Zhiyuan Yan

About

Zhiyuan Yan is a leading researcher in surgical robotics, with a primary focus on minimally invasive surgery (MIS) and human-robot interaction. His work centers on developing intelligent, sensor-driven control systems to enhance the safety and precision of laparoscopic and laryngeal surgical robots. Yan’s major contributions include pioneering variable admittance control using fuzzy reinforcement learning (64 citations), which enables intuitive physical interaction during surgery, and innovative cable-pulley system modeling for position compensation (55 citations) and grasping force estimation (26 citations). He has also advanced force sensing technology, notably through the design of Fiber Bragg Grating (FBG)-based tension sensors (46 citations) and 3-D force sensing strategies for continuum robots (30 citations), addressing critical challenges in sterilizable, space-constrained surgical environments. His work on haptic master manipulators (31 citations) and mechanism optimization (25 citations) has improved master-slave manipulation fidelity. With over 300 total citations across his top papers, Yan’s research bridges control theory, sensor design, and mechanism optimization, making surgical robots safer and more responsive. His achievements include developing hysteresis models for continuum manipulators and eliminating coupled motion in surgical instruments, solidifying his reputation as a key innovator in robot-assisted surgery.

Research Focus

Key Achievements

Top Papers

1. 1
   Variable Admittance Control Based on Fuzzy Reinforcement Learning for Minimally Invasive Surgery Manipulator

   64 citations · 2017
2. 2
   A cable-pulley system modeling based position compensation control for a laparoscope surgical robot

   55 citations · 2017
3. 3
   Design and Evaluation of FBG-Based Tension Sensor in Laparoscope Surgical Robots

   46 citations · 2018
4. 4
   Human-robot interaction control of a haptic master manipulator used in laparoscopic minimally invasive surgical robot system

   31 citations · 2020
5. 5
   3-D Force Sensing Strategy of Laryngeal Continuum Surgical Robot Based on Fiber Bragg Gratings

   30 citations · 2021
6. 6
   An estimation method of grasping force for laparoscope surgical robot based on the model of a cable-pulley system

   26 citations · 2019
7. 7
   Mechanism Design and Optimization of a Haptic Master Manipulator for Laparoscopic Surgical Robots

   25 citations · 2019
8. 8
   An improved scheme for eliminating the coupled motion of surgical instruments used in laparoscopic surgical robots

   16 citations · 2018
9. 9
   Handheld laparoscopic robotized instrument: progress or challenge?

   9 citations · 2019
10. 10
    Hysteresis analysis of a notched continuum manipulator driven by tendon

    8 citations · 2018

Key Collaborators

Contact & Links