LI, Zheng

Name : LI, Zheng 李崢
Title :

Associate Professor

Home Department :  Surgery
Email :




Research Interests: Zheng focuses on the development of innovative medical robots/devices, including intelligent flexible surgical robot for minimally invasive surgery, soft medical robots for gastrointestinal tract inspection, soft medical robots for rehabilitation, magnetic anchored and guided system for VATS, semi-autonomous robots for stereotactic brain biopsy, etc.

Specialised Research Area(s):

  • Intelligent Medical Robotics

Selected Publications:

1. Flippy Tianle Pan, Michael Man Chong Lei, Wing Yin Ng, Zheng Li, “Analytical modeling of the interaction between soft balloon-like actuators and soft tubular environment for gastrointestinal (GI) inspection”, Soft Robotics, 2021.

2. Yehui Li, Cheng Guo, Wenci Xin, Tianle Pan, Weibing Li, Philip Waiyan Chiu, Zheng Li, “Design and Preliminary Evaluation of an Electromagnetically Actuated Soft-Tethered Colonoscope”, IEEE Transactions on Medical Robotics and Bionics (TMRB), 2021.

3. Weibing Li, Truman Cheng, Calvin S.H. Ng, Philip W.Y. Chiu and Zheng Li, “Kinematic Modeling and Visual Servo Control of a Soft-Bodied Magnetic Anchored and Guided Endoscope”, IEEE/ASME Transactions on Mechatronics, Vol. 25, No. 3, pp. 1531-1542, 2020.

4. Weibing Li, Philip W.Y. Chiu and Zheng Li, “An Accelerated Finite-Time Convergent Neural Network for Visual Servoing of a Flexible Surgical Endoscope with Physical and RCM Constraints”, IEEE Transactions on Neural Networks and Learning Systems (TNNLS), Vol. 31, No. 12, pp. 5272-5284, 2020.

5. Weibing Li, Chengzhi Song, Zheng Li, “An Accelerated Recurrent Neural Network for Visual Servo Control of a Robotic Flexible Endoscope with Joint Limit Constraint”, IEEE Transactions on Industrial Electronics (TIE), Vol. 67, No. 12, pp. 10787-10797, 2020.

6. Chengzhi Song, Xin Ma, Xianfeng Xia, Philip Waiyan Chiu, Charing CN Chong and Zheng Li, “A Robotic Flexible Endoscope with Shared Autonomy: A Study of Mockup Cholecystectomy”, Surgical Endoscopy, pp. 1-12, Nov. 2019.

7. Zhiqiang Tang, Kelvin Holam Heung, Raymong Kaiyu Tong* and Zheng Li, “Model-based Online Learning and Adaptive Control for a ‘Human-wearable Soft Robot’ integrated system”, International Journal of Robotics Research (IJRR), 2019: 0278364919873379.

8. Kelvin H.L. Heung, Alan T.H. Lau, Raymond K.Y. Tong* and Zheng Li, “Robotic Glove with Soft-Elastic Composite Actuators or Assisting Activities of Daily Living”, Soft Robotics, Vol. 6, No. 2, pp. 289-304, 2019.

9. Yuan Han and Zheng Li, “Workspace Analysis of Cable-driven Continuum Manipulators Based on Static Model”, Robotics and Computer-Integrated Manufacturing, Vol. 49, pp. 240-252, 2018.

10. Zheng Li, Liao Wu, Hongliang Ren* and Haoyong Yu*, “Kinematic Comparison of Surgical Tendon-driven Manipulators and Concentric Tube Manipulators”, Mechanism and Machine Theory, Vol. 107, pp.148-165, 2017.

11. Zheng Li, Philip W.Y. Chiu, Ruxu Du, et. al. “A Novel Constrained Wire-driven Flexible Mechanism and its Kinematic Analysis”, Mechanism and Machine Theory, Vol. 95, pp. 59-75, 2016.

12. Zheng Li, Jan Feiling, Hongliang Ren, Haoyong Yu, “A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery”, Engineering, Vol. 1, No. 1, pp. 73-78, 2015.