Center for Image-guided Therapy and Interventions

多源信息融合下的机器人辅助胸椎管减压动态自动规划与精准导航方法研究

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项目简介

项目依托单位： 上海交通大学

合作单位： 北京航空航天大学和北京大学

项目类型： 国家自然科学基金（区域创新发展联合基金）重点支持项目

项目编号： U20A20199

内容概述： 突破了基于深度学习的脊柱影像多模弹性配准、CT 引导下的MR 图像超分辨率重建和分割、基于深度学习的任意视野 CT 图像语义分割、术区组织识别与穿透预测、神经根损伤模型与能量识切等 5 项关键技术，搭建了面向胸椎管减压术的机器人平台，开展了模型骨和动物实验验证，实现了项目既定目标。

项目结题摘要： 在机器人辅助胸椎管后壁切除术中，如何高效利用多源多模信息是实现动态自主规划和安全可靠操作的关键。本项目首先针对多源多模信息时空域尺度不一的问题，建立了医学图像修复模型、跨模态图像生成模型和多关节体脊柱图像刚弹混合配准理论，提出了基于三维条件生成对抗网络的异物（如螺钉）去除方法、基于解耦表示学习和分割一致性约束的跨模态图像生成和分割新方法、以及基于循环一致性和语义保持生成对抗网络的跨模态图像生成方法，实现了高质量图像修复和语义保真的跨模态图像生成。在此基础上，提出了术前多模铰接式图像配准新算法以及基于语义信息引导的术前CT和术中CBCT配准新算法，实现了术前MR-CT和术中CT-CBCT的精准配准。其次，针对临床中厚扫MR图像难以直接用于手术规划的挑战，建立了图像超分辨率模型，提出了基于解耦表示学习的任意放大倍数MR图像超分辨率重建算法、CT引导下的MR图像超分辨率重建算法、以及联合MR图像超分辨率重建和图像分割算法，实现了临床厚扫MR图像的高效利用。同时，针对胸椎骨化黄韧带与相邻皮质骨非常接近，从而难以实现自动分割的难题，建立了基于Transformer架构的多目标检测模型，提出了任意视野脊柱CT图像全自动脊椎检测和分割新算法。在此基础上，提出了基于教师模型的增量式回归网络以自动检测和分割胸椎骨化黄韧带以及基于解剖标记点自动检测的椎板切除自动规划新方法，实现了机器人辅助胸椎管减压手术的自主规划。在术中操作方面，本项目从术中状态的精准识别出发，提出了基于LSTM-FCN电阻抗监测的机器人椎板切除术的破空预测方法以及基于超声刀电阻抗监测的机器人椎板切除术的穿透预测方法，实现了机器人辅助胸椎管后壁切除术的安全减压。项目进行了人工骨、动物和大体实验评估了机器人辅助椎板切除术的准确度和安全性，验证了本项目研究的多源多模信息处理方法、术中状态精细感知方法和安全控制模型的可行性和有效性。

部分成果展示

科研奖励

1. 郑国焱(5/5); 多模态医学影像的信息处理与智能计算, 上海市人民政府, 自然科学, 省部二等奖, 2024（庄吓海; 高尚奇; 李雷; 沈娟; 郑国焱）.

2. Guoyan Zheng(2/2); MICCAI 2023 Endoscopic Vision Challenge Task 1: Step Recognition Medtronic Pitvis Award (1st Place), MICCAI 2023 Endoscopic Vision Challenge Organising Committee, 科技进步, 国际学术奖, 2023（Xiaoyang Zou; Guoyan Zheng）.

3. Guoyan Zheng(2/2); MICCAI 2023 Endoscopic Vision Challenge Task 3: Step&Instrument Recognition Medtronic Pitvis Award (1st Place), MICCAI 2023 Endoscopic Vision Challenge Organising Committee, 科技进步, 国际学术奖, 2023（Xiaoyang Zou; Guoyan Zheng）.

4. Guoyan Zheng(3/3); MICCAI 2023 FLARE Winner Finalist Award, FLARE 2023 Organization Committee, 科技进步, 国际学术奖, 2023（Qin Zhou; Peng Liu; Guoyan Zheng）.

5. Guoyan Zheng(5/5); Outstanding Paper Award, Joint MICCAI 2022 AE-CAI | CARE | OR 2.0 Organizing Committee, 科技进步, 国际学术奖, 2022（Xiaoyang Zou; Wenyong Liu; Junchen Wang; Rong Tao; Guoyan Zheng）.

