IRIS

Group for Interventional Robotic and Imaging Systems (IRIS)

Publications

2026

[185]

B. Zhu, J. Dai (co-first authors),  J. Lam, H.C. Chang, I. Iordachita, K.W. Kwok, “Event-Triggered Closed-Loop MPC of Positive Systems: an Enabling Technique for Robot-Assisted MRI-Guided Focused Ultrasound Hyperthermia,” IEEE Transactions on Industrial Informatics (TII) (Accepted)

[184]

R. Wei, K. Chen, Y.L. Ng, Y. Ma, J.D.L. Ho, H.S. Tong, X. Wang, J. Dai, K.W. Kwok, Q. Dou, “Real-time Monocular 2D and 3D Perception of Endoluminal Scenes for Control of Flexible Robotic Endoscopic Instruments,” IEEE Transactions on Robotics (TRO) (Accepted)

[183]

Y. Li, X. Wang, X. Song, C. Fan, B. Zhu, J. Peng, Q. Liang, J. Lam, K.Y. Sze, K.W. Kwok, “GraphNeuralCloth: A Graph-Neural-Network-based Framework for Non-skinning Cloth Simulation,” Advanced Intelligent Systems (AISY) (Accepted)

2025

[182]

K. Zong, X. Xie, Z. Ling, J. Dai, K.W. Kwok, “Safety Guarantee for Periodic Systems via Periodic Discrete-Time High-Order Control Barrier Function: Application to Bipedal Robot,” Journal of The Franklin Institute, 108358, 2025 PDF Link

[181]

Y. Zhang, Z.G. Wu, X. Lv, Y. Xu, J. Lam, K.W. Kwok, “Passivity-based Asynchronous Control of 2-D Roesser Markovian Jump Systems Under DoS Attacks,” IEEE Transactions on Cybernetics (TCYB) (Early Access) PDF Link

[180]

L. Lin, J. Lam, Z. Zhong, X. Yuan, K.W. Kwok, G. Chen, “Robust Stability of Perturbed Continuous-Time Markov Chains,” International Conference on Machine Learning and Cybernetics (ICMLC), 2025 [Selected as a finalist for the Lotfi Zadeh Best Paper Award]PDF

[179]

C. Zhao, Y. Wang, K.W. Kwok, X. Liu, “Event-triggered State Estimation for Networked Control Systems with Silent Packet Loss and Coloured Noise,” Digital Signal Processing, 105395, 2025 PDF

[178]

Z. Jiang, Y. Hao, J. Dai, K.W. Kwok, “Self-Supervised Learning-Based Framework for Speckle Reduction of Optical Coherence Tomography Images Using Frame Interpolation,” Advanced Intelligent Systems (AISY) , 2500001, 2025 PDF

[177]

C. Li, L. Lin, W. Xiong, J. Lam, K.W. Kwok, “Continuous-Time Markov Networks: From Merging Rules To Synchronizing Control,” IEEE Transactions on Automatic Control (TAC) (Early Access) Link

[176]

J. Dai, X. Wang, B. Zhu, L. Liang, H.C. Chang, J. Lam, X. Xie, K.W. Kwok, “Learning-Based Rapid Phase-Aberration Correction and Control for Robot-Assisted MRI-Guided Low-/High-Intensity Focused Ultrasound Treatments,” Journal of Field Robotics, 2025 PDF

[175]

C. Fan, J. Lam, X. Xie, K.W. Kwok, “Reachable Set Estimation of Switched Systems with All Subsystems Unstable,” IEEE Transactions on Automatic Control (TAC) (Early Access) PDF Link

[174]

Y. Hao, J. Dai, Z. Jiang, A.P.W. Lee, J. Lam, K.W. Kwok, “A controllable-stiffness tensegrity robot joint for robust compliant manipulation,” Journal of Field Robotics, 2025 PDF Video

[173]

Y. Zhang, Z.G. Wu, K.W. Kwok, T. Huang, P. Chakrabarti, L. Zhou, “Secure Event-Based Consensus Control for Multi-agent Systems Under DoS Attacks and Input Saturation,” IEEE Transactions on Systems, Man and Cybernetics: Systems (Early Access) PDF Link

[172]

