个人简历

谢叻，博士，博士后，现任上海交通大学国家数字化制造技术中心教授，医疗机器人研究院双聘教授，博士生导师，上海交通大学医疗机器人研究院副院长，上海交通大学康复工程研究所副所长。     1985获得华东师范大学数学专业学士，1995获得南京航空航天大学计算数学专业硕士，1999获得南京航空航天大学航空宇航制造专业博士，2001年上海交通大学材料科学与工程学院博士后出站。     2014年6-8月瑞士Bern大学高级访问学者，2015年6-8月美国西北大学高级访问学者，2019年6-8月瑞士苏黎世联邦理工大学高级访问学者。     开展医疗机器人（包括手术机器人和康复机器人）研究近20年，研发了腹腔微创手术机器人、整形微创手术机器人，血管介入手术机器人，肾内介入手术机器人，支气管内镜介入手术机器人，耳鼻喉微创手术机器人，穿刺手术机器人，上肢康复机器人，下肢康复机器人，上下肢协同康复机器人，碗部康复机器人等。     先后主持国家级纵向科研项目包括：国家自然科学基金重点项目1项，国家自然科学基金重大项目课题1项，国家自然科学基金面上项目4项，国家自然科学基金国际合作与交流项目4项；国家科技支撑计划重点项目课题1项；国家高技术研究发展计划（863计划）课题1项。国家科技型中小企业技术创新基金项目1项。     兼任中华医学会数字医学分会副主任委员，中国仿真学会医疗仿真分会副主任委员，中国仪器仪表学会力触觉感知与交互专业委员会副主任委员，中国机械工程学会生物制造工程分会理事，中国医药生物技术协会生物医学信息技术分会常务理事，中国康复辅具产业技术创新战略联盟副秘书长，上海生物医学工程学会医用机器人专委会主任委员，上海康复辅具与老年福祉产业技术创新战略联盟常务副理事长。     以通讯作者在国内外期刊等发表学术论文百余篇。作为第一发明人申请国家发明专利46项，其中35项获得授权。作为第一完成人获得软件著作权十余项。     作为会议共同主席组办2届东方科技论坛：“医用机器人基础理论与关键技术”、“虚拟手术仿真与评价的基础理论和关键技术”。作为会议共同主席组办10届“国际康复与医学工程大会”、3届“中国瑞士医工交叉技术双边研讨会”。

研究方向

手术机器人，康复机器人，虚拟手术，虚拟现实／增强现实，数字化医学，数字化制造、

科研项目

   1.国家自然科学基金重点项目，动态环境下狭窄腔道手术机器人感知与控制， 2022-2026，主持

   2.国家自然科学基金面上项目，经输尿管肾内介入手术机器人关键技术研究，2020-2023，主持

   3.国家自然科学基金面上项目，肝胆胰微创外科手术力觉感知与力觉反馈关键技术研究，2017-2020，主持

   4.国家自然科学基金重大项目课题，手术虚拟仿真与手术评价的基础理论和关键技术研究，2012-2016，主持

   5.国家科技型中小企业技术创新基金，汽车数字风洞虚拟现实仿真系统， 2010-2012, 主持

   6.国家科技支撑计划重点项目课题，下肢残障者平衡功能分析训练系统的研制及临床应用，2009-2012，主持

   7.国家自然科学基金面上项目，完全胸腔镜下心脏微创虚拟手术力觉反馈关键技术研究，2009-2011，主持

   8.国家高技术研究发展计划（863计划）课题，多自由度虚拟手术力反馈人机交互装置研究，2009-2010，第二负责人

   9.国家高技术研究发展计划（863计划）课题，基于中国数字人的人体运动系统虚拟现实研究，2006-2008，主持

   10.国家自然科学基金面上项目，虚拟耳显微手术关键技术研究与实现， 2005-2007，主持

代表性论文专著

【1】Yongfeng Cao, Zhenggang Cao, Fan Feng, Le Xie*, ADRC-Based Trajectory Tracking Control for a Planar Continuum Robot, Journal of Intelligent & Robotic Systems, 2023, https://doi.org/10.1007/s10846-023-01852-z

【2】Yongfeng Cao, Zefeng Liu, Zheng Liu, Shuang Wang, Le Xie*, Design and Path Tracking Control of a Continuum Robot for Maxillary Sinus Surgery, International Journal of Computer Assisted Radiology and Surgery, 2022, https://doi.org/10.1007/s11548-022-02820-y