6. Guoyan Zheng(2/2); IHU Surgical Action Triplet Award (2nd Place), CholecTriplet 2022 Endoscopic Vision Challenge Organising Committee, 科技进步, 国际学术奖, 2022（Xiaoyang Zou; Guoyan Zheng）.

7. Best Presentation, Organising Committee of 2022 4th International Conference On Intelligent Medicine and Health, 科技进步, 国际学术奖, 2022（Xiaoru Gao）.

8. 2023年中国生物医学工程大会暨创新医疗峰会青年优秀论文竞赛（研究生）三等奖, 中国生物医学工程学会, 科技进步, 其他, 2023（邹晓阳）.

9. 第八届全国大学生生物医学工程创新设计竞赛二等奖, 中国生物医学工程学会, 科技进步, 其他, 2023（王云阳; 张天阳; 季旭全; 刘文勇）.

10. Best Student Paper, 2024 WRC Symposium on Advanced Robotics and Automation (WRC SARA) 组委会, 科技进步, 其他, 2024（Xuquan Ji; Xiaojuan Zhang; Yuanyuan Zhu; Yonghong Zhang; Lei Hu; Wenyong Liu）.

11. Best Student Paper, WRC Symposium on Advanced Robotics and Automation 2022 组委会, 科技进步, 其他, 2022（Xuquan Ji; Yunning Wang; Yonghong Zhang; Lei Hu; Kailu Li; Wei Duan; Weishi Li; Wenyong Liu）.

12. Guoyan Zheng(2/2); Ultra-low Dose PET Imaging challenge (UDPET) Third Place Award, UDPET 2023 ORGANIZING COMMITTEE, 科技进步, 国际学术奖, 2023（Jiale Wang; Guoyan Zheng）.

论文成果

期刊论文

1. Runze Wang; Alexander F. Heimann; Moritz Tannast; Guoyan Zheng; CycleSGAN: A cycle-consistent and semantics-preserving generative adversarial network for unpaired MR-to-CT image synthesis, Computerized Medical Imaging and Graphics, 2024, 117(102431). SCIE, EI.

2. Wang, Runze; Zheng, Guoyan; CyCMIS: Cycle-consistent Cross-domain Medical Image Segmentation via diverse image augmentation., Medical image analysis, 2022, 76(102328). SCIE, EI.

3. Runze Wang; Qin Zhou; Guoyan Zheng; EDRL: Entropy-guided disentangled representation learning for unsupervised domain adaptation in semantic segmentation, Computer Methods and Programs in Biomedicine, 2023, 240(107729). SCIE, EI.

4. Runze Wang; Guoyan Zheng; PFMNet: Prototype-based feature mapping network for few-shot domain adaptation in medical image segmentation, Computerized Medical Imaging and Graphics, 2024, 116(102406). SCIE, EI.

5. Xiaoru Gao; Woquan Zhong; Runze Wang; Alexander F. Heimann; Moritz Tannast; Guoyan Zheng; MAIRNet: weakly supervised anatomy-aware multimodal articulated image registration network, International Journal of Computer Assisted Radiology and Surgery, 2024, 19(3)：507-517. SCIE, EI.

6. Xiaoru Gao; Guoyan Zheng; SMILE: Siamese Multi-scale Interactive-representation LEarning for Hierarchical Diffeomorphic Deformable image registration, Computerized Medical Imaging and Graphics, 2024, 111(102322). SCIE, EI.

7. Tao, Rong; Liu, Wenyong; Zheng, Guoyan; Spine-transformers: Vertebra labeling and segmentation in arbitrary field-of-view spine CTs via 3D transformers, Medical Image Analysis, 2022, 75(102258). SCIE, EI.

8. Yonghong Zhang; Xuquan Ji; Wenyong Liu; Zhuofu Li; Jian Zhang; Shanshan Liu; Woquan Zhong; Lei Hu; Weishi Li; A Spine Segmentation Method under an Arbitrary Field of View Based on 3D Swin Transformer, International Journal of Intelligent Systems, 2023, 2023(8686471). SCIE, EI.