Y. Li, K.W. Kwok, M. Wysocki, N. Navab, Z. Jiang, “UltRAP-Net: Reverse Approximation of Tissue Properties in Ultrasound Imaging,” Advanced Intelligent Systems (AISY), 2400865, 2025 PDF  Video Code Link

[171]

Z. Ling, X. Xie, J. Lam, K.W. Kwok, “A Polynomial-based Approach of Reachable Set Estimation for Periodic Time-varying Systems,” IEEE Transactions on Automatic Control (TAC) (Early Access) PDF Link

[170]

Z. Zhong, L. Lin, Z. Jiang, X. Yuan, E. Ngai, J. Lam, K.W. Kwok, “Connectivity Determination Algorithm for Complex Directed Networks,” IEEE Transactions on Network Science and Engineering (Early Access) PDF Link

[169]

G. Ciuti, R.J. Webster III, K.W. Kwok, A. Menciassi, “Robotic Surgery,” Nature Reviews Bioengineering, 2025 PDF Link

2024

[168]

C. Fan, K.F. Chu, X. Wang, K.W. Kwok, F. Iida, “State Transition Learning with Limited Data for Safe Control of Switched Nonlinear Systems,” Neural Networks, 180, 106695, 2024 PDF Link

[167]

M. Xue, J. Lam, H. Yan, K.W. Kwok, “Asynchronous Control for Interval Type-2 Fuzzy Nonhomogeneous Markov Jump Systems Against Successive DoS Attacks,”IEEE Transactions on Cybernetics (TCYB), 55(1), 172-183, 2025 (Early Access in 2024)  PDF Link

[166]

Y. Ma, K. Chen, H.S. Tong, R. Wei, Y.L. Ng, K.W. Kwok, Q. Dou, “Shape-guided Configuration-aware Learning for Endoscopic-Image-based Pose Estimation of Flexible Robotic Instrument,” The European Conference on Computer Vision (ECCV), 259-267, 2024 PDF Link

[165]

Y. Wang, J. Lam, K.W. Kwok, “Differentially Private Consensus and Distributed Optimization in Multi-Agent Systems: A Review,”Neurocomputing, 597, 127986, 2024 PDF Link

[164]

B. Zhu, J. Lam, J, Shen, Y. Cui, X. Lu, K.W. Kwok, “Input-output Gain Analysis of Linear Discrete-time Systems with Cone Invariance,” IEEE Transactions on Automatic Control (TAC), 69(12), 8751 – 8757, 2024 PDF Link

[163]

J. Xiao, Q. Dai, X. Shen, J. Lam, X. Xie, J. Dai, K.W. Kwok, “Semi-supervised Domain Adaptation on Graphs with Contrastive Learning and Minimax Entropy,” Neurocomputing, 580, 127469, 2024 PDF Link

[162]

J. Dai, B. Zhu, X. Wang, Z. Jiang, M. Wu, L. Liang, X. Xie, J. Lam, H.C. Chang, K.W. Kwok, “Learning-based Efficient Phase-Amplitude Modulation and Hybrid Control for MRI-guided Focused Ultrasound Treatment,” IEEE Robotics and Automation Letters (RA-L), 9(2), 995-1002, 2024 PDF Link

[161]

C. Fan, J. Lam, X. Lu, X. Wang, K.W. Kwok, “Reachable Set-based Consensus of Positive Multi-agent Systems,” IEEE Transactions on Systems, Man and Cybernetics: Systems, 54(4), 2320-2330, 2024 PDF Link
2023

[160]

J.K.M. Fan, Z. Liu, J.D.L. Ho, K.W. Kwok, J.Y.K. Chan, K.M. Hui, P. Zhou, Z. Liu, S.S.M. Ng, “Miniaturized Robotic System for Enhanced Precision and Simplified Control in Endoluminal Surgery,” The 36th Annual Meeting of the Japan Society for Endoscopic Surgery, 2023 PDF Abstract

[159]

V. Vardhanabhuti, K.W. Kwok, J.Y.K. Chan, Q. Dou, Machine-Learning, Medical AI and Robotics: Translating Theory into the Clinic, IOP Publishing Ltd., 2023 PDF Link

[158]