【3】Yongfeng Cao, Yuxuan Shi, Wuzhou Hong, Peidong Dai, Xicai Sun, Hongmeng Yu, Le Xie*, Continuum Robots for Endoscopic Sinus Surgery: Recent Advances, Challenges, and Prospects, International Journal of Medical Robotics and Computer Assisted Surgery, 2022, https://doi.org/10.1002/rcs.2471

【4】Yongfeng Cao, Fan Feng, Zefeng Liu, Le Xie*, Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback, Journal of Mechanisms and Robotics, DECEMBER 2022, Vol. 14 / 061012, https://doi.org/10.1115/1.4054997

【5】Yongfeng Cao, Zefeng Liu, Hailong Yu, Wuzhou Hong, Le Xie*, Spatial Shape Sensing of a Multisection Continuum Robot With Integrated DTG Sensor for Maxillary Sinus Surgery, IEEE/ASME TRANSACTIONS ON MECHATRONICS, 2023,VOL. 28, NO. 2, 715-725

【6】Zheng Liu, Shuang Wang, Yongfeng Cao, Hongyu Cheng, Le Xie*, Optimal Control for a Modified Bouc-Wen Model in a Magnetorheological Fluid Master Robot, IEEE Robotics and Automation Letters, VOL. 7, NO. 4, OCTOBER 2022, 11609-11616, DOI 10.1109/LRA.2022.3204877

【7】Zheng Liu, Shuang Wang, Fan Feng, Le Xie*, A Magnetorheological Fluid Based Force Feedback Master Robot for Vascular Interventional Surgery, Journal of Intelligent & Robotic Systems, (2022) 106:20, https://doi.org/10.1007/s10846-022-01716-y 

【8】Li Lin#, Yuan Gao#, Zin Mar Aung, Haisong Xu, Bingshun Wang, XianxianYang∗, Gang Chai∗, Le Xie∗. Preliminary reports of augmented-reality assisted craniofacial bone fracture reduction[J]. Journal of Plastic, Reconstructive & Aesthetic Surgery, October 7, 2022;15:23 https://doi.org/10.1016/j.bjps.2022.06.105

【9】Wuzhou Hong, Fan Feng, Le Xie*, Guang-Zhong Yang*, A Two-Segment Continuum Robot With Piecewise Stiffness for Maxillary Sinus Surgery and Its Decoupling Method, IEEE-ASME Transactions on Mechatronics, 24 March 2022, DOI: 10.1109/TMECH.2022.3157041 (P1 - 11)

【10】Zhongliang Jiang#, Yuan Gao#, Le Xie*, Nassir Navab. Towards Autonomous Atlas-based Ultrasound Acquisitions in Presence of Articulated Motion. IEEE Robotics and Automation Letters, July, 2022. Vol.7, Issue: 3, PP:7423-7430. 10.1109/LRA.2022.3180440,

【11】Xiongpeng Shu，Peng Hua，Shuang Wang，Ling Zhang，Le Xie*，Safety enhanced surgical robot for flexible ureteroscopy based on force feedback，International Journal of Medical Robotics and Computer Assisted Surgery, 2022; https://doi.org/10.1002/rcs.2410

【12】Shuang Wang，Zheng Liu，Xiongpeng Shu，Le Xie*，Mechanism design and force sensing of a novelcardiovascular interventional surgery robot，International Journal of Medical Robotics and Computer Assisted Surgery, 2022，18(4):1-13; https://doi.org/10.1002/rcs.2406

【13】Fan Feng, Yuan Zhou, Wuzhou Hong, KeYong Li, Le Xie*, Development and experiments of a continuum robotic system for transoral laryngeal surgery, International Journal of Computer Assisted Radiology and Surgery, https://doi.org/10.1007/s11548-022-02558-7, 2022

【14】Wuzhou Hong, Yuan Zhou, Yongfeng Cao, Fan Feng, Zefeng Liu, Keyong Li, Le Xie*, Development and validation of a two-segment continuum robot for maxillary sinus surgery, International Journal of Medical Robotics and Computer Assisted Surgery, 2022;18(1) https://doi.org/10.1002/rcs.2340 (1-13)

【15】Fan Feng, Wuzhou Hong, Le Xie*, A learning-based tip contact force estimation method for tendon-driven continuum manipulator, Scientific Reports，P17482, Sep, 2021, (2021) 11:17482 | https://doi.org/10.1038/s41598-021-97003-1（1-11）

【16】Yuan Gao#, Kai Liu#, Li Lin, Xudong Wang*, Le Xie*, The Use of Augmented Reality Navigation to Optimize the Surgical Management of Craniofacial Fibrous Dysplasia, British Journal of Oral and Maxillofacial Surgery, 2021. https://doi.org/10.1016/j.bjoms.2021.03.011