9. Rong Tao; Xiaoyang Zou; Xiaoru Gao; Xinhua Li; Zhiyu Wang; Xin Zhao; Guoyan Zheng; Donghua Hang; Incremental regression of localization context for automatic segmentation of ossified ligamentum flavum from CT data, International Journal of Computer Assisted Radiology and Surgery, 2024, 19(9)：1723-1731. SCIE, EI.

10. Qin Zhou; Runze Wang; Guodong Zeng; Heng Fan; Guoyan Zheng; Towards bridging the distribution gap: Instance to Prototype Earth Mover's Distance for distribution alignment., Medical Image Analysis, 2022, 82(102607). SCIE, EI.

11. Peng Liu; Guoyan Zheng; CVCL: Context-aware Voxel-wise Contrastive Learning for label-efficient multi-organ segmentation, Computers in Biology and Medicine, 2023, 160(106995). SCIE, EI.

12. Jihao Liu; Guoyan Zheng; Weixin Yan; A Framework of State Estimation on Laminar Grinding Based on the CT Image–Force Model, Sensors, 2025, 25(238). SCIE, EI.

13. Rong Tao; Xiaoyang Zou; Guoyan Zheng; LAST: LAtent Space-Constrained Transformers for Automatic Surgical Phase Recognition and Tool Presence Detection, IEEE Transactions on Medical Imaging, 2023, 42(11)：3256-3268. SCIE, EI.

14. Xiaoyang Zou; Wenyong Liu; Junchen Wang; Rong Tao; Guoyan Zheng; ARST: auto-regressive surgical transformer for phase recognition from laparoscopic videos, Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization, 2023, 11(4)：1012-1018. SCIE, EI.

15. Chengxia Wang; Zhuofu Li; Woquan Zhong; Shuai Jiang; Weishi Li; Application of continuous intraoperative neuromonitoring in the study of spinal nerve root thermal injury in a porcine model, BMC Musculoskeletal Disorders, 2024, 25(1012). SCIE, EI.

16. Chengxia Wang; Zhuofu Li; Shuai Jiang; Woquan Zhong; Weishi Li; Efficiency and Heat Production of Ultrasonic Osteotome Strategy in Robot-Assisted Laminectomy, Global Spine Journal, 2024, 0(0)：1-8. SCIE, EI.

17. Chengxia Wang; Shuai Jiang; Zhuofu Li; Woquan Zhong; Xiongkang Song; Hongsheng Liu; Lei Hu; Weishi Li; Accuracy and safety evaluation of a novel artificial intelligence-based robotic system for autonomous spinal posterior decompression, NEUROSURGICAL FOCUS, 2024, 57(E6). SCIE, EI.

18. Sun, Wenyuan; Liu, Jihao; Zhao, Yuyun; Zheng, Guoyan; A Novel Point Set Registration-Based Hand–Eye Calibration Method for Robot-Assisted Surgery, Sensors, 2022, 22(21)：8446. SCIE, EI.

19. Liu, Jihao; Sun, Wenyuan; Zhao, Yuyun; Zheng, Guoyan; Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy, Sensors, 2022, 22(23)：9465. SCIE, EI.

20. Jeroen Van Houtte; Emmanuel Audenaert; Guoyan Zheng; Jan Sijbers; Deep learning-based 2D/3D registration of an atlas to biplanar X-ray images, International Journal of Computer Assisted Radiology and Surgery, 2022, 17(7)：1333-1342. SCIE, EI.

21. Wenyuan Sun; Yuyun Zhao; Jihao Liu; Guoyan Zheng; LatentPCN: latent space-constrained point cloud network for reconstruction of 3D patient-specific bone surface models from calibrated biplanar X-ray images, International Journal of Computer Assisted Radiology and Surgery, 2023, 18(1)：989-999. SCIE, EI.

22. Haoyan Ding; Wenyuan Sun; Guoyan Zheng; Robot-Assisted Augmented Reality (AR)-Guided Surgical Navigation for Periacetabular Osteotomy, Sensors, 2024, 24(14)：4754. SCIE, EI.

23. Rong Tao; Baoru Huang; Xiaoyang Zou; Guoyan Zheng; SVT-SDE: Spatiotemporal Vision Transformers-based Self-supervised Depth Estimation in Stereoscopic Surgical Videos, IEEE Transactions on Medical Robotics and Bionics, 2023, 5(1)：42-53. SCIE, EI.