X. Wang, Y. Li, M. Wu, Y. Hao, L. Tian, Z. He, S.K.W. Au. R.H. Taylor, I. Iordachita, J.Y.K. Chan, J.K.M. Fan, K.M.C. Cheung, K.W. Kwok, “Intra-operative Image-guided Interventional Robotics – where are we now and where are we going?” Machine-Learning, Medical AI and Robotics: Translating Theory into the Clinic, pp.7.1-7.31, IOP Publishing Ltd., 2023 PDF Link

[157]

Z. He, J. Dai, J.D.L. Ho, H.S. Tong, X. Wang, G. Fang, L. Liang, C.L. Cheung, Z. Guo, H.C. Chang, I. Iordachita, R.H. Taylor, W.S. Poon, D.T.M. Chan, K.W. Kwok, “Interactive Multi-stage Robotic Positioner for Intra-operative MRI-guided Stereotactic Neurosurgery,” Advanced Science, 2305495, 2023 PDF Video1 Video2 Link

[156]

C.L. Cheung, M. Wu, G. Fang, J.D.L. Ho, L. Liang, K. Tan, F.H. Lin, H.C. Chang, K.W. Kwok, “Omnidirectional Monolithic Marker for Intra-operative MR-based Positional Sensing in Closed MRI,”IEEE Transactions on Medical Imaging (TMI), 43(1), 439-448, 2024 (Early Access in 2023) PDF Video Link

[155]

J. Liu, J. Lam, K.W. Kwok, “Necessary and Sufficient Conditions on Consensus of General Fractional-Order Multi-agent Systems over Directed Networks,” IEEE Transactions on Network Science and Engineering (TNSE), 11(1), 485-493, 2024 (Early Access in 2023) PDF Link

[154]

B. Zhu, J. Lam, X. Lu, K.W. Kwok, “Stability Analysis of Discrete-Time Cone-Preserving Systems with Time-Varying Delays,” IEEE Control Systems Letters (L-CSS), 7, 3181-3186, 2023 PDF Link

[153]

Y. Wang, K.W. Kwok, K. Cleary, R.H. Taylor, I. Iordachita, “Flexible Needle Bending Model for Spinal Injection Procedures,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023

[152]

C. Fan, J. Lam, K.F. Chu, X. Lu, K.W. Kwok, “Output Reachable Set-based Leader-following Consensus of Positive Agents over Switching Networks,” IEEE Transactions on Cybernetics (TCYB), 54(7), 3918-3930, 2024 (Early Access in 2023) PDF Link

[151]

J. Liu, N. Yang, K.W. Kwok, J. Lam, “Proportional-Derivative Control of Discrete-Time Positive Systems: A State-Space Approach,” IEEE Transactions on Circuits and Systems II: Express Briefs, 71(10), 4491-4495, 2024 (Early Access in 2023) PDF Link

[150]

C.H. Mak, Y. Li, K. Wang, M. Wu, J.D.L. Ho, Q. Dou, K.Y. Sze, K. Althoefer, K.W. Kwok, “Intelligent Shape Decoding of a Soft Optical Waveguide Sensor,” Advanced Intelligent Systems (AISY), 2300082, 2023 PDF Video Link

[149]

J. Dai, X. Wang, Y. Li, Z. Liu, Y. L. Ng, J. Xiao, J.K.M. Fan, J. Lam, Q. Dou, V. Vardhanabhuti, K.W. Kwok, “Automatic Multiparametric Magnetic Resonance Imaging-Based Prostate Lesions Assessment with Unsupervised Domain Adaptation,” Advanced Intelligent Systems (AISY), 2200246, 2023 PDF Inside Back Cover Link

[148]

Y. Hao, X. Wang, X. Song, Y. Li, H.C.H. Fu, A.P.W. Lee, K.M.C. Cheung, J. Lam, K.W. Kwok, “A tensegrity joint for low-inertia, compact and compliant soft manipulators” Advanced Intelligent Systems (AISY) 2300079, 2023 PDF Video Link

[147]

J. Liu, J. Lam, X. Wang, K.W. Kwok, “Non-fragile PD Control of Linear Time-Delay Positive Discrete-Time Systems,” Applied Mathematics and