【17】Kai Liu#, Yuan Gao#, Ahmed Abdelrehem, Lei Zhang, Xi Chen, Le Xie*, Xudong Wang*. Augmented reality navigation method for recontouring surgery of craniofacial fibrous dysplasia. Scientific Reports, (2021) 11:10043,

https://doi.org/10.1038/s41598-021-88860-x

【18】Xiongpeng Shu, Peng Hua, Le Xie*, An irrigation system for noninvasively estimating intrarenal pressure during flexible ureteroscopy, International Journal of Medical Robotics and Computer Assisted Surgery, 2021,17（5），1-11, e2306,DOI：https://doi.org/10.1002/rcs.2306, 2021

【19】Yuan Gao, Yuyun Zhao, Le Xie*, Guoyan Zheng*, A Projector-based Augmented Reality Navigation System for Computer Assisted Surgery. Sensors, 2021, 21, 2931. https://doi.org/10.3390/s21092931

【20】Li Lin, Cheng Xu, Yunyong Shi, Chaozheng Zhou, Ming Zhu, Gang Chai*, Le Xie*. Preliminary clinical experience of robot-assisted surgery in treatment with genioplasty. Scientific Reports 11,6365(2021). DOI:https://doi.org/10.1038/s41598-021-85889-w

【21】Cheng Xu#, Yang Wang#, Chaozheng Zhou, Zhenfeng Zhang, Le XIE*, Kjell Andersson*, Lei Feng, Application research of master-slave craniofacial surgery robot based on force feedback, PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE (P I MECH ENG H), 2021, Vol. 235(5) 583–596

【22】Cheng Xu＃, Li Lin＃, ZIN MAR AUNG, Xiaojun Chen, Mengzhe Sun, Gang Chai, Le Xie*, A preliminary study on animal experiments of robot-assisted craniotomy, World Neurosurgery, 2021, 149: e748-e757, DOI: 10.1016/j.wneu.2021.01.108

【23】Cheng Xu, Li Lin, Zin Mar Aung, Gang Chai, Le Xie*, Research on spatial motion safety constraints and cooperative control of robot‐assisted craniotomy: Beagle model experiment verification, The International Journal of Medical Robotics and Computer Assisted Surgery, 2021, 17(2): e2231, DOI:10.1002/rcs.2231 (1-13)

【24】Cheng Xu, Li Lin, Chaozheng Zhou, Le Xie*, A Compact Surgical Robot System for Cranio-maxillofacial Surgery and Its Preliminary Study, The Journal of Craniofacial Surgery, 32（1），101-107, January/February，2021, DOI: 10.1097/SCS.0000000000007022

【25】Xiongpeng Shu, Qi Chen, and Le Xie*, A Novel Robotic System for Flexible Ureteroscopy, The International Journal of Medical Robotics and Computer Assisted Surgery, 2021, 17(1): 1-11,  DOI: 10.1002/rcs.2191

【26】Fan Feng, Wuzhou Hong, Le Xie*, Design of 3D-Printed Flexible Joints with Presettable Stiffness for Surgical Robots, IEEE Access, April 2020，P79573~79585, Vol.8, May, 2020

【27】Li Lin＃, Yuan Gao＃, Gang Chai, Haisong Xu*, Le Xie*. Electromagnetic Navigation in Craniofacial Surgery Based on Automatic Registration of Dental Splints. . Journal of Craniofacial Surgery. 2020.31(2)：393-396

【28】Li Lin＃, Mengzhe Sun＃, Yuan Gao, Gang Chai, Haisong Xu, Xianxian Yang*, Le Xie*. Modeling and Clinical Application of Incision Space in Facial Contour Surgery. Journal of Craniofacial Surgery. 2020.31(2)：377-380

【29】Yuan Gao＃, Li Lin＃, Gang Chai*, Le Xie*. A feasibility study of a new method to enhance the augmented reality navigation effect in mandibular angle split osteotomy. Journal of Cranio-Maxillofacial Surgery. 47 (2019) 1242-1248, https://doi.org/10.1016/j.jcms 2019.04.005

【30】Hao Shen＃, Cheng Wang＃, Le Xie*, Shoujun Zhou*, Lixu Gu, and Hongzhi Xie. A novel robotic system for vascular intervention: principles, performances, and applications, The International Journal of Computer Assisted Radiology and Surgery. 2019, DOI10.1007/s11548-018-01906-w