24. Junyang Wu; Xiaoyang Zou; Rong Tao; Guoyan Zheng; Nonlinear regression of remaining surgery duration from videos via Bayesian LSTM-based deep negative correlation learning, Computerized Medical Imaging and Graphics, 2023, 110(102314). SCIE, EI.

25. Chinedu Innocent Nwoye; Deepak Alapatt; Tong Yu; Armine Vardazaryan; Fangfang Xia; Zixuan Zhao; Tong Xia; Fucang Jia; Yuxuan Yang; Hao Wang; Derong Yu; Guoyan Zheng; Xiaotian Duan; Neil Getty; Ricardo Sanchez-Matilla; Maria Robu; Li Zhang; Huabin Chen; Jiacheng Wang; Liansheng Wang; Bokai Zhang; Beerend Gerats; Sista Raviteja; Rachana Sathish; Rong Tao; Satoshi Kondo; Winnie Pang; Hongliang Ren; Julian Ronald Abbing; Mohammad Hasan Sarhan; Sebastian Bodenstedt; Nithya Bhasker; Bruno Oliveira; Helena R. Torres; Li Ling; Finn Gaida; Tobias Czempiel; João L. Vilaça; Pedro Morais; Jaime Fonseca; Ruby Mae Egging; Inge Nicole Wijma; Chen Qian; Guibin Bian; Zhen Li; Velmurugan Balasubramanian; Debdoot Sheet; Imanol Luengo; Yuanbo Zhu; Shuai Ding; Jakob-Anton Aschenbrenner; Nicolas Elini van der Kar; Mengya Xu; Mobarakol Islam; Lalithkumar Seenivasan; Alexander Jenke; Danail Stoyanov; Didier Mutter; Pietro Mascagni; Barbara Seeliger; Cristians Gonzalez; Nicolas Padoy; CholecTriplet2021: A benchmark challenge for surgical action triplet recognition, Medical Image Analysis, 2023, 86(102803). SCIE, EI.

26. Liu, Peng; Zheng, Guoyan; Handling Imbalanced Data: Uncertainty-guided Virtual Adversarial Training with Batch Nuclear-norm Optimization for Semi-supervised Medical Image Classification, IEEE Journal of Biomedical and Health Informatics, 2022, 26(7)：2983-2994. SCIE, EI.

27. Jiale Wang; Rui Guo; Ying Miao; Song Xue; Yu Zhang; Kuangyu Shi; Guoyan Zheng; Biao Li; Cross-Scanner Low-Dose Brain-PET Image Noise Reduction With Self-ensembling, IEEE Transactions on Radiation and Plasma Medical Sciences, 2024, 8(4)：391-401. SCIE, EI.

28. Tao, Rong; Zhang, Shulin; Wang, Yuexia; Mi, Xianqiang; Ma, Jian; Shen, Chenxing; Zheng, Guoyan; MCG-Net: End-to-end Fine-grained Delineation and Diagnostic Classification of Cardiac Events from Magnetocardiographs., IEEE Journal of Biomedical and Health Informatics, 2022, 26(3)：1057-1067. SCIE, EI.

29. Peng Liu; Miao Zhang; Xiaoru Gao; Biao Li; Guoyan Zheng; Joint Lymphoma Lesion Segmentation and Prognosis Prediction From Baseline FDG-PET Images via Multitask Convolutional Neural Networks, IEEE Access, 2022, 10(1)：81612. SCIE, EI.

30. Li, Zezhong; Chen, Kangming; Liu, Peng; Chen, Xiaodong; Zheng, Guoyan; Entropy and distance maps-guided segmentation of articular cartilage: data from the Osteoarthritis Initiative., International Journal of Computer Assisted Radiology and Surgery, 2022, 17(3)：553-560. SCIE, EI.

会议论文

1. Jiale Wang; Alexander F. Heimann; Moritz Tannast; Guoyan Zheng; CT-Guided, Unsupervised Super-Resolution Reconstruction of Single 3D Magnetic Resonance Image, 2023 International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2023), Vancouver, BC, Canada, 2023-10-8至2023-10-12. EI.

2. Wang, Jiale; Wang, Runze; Tao, Rong; Zheng, Guoyan; UASSR: Unsupervised Arbitrary Scale Super-Resolution Reconstruction of Single Anisotropic 3D Images via Disentangled Representation Learning, 2022 International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2022), Singapore, 2022-9-18至2022-9-22. EI.

