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Zicong Wu

12 accepted papers

2025

Vine4Spine: A Steerable Tip-Growing Robot with Contact Force Estimation for Navigation in the Spinal Subarachnoid Space

Zicong Wu, S. M. Hadi Sadati, Panagiotis Vartholomeos, Mohamed E. M. K. Abdelaziz, Burak Temelkuran, George Petrou +4
IROS 2025

Therapies targeting neurodegenerative diseases via brain ventricles and spinal parenchyma face delivery challenges. Systemic administration is ineffective due to the blood-brain barrier, while direct surgical access, especially for multi-site delivery, is highly invasive. The spinal subarachnoid spa

Cited by 2Source ↗Scholar ↗
2024

Lumped Parameter Dynamic Model of an Eversion Growing Robot: Analysis, Simulation and Experimental Validation

Panagiotis Vartholomeos, Zicong Wu, S.M. Hadi Sadati, Christos Bergeles
ICRA 2024poster

This paper presents a lumped-parameter dynamic model of a pressure driven eversion robot carrying a catheter through its hollow core. A simulation framework based on the model is developed in MATLAB and is used for understanding the underlying physics, for identifying the regions of operation, and f…

Cited by 2Source ↗Scholar ↗
2024

Universal Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization

Weizhao Wang, Zicong Wu, Carlo Saija, Aya Mutaz Zeidan, Zhouyang Xu, Aryana Pishkahi +5
RA-L 2024

Catheters have been widely used to deal with heart valve diseases. However, the diversity in handle structures and bending curvatures imposes significant complexities in safe delivery and positioning. In this work, we designed a module for single knob actuation assembled coaxially on the catheter ha

Cited by 8Source ↗Scholar ↗
2023

Towards a Physics-Based Model for Steerable Eversion Growing Robots

Zicong Wu, Mikel De Iturrate Reyzabal, S. M. Hadi Sadati, Hongbin Liu, Sébastien Ourselin, Daniel Richard Leff +3
RA-L 2023

Soft robots that grow through eversion/apical extension can effectively navigate fragile environments such as ducts and vessels inside the human body. This paper presents the physics-based model of a miniature steerable eversion growing robot. We demonstrate the robot's growing, steering, stiffening

Cited by 19Source ↗Scholar ↗
2023

Vision-Based Autonomous Steering of a Miniature Eversion Growing Robot

Zicong Wu, S. M. Hadi Sadati, Kawal S. Rhode, Christos Bergeles
RA-L 2023

This letter presents vision-based autonomous navigation of a steerable soft growing robot. Our experimental platform is the previously presented MAMMOBOT, which is a small-diameter eversion growing robot with an embedded steerable catheter. The current manuscript first models the robot using kinemat

Cited by 8Source ↗Scholar ↗
2022

Human-Robot Shared Control for Surgical Robot Based on Context-Aware Sim-to-Real Adaptation

Dandan Zhang, Zicong Wu, Junhong Chen, Ruiqi Zhu, Adnan Munawar, Bo Xiao +7
ICRA 2022poster

Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the surgical sub tasks for the construction of the shared control m…

Cited by 43Source ↗Scholar ↗
2021

An MR Safe Rotary Encoder Based on Eccentric Sheave and FBG Sensors

Shaoping Huang, Anzhu Gao, Zicong Wu, Chuqian Lou, Yanjun Wang, Guang-Zhong Yang
ICRA 2021poster

MRI-guided robotic systems are emerging platforms for minimally invasive intervention because of high positioning accuracy and excellent tissue contrast. MR safe encoders are critical components for closed-loop robotic control. This paper develops an MR safe absolute rotary encoder based on eccentri…

Cited by 9Source ↗Scholar ↗
2021

Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy

Zicong Wu, Chuqian Lou, Zhu Jin, Shaoping Huang, Ning Liu, Yun Zou +3
ICRA 2021poster

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal thera…

Cited by 0Source ↗Scholar ↗
2020

Automatic Microsurgical Skill Assessment Based on Cross-Domain Transfer Learning

Dandan Zhang, Zicong Wu, Junhong Chen, Anzhu Gao, Xu Chen, Peichao Li +4
RA-L 2020

The assessment of microsurgical skills for Robot-Assisted Microsurgery (RAMS) still relies primarily on subjective observations and expert opinions. A general and automated evaluation method is desirable. Deep neural networks can be used for skill assessment through raw kinematic data, which has the

Cited by 46Source ↗Scholar ↗
2020

FBG-Based Triaxial Force Sensor Integrated with an Eccentrically Configured Imaging Probe for Endoluminal Optical Biopsy

Zicong Wu, Anzhu Gao, Ning Liu, Zhu Jin, Guang-Zhong Yang
ICRA 2020poster

Accurate force sensing is important for endoluminal intervention in terms of both safety and lesion targeting. This paper develops an FBG-based force sensor for robotic bronchoscopy by configuring three FBG sensors at the lateral side of a conical substrate. It allows a large and eccentric inner lum…

Cited by 17Source ↗Scholar ↗