics, 2023, 15(5): 051008.
- [52] T. Zhang, Z. Ping, S. Zuo*, Miniature Continuum Manipulator With Three Degrees-of-Freedom Force Sensing for Retinal Microsurgery, Journal of Mechanisms and Robotics, 2021, 13(4): 041002.
- [53] H. Wang, D. Kong, S. Zuo*, A Miniature Robotic-assisted Tool for Large Area Endomicroscopy Scanning, Journal of Mechanisms and Robotics, 2020, 12(3): 031012.
- [54] C. Zhang, Z. Ping, S. Zuo*, Flexible Instrument with Contact-aided Structure and Force Feedback for Endoscopic Surgery, The International Journal of Medical Robotics and Computer Assisted Surgery, 2023, e2573.
- [55] S. Zuo, Z. Wang, T. Zhang, B. Chen*, A Novel Master-slave Intraocular Surgical Robot with Force Feedback, International Journal of Medical Robotics and Computer Assisted Surgery, 2021, 17(4): e2267.
- [56] J. Liu, L. Yin, J.H Chandler, X. Chen, P. Valdastri, S. Zuo*, A Dual‐bending Endoscope with Shape‐lockable Hydraulic Actuation and Water‐jet Propulsion for Gastrointestinal Tract Screening, International Journal of Medical Robotics and Computer Assisted Surgery, 2021, 17: e2197.
- [57] Z. Wang, S. Wang, S. Zuo*, A hand-held device with 3-DOF haptic feedback mechanism for microsurgery, International Journal of Medical Robotics and Computer Assisted Surgery, 2019, 15(5): e2025.
- [58] L. Yin, X. Wang, S. Zuo*, Water-jet outer sheath with braided shape memory polymer tubes for upper gastrointestinal tract screening, International Journal of Medical Robotics and Computer Assisted Surgery, 2018, 14(6): e1944.
- [59] H. Wang, Z. Ping, Y. Fan, H. Kang, S. Zuo*, A Novel Surface-Scanning Device for Intraoperative Tumor Identification and Therapy , IEEE Access, 2019, 7: 96392-96403.
- [60] H. Wang, N. Zhang, S. Zuo*, Low-cost and highly flexible intraoperative endomicroscopy system for cellular imaging, Applied Optics, 2018, 57(7): 1554-1561.
- [61] S. Wang, Q. He, P. Zhang, X. Chen, S. Zuo*, Toward Automatic Detection of Gastric Lesion for Upper Gastrointestinal Endoscopy with Neural Network, Journal of Medical Robotics Research, 2022, 2141003.
- Patents
- [1] 左思洋; 何城彬; 王树新; 血管介入导管、设备、接触力检测方法以及检测设备, 2021-1-29, 中国, ZL201810087573.0.
- [2] 左思洋; 魏俊波; 王树新; 基于螺旋光纤光栅传感器阵列的形状检测装置和方法, 2019-3-15, 中国, ZL201611126916.7.
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- [3] 左思洋; 王海波; 基于异形齿轮传动的双向弯曲微创手术器械, 2021-4-2, 中国, ZL201911237875.2.
- [4] 左思洋; 王震; 王树新, 具有手动快换机构的手术机器人末端器, 2020-7-7, 中国, ZL202010644699.0.
- [5] 左思洋; 王震; 王树新, 微创手术机器人主从同构式遥操作力反馈主手, 2020-7-7, 中国, ZL202010644705.2.
- [6] 左思洋; 平忠源, 基于接触辅助结构的柔性连续体机器人, 2020-7-8, 中国, ZL202010650441.1.
- [7] 左思洋; 张天赐, 一种用于微创手术的三维力传感手术针, 2020-7-14, 中国, ZL202010672463.8.
- [8] 左思洋; 陈志伟; 刘建彬; 宋智斌,一种具有接触力感知能力的螺旋推进式肠道内窥镜装置, 2020-09-04, 中国, ZL202010919562.1
- [9] 左思洋; 解迪生；刘建彬; 基于收缩率放大机构的自传感袋式气动人工肌肉，2020-09-16，中国, ZL2020109733836.
- [10] T. Dohi; K. Masamune; S. Zuo; K. Matsumiya; N. Yamanaka; Flexibility/Rigidity Adjustable Apparatus, 2013-10-8, 美国, US 8550989.
- [11] K. Iijima; K. Masamune; T. Tokumiya; S. Zuo; Medical tube and flexibility-variable mechanism with the same, 2016-12-27, 美国, US 9526862.
- [12] 土肥健純; 正宗賢; 左思洋; 松宮潔; 山中紀明; 柔刚可变装置, 2014-2-26, 日本, JP5424212.
- [13] 飯嶋一雄; 徳宮孝弘; 正宗賢; 左思洋; 医療用チューブ及び可撓性可変機構, 2014-7-7, 日本, JP6133594.
- [14] 土肥健純; 正宗賢; 左思洋; 松宮潔; 山中紀明; Device having rigidity which can be changed between high and low levels, 2009-2-27, WIPO, PCT/JP2009/053719.