3. Runze Wang; Guoyan Zheng; Disentangled Representation Learning For Deep MR To CT Synthesis Using Unpaired Data, 2021 IEEE International Conference on Image Processing (ICIP), Anchorage, AK, USA, 2021-9-19至2021-9-22.

4. Xiaoru Gao; Runze Wang; Rong Tao; Guoyan Zheng; Semantics-Preserved Domain Adaptation with Target Diverse Perturbation and Test Ensembling for Image Segmentation (APCMBE 2023), 12th Asian-Pacific Conference on Medical and Biological Engineering, Suzhou, China, 2023-5-18至2023-5-21. EI.

5. X Gao and G Zheng*. ACSGRegNet: A Deep Learning-based Framework for Unsupervised Joint Affine and Diffeomorphic Registration of Lumbar Spine CT via Cross- and Self-Attention Fusion. ICIMH 2022:57 – 63（EI检索）Wang, Runze; Zheng, Guoyan; Unsupervised Cross-modality Cardiac Image Segmentation via Disentangled Representation Learning and Consistency Regularization, 12th International Workshop on Machine Learning in Medical Imaging, MLMI 2021, held in conjunction with 24th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2021, Virtual, Online, 2021-9-27至2021-9-27. EI.

6. Gao, Xiaoru; Zheng, Guoyan; ACSGRegNet: A Deep Learning-based Framework for Unsupervised Joint Affine and Diffeomorphic Registration of Lumbar Spine CT via Cross- and Self-Attention Fusion, 2022 International Conference on Intelligent Medicine and Health (ICIMH'22), Xiamen China, 2022-8-19至2022-8-21. EI.

7. Xiaoru Gao; Rong Tao; Guoyan Zheng; BIDMIR: Bi-Directional Medical Image Registration with Symmetric Attention and Cyclic Consistency Regularization, 2022 IEEE 19th International Symposium on Biomedical Imaging (ISBI), Kolkata, India, 2022-3-28至2022-3-31. EI.

8. Tao, Rong; Zheng, Guoyan; Spine-Transformers: Vertebra Detection and Localization in Arbitrary Field-of-View Spine CT with Transformers, 24th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2021, Virtual, Online, 2021-9-27至2021-10-1. EI.

9. Wang, Runze; Zhou, Qin; Zheng, Guoyan; Few-shot Medical Image Segmentation Regularized with Self-reference and Contrastive Learning, 2022 International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2022), Singapore, 2022-9-18至2022-9-22. EI.

10. Liu, Peng; Zheng, Guoyan; Context-Aware Voxel-Wise Contrastive Learning for Label Efficient Multi-organ Segmentation, 2022 International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2022), Singapore, 2022-9-18至2022-9-22. EI.

11. Qin Zhou; Peng Liu; Guoyan Zheng; Partially Supervised Multi-organ Segmentation via Affinity-Aware Consistency Learning and Cross Site Feature Alignment, 2023 International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2023), Vancouver, BC, Canada, 2023-10-8至2023-10-12. EI.

12. Qin Zhou; Guoyan Zheng; FedContrast-GPA: Heterogeneous Federated Optimization via Local Contrastive Learning and Global Process-Aware Aggregation, 2023 International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2023), Vancouver, BC, Canada, 2023-10-8至2023-10-12. EI.

13. Qin Zhou; Peng Liu; Guoyan Zheng; Context-Aware Cutmix is All You Need for Universal Organ and Cancer Segmentation, Fast, Low-resource, and Accurate Organ and Pan-cancer Segmentation in Abdomen CT (FLARE 2023), Vancouver, BC, Canada, 2023-10-8至2023-10-8. EI.

14. Xintong Yang; Yunning Wang; Yajun Liu; Xuquan Ji; Anyi Guo; Yan Hu; Wenyong Liu; CT Images-Based Automatic Path Planning for Pedicle Screw Placement Incorporating Anatomical and Biomechanical Considerations, 12th Asian-Pacific Conference on Medical and Biological Engineering, Suzhou, China, 2023-5-18至2023-5-21. EI.

15. Xuquan Ji; Xiaojuan Zhang; Yuanyuan Zhu; Yonghong Zhang; Lei Hu; Wenyong Liu; Design of Medium Contact 3D Printed Guides in Robot-Assisted Laminectomy: Finite Element Analysis and Animal Experiment, 2024 WRC Symposium on Advanced Robotics and Automation (WRC SARA), Beijing, China, 2024-8-23至2024-8-23. EI.