【31】Wuzhou Hong, Le Xie*, Jiahui Liu, Yajing Sun, Keyong Li, and Hesheng Wang*, Development of A Novel Continuum Robotic System for Maxillary Sinus Surgery, IEEE-ASME Transactions on Mechatronics, Volume: 23, Issue: 3, June 2018, Page(s): 1226 – 1237

【32】Hao Shen#, Cheng Wang#, Le Xie*, Shoujun Zhou*, Lixu Gu, Hongzhi Xie, A novel remote-controlled robotic system for cerebrovascular intervention, The international Journal of medical robotics and computer assisted surgery, Volume:14, Issue:6, December 2018, Page(s): e1943(1-9)

【33】Chaozheng Zhou#, Ming Zhu#, Yunyong Shi, Li Lin, Gang Chai*, Le Xie*. Robot assisted surgery for mandibular angle split osteotomy using augmented reality: preliminary results on clinical animal experiment [J]. Aesthetic Plastic Surgery, DOI: 10.1007/s00266-017-0900-5，2017, (3):1-9

【34】Yunyong Shi, Chaozheng Zhou, Le Xie*, Yongjun Chen*, Jun Jiang, Zhenfeng Zhang, Ze Deng. Research of the master–slave robot surgical system with the function of force feedback. International Journal Medical Robotics Comput Assist Surgery, 13 March 2017, DOI: 10.1002/rcs.1826. 2017; e1826

【35】Juan Fang, Guoyuan Yang, Le Xie*, Qing Xie ,Development and Feasibility Assessment of a Rotational Orthosis for Walking with Arm Swing，Frontiers in Neuroscience, section Neural Technology, 01February2017. DOI: 10.3389/fnins.2017.00032

【36】Lin Liu, Le Xie*, Yunyong Shi and Bingchen An. GENERATION OF A MOVEMENT SCHEME FOR POSITIVE TRAINING. Frontiers in Neuroscience, Vol.11, 01 March 2017, DOI: 10.3389/fnins.2017.00096

【37】Lin Liu, Yun-Yong Shi, Le Xie*, A Novel Multi-DOF Exoskeleton Robot for Upper Limb Rehabilitation. Journal of Mechanics in Medicine and Biology, Vol. 16, No. 8 (2016) 1640023 (11 pages), DOI: 10.1142/S0219519416400236

【38】Yunyong Shi, Li Lin, Chaozheng Zhou, Ming Zhu, Le Xie*, Gang Chai*, A Study of Assisting Robot for Mandible Plastic Surgery Based on Augmented Reality, Minimally Invasive Therapy & Allied Technologies. 2016, DOI: 10.1080/13645706.2016.1216864

【39】Chaozheng Zhou, Lukas Anschuetz, Stefan Weder, Le Xie*, Marco Caversaccio, Stefan Weber, Tom Williamson*，Surface Matching for High Accuracy Registration of the Lateral Skull Base, International Journal of Computer Assisted Radiology and Surgery, 11:2097–2103 2016

【40】Li Lin, Yunyong Shi, Andy Tan, Melia Bogari, Ming Zhu, Yu Xin, Haisong Xu,Yan Zhang*, Le Xie*, Gang Chai*, Mandibular angle split osteotomy based on a novel augmented reality navigation using specialized robot-assisted arms - A feasibility study, Journal of Cranio-Maxillo-Facial Surgery, 44 (2016) 215-223

【41】Chaozheng Zhou, Le Xie*, Xianglong Shen, Maisheng Luo, Zhaoli Wu, Lixu Gu. Cardiovascular interventional surgery virtual training platform and its preliminary evaluation. The International Journal of Medical Robotics and Computer Assisted Surgery. 2015; 11（3）: 375–387, DOI: 10.1002/rcs

【42】Hailong Yu, Le Xie* , Chao Lv, Wei Shao, Yuan Wang, Jinwu Wang and WenweiI Yu. A System for Upper Lime Rehabilitation and Motor Function Evaluation. Journal of Mechanics in Medicine and Biology (Vol. 15, No. 1 (2015) 1550010 (19 pages)

【43】Hailong Yu, Jun Jiang, Le Xie*, Lin Liu, Yunyong Shi, Ping Cai. Design and static calibration of a six-dimensional force/torque sensor for minimally invasive surgery. MMIT Minimally Invasive Therapy and Allied Technologies（2014;23（3-4）:136–143）

【44】Jun Jiang, Le Xie*, Hailong Yu, Wenwei Yu, Bo wu, Development of a six-dimensional sensor for minimally invisive robotic surgery, Journal of Mechanics in Medicine and Biology，14（5），1450074-1～1450074-18，2014