16. Wei Duan; Xuquan Ji; Lei Hu; Wenyong Liu; A 2-DOFs Planar Grinding End-Effector for Robotic Laminectomy, 2023 WRC Symposium on Advanced Robotics and Automation (WRC SARA), Beijing, China, 2023-8-19至2023-8-19. EI.

17. Xuquan Ji; Yunning Wang; Yonghong Zhang; Lei Hu; Kailu Li; Wei Duan; Weishi Li; Wenyong Liu; Breakthrough Prediction in Robotic Laminectomy Based on Electrical Impedance Monitoring with LSTM-FCN, 2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA), Beijing, China, 2022-8-20至2022-8-20. EI.

18. Tianyang Zhang; Xuquan Ji; Yuanyuan Zhu; Jian Zhang; Baoduo Geng; Yumei Xue; Lei Hu; Wenyong Liu; Robotic Positioning in Percutaneous Transforaminal Endoscopic Discectomy Based on X-ray Image and DLT Algorithm, 2023 WRC Symposium on Advanced Robotics and Automation (WRC SARA), Beijing, China, 2023-8-19至2023-8-19. EI.

19. Jiale Guan; Xiaoyang Zou; Rong Tao; Guoyan Zheng; Label-guided Teacher for Surgical Phase Recognition via Knowledge Distillation, The 27th International Conference on Medical Image Computing and Computer Assisted Intervention – MICCAI 2024, Marrakesh, Morocco, 2024-10-6至2024-10-10. EI.

20. Xiaoyang Zou; Derong Yu; Rong Tao; Guoyan Zheng; An End-to-End Spatial-Temporal Transformer Model for Surgical Action Triplet Recognition, 12th Asian-Pacific Conference on Medical and Biological Engineering (APCMBE 2023), Suzhou, China, 2023-5-18至2023-5-21. EI.

21. Wenyuan Sun; Yuyun Zhao; Jihao Liu; Guoyan Zheng; 2D/3D Reconstruction of Patient-Specific Surface Models and Uncertainty Estimation via Posterior Shape Models, 12th Asian-Pacific Conference on Medical and Biological Engineering (APCMBE 2023), Suzhou, China, 2023-5-18至2023-5-21. EI.

22. Wu, Junyang; Tao, Rong; Zheng, Guoyan; Nonlinear Regression of Remaining Surgical Duration via Bayesian LSTM-Based Deep Negative Correlation Learning, 2022 International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2022), Singapore, 2022-9-18至2022-9-22. EI.

23. Yanwen Liu; Daoyang Fan; Weifeng Liu; Wenyong Liu; A Bone Tumor Boundary Extraction Method Incorporating Envelope and Responsive Region for Robot-Assisted R0 Resection, 2024 WRC Symposium on Advanced Robotics and Automation (WRC SARA), Beijing, China, 2024-8-23至2024-8-23. EI.

24. Liu, Peng; Zheng, Guoyan; Semi-supervised Learning Regularized by Adversarial Perturbation and Diversity Maximization, 12th International Workshop on Machine Learning in Medical Imaging, MLMI 2021, held in conjunction with 24th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2021, Virtual, Online, 2021-9-27至2021-9-27. EI.

专利

1. 郑国焱; 陶蓉, 一种脊柱影像分割方法、介质及电子设备, 2022-5-6至2042-5-5, 中国, ZL202110431840.3.

2. 郑国焱; 李泽忠; 刘积昊, 一种医学图像分割方法、介质及电子设备, 2022-11-11至2042-11-10, 中国, ZL202110265567.1.

3. 郑国焱; 王佳乐, 训练方法、超分辨率方法、存储介质及电子 设备, 2022-11-10, 中国, 202211402153.X.

4. 郑国焱; 孙闻远, 用于椎板磨削手术的动态追踪方法、介质及 电子设备, 2022-8-10, 中国, CN202210955768.9.

5. 李泽忠; 赵语云; 王润泽; 刘积昊; 郑国焱, 三维表面模型的统计形状模型建立方法、系 统、存储介质、终端, 2021-3-2, 中国, 202110231851.7.

6. 刘积昊; 郑国焱, 手眼标定方法、机器人、介质及电子设备, 2023-10-10至2043-10-9, 中国, ZL202111080613.7.

7. 刘文勇; 段薇; 谭保森; 王云宁, 一种融合解剖及力学特性的脊柱手术直线型路径自动规划方法, 2023-8-1至2043-7-31, 中国, ZL202210565677.4.

8. 胡磊; 季旭全; 张天阳; 薛玉梅, 一种椎板切除超声手术器械, 2023-5-16, 中国, 202310544562.1.

9. 胡磊; 季旭全; 薛玉梅, 基于多模信息融合的椎板切削安全控制方 法、系统及设备, 2023-5-6, 中国, 202310544543.9.

10. 刘文勇; 谭保森; 段薇; 王云宁, 一种动力型脊柱椎板平面磨削机器人装置 及其安全控制方法, 2022-6-8, 中国, 202210658854.3.

11. 郑国焱; 孙闻远, 平板C臂校准方法、 装置、 存储介质及电子设 备, 2023-4-20, 中国, 202310431774.9.

12. 郑国焱; 孙闻远, 医学影像设备校准方法、 装置、 存储介质及 电子设备, 2023-6-13, 中国, 202310699874.X.

13. 郑国焱; 吴俊杨; 赵语云, 标定参数的精度验证方法、介质及电子设备, 2023-11-7至2043-11-6, 中国, ZL202111027674.7.

14. Guoyan Zheng; Junyang Wu; Yuyun Zhao, Method for verifying precision of calibraiton parameter, medium and electronic device, 2023-6-28至2042-2-23, 其他国家, 2031065.

15. 郑国焱; 邹晓阳, 一种手术阶段识别方法、系统、介质及电子设备, 2022-8-29, 中国, 202211042339.9.

16. 陶蓉; 郑国焱, 手术流程和手术器械联合检测方法、介质及电子设备, 2022-7-18, 中国, 202210842992.7.

17. 赵语云; 高塬; 刘积昊; 谢叻; 郑国焱, 一种手术导航装置、系统、标定方法、介质及电子设备, 2022-08-26至2041-03-16, 中国, CN202110282432.6.

18. 王润泽; 周芹; 郑国焱, 医学影像分割方法、分割模型训练方法、介质及电子设备, 2022-8-17, 中国, 202210988644.0.

19. 刘鹏; 郑国焱, 多器官分割方法、训练方法、介质及电子设备, 2022-9-27, 中国, 202211185528.1.

20. 陶蓉; 郑国焱, 场景深度重建方法、重建网络的训练方法、介质及设备, 2022-8-3, 中国, 202210928116.6.

21. 刘文勇; 王博洋; 杨欣彤; 刘岩, 一种骨科冲击波治疗靶向操作机器人工具, 2023-8-14, 中国, 202311020869.8.

22. 刘文勇; 刘燕雯, 包含包膜和反应区的骨肿瘤边界自动提取 方法及相关装置, 2024-8-22, 中国, 202411154441 .7.

软件著作权

1. 王佳乐; 刘鹏; 郑国焱; 基于深度学习的脊柱定位分割系统软件 [简称：Sping_loc_seg] V1.0, 2023SR0776267, 原始取得, 全部权利, 2023-4-28.

2. 赵语云; 郑国焱; 脊柱椎弓根植钉计划 V1.0, 2022SR0444286, 原始取得, 全部权利, 2021-12-23.

3. 赵语云; 郑国焱; 新型双平面X光成像设备校准和验证软件 [简称：CalibApp] V1.0, 2021SR1521739, 原始取得, 全部权利, 2021-7-23.

4. 郑国焱; 赵语云; 双平面X光三维重建系统 V1.0, 2022SR0923075, 原始取得, 全部权利, 2022-5-07.

5. 陶蓉; 郑国焱; 基于内窥镜视频的手术流程识别和手术器械识别系统 V1.0, 2022SR0977974, 原始取得, 全部权利, 2022-6-23.

6. 陶蓉; 郑国焱; 基于双目视频的手术场景深度重建系统 V1.0, 2022SR0977921, 原始取得, 全部权利, 2022-6-23.

7. 孙闻远; 郑国焱; 基于术前和术中信息融合的双目腹腔镜增强现实系统 V1.0, 2022SR0922961, 原始取得, 全部权利, 2022-6-19.

会议报告

1. 郑国焱; 面向计算机辅助诊疗的无监督跨模态医学图像分割技术, 2021-2022 中国生物医学工程大会暨创新医疗峰会, 深圳, 2022-4-11至2022-4-11.

2. 刘文勇; 医疗机器人内涵、发展及趋势探讨, 2022中国航天医学介入论坛, 线上, 2022-12-24至2022-12-24.

3. 郑国焱; 基于磁共振影像的保髋手术诊断、规划和治 疗, 中华医学会第二十二届骨科学术会议暨第十五届COA学术大会（Chinese Orthopaedic Association, COA）, 陕西省西安市, 2023-11-22至2023-11-26.

4. 郑国焱; 多孔手术机器人影像智能引导关键技术研发, 2023中国医学人工智能大会, 浙江省杭州市, 2023-12-21至2023-12-23.

5. 郑国焱; 多源信息融合下的机器人辅助胸椎管减压术, 机器人辅助内窥镜手术前沿论坛暨医疗机器人研究院国际学术年会、第12 届虹桥国际医学论坛, 上海, 2023-12-17至2023-12-17.

6. 郑国焱; 髋关节发育不良智能诊疗关键技术研究, 2024中国医学人工智能大会 （CMAIC2024), 上海, 2024-12-14至2024-12-14.

7. 郑国焱; 无需CT扫描的计算机辅助保髋手术规划和导航, 中华医学会第二十三届骨科学术会议暨第十六 届COA学术大会（Chinese Orthopaedic Association,COA）, 湖北省武汉市, 2024-12-4至2024-12-8.

8. 郑国焱; Intelligent Image Guidance for Robotically Assisted Endoscopic Surgery, The 20th Asian Conference on Computer-Aided Surgery (ACCAS2024), Daegu, 2024-9-26至2024-9-28.

人才培养

1. 刘积昊; 出站博士后, 计算机辅助脊柱手术机器人和术中状态估计, 郑国焱, 2021-1-01至2022-12-31.

2. 周芹; 出站博士后, 手术机器人影像导航关键技术：支持跨模态、跨中心和高效标签的医疗影像分割技术研究, 郑国焱, 2021-7-31至2023-6-30.

3. 王润泽; 毕业博士, 医学图像分割中的高效域适应和未见类别泛化方法研究, 郑国焱, 2021-9-1至2024-6-30.

4. 刘鹏; 毕业博士, 基于一致性正则化的半监督医学图像计算, 郑国焱, 2021-9-1至2024-4-30.

5. 张坚; 毕业博士, 脊柱椎板减压操作机器人关键技术研究, 王天苗, 2021-1-1至2024-11-30.

6. 李泽忠; 毕业硕士, 全自动分割关节磁共振图像及其在定量分析中的应用, 郑国焱, 2021-1-1至2021-12-31.

7. 赵语云; 毕业硕士, 二维/三维重建算法研究及其在骨科手术导航中的应用, 郑国焱, 2021-1-1至2022-12-31.

8. 朱远远; 毕业硕士, 基于脊柱内镜的三维重建技术研究, 胡磊, 2022-9-1至2023-12-31.

9. 段薇; 毕业硕士, 用于椎板磨削的机器人化手术器械设计及运动控制, 刘文勇, 2021-1-1至2023-5-31.

10. 张天阳; 毕业硕士, 椎间孔镜关键技术研究, 胡磊, 2021-9-1至2023-12-31.

11. 章永宏; 毕业硕士, 脊柱手术机器人自动规划系统研究, 胡磊, 2021-1-1至2022-12-31.

12. 吴晓君; 毕业硕士, 机器人辅助脊柱手术多模空间融合关键技术研究, 胡磊, 2021-1-1至2022-12-31.

13. 宋雄康; 毕业硕士, 椎板减压机器人关键技术研究, 胡磊, 2021-1-1至2022-6-30.

14. 王云宁; 毕业硕士, 基于超声刀电阻抗的椎弓根开路术区组织实时识别及验证, 刘文勇, 2021-9-1至2024-6-30.

15. 高筱茹; 在读博士, 2021-1-1至2024-12-31.

16. 王佳乐; 在读博士, 2021-9-10至2024-12-31.

17. 孙闻远; 在读博士, 2022-9-1至2024-12-31.

18. 邹晓阳; 在读博士, 2021-9-1至2024-12-31.

19. 叶康晴; 在读博士, 2022-9-1至2024-12-31.

20. 余德容; 在读博士, 2023-9-1至2024-12-31.

20. 罗偲萌; 在读硕士, 2022-9-1至2024-12-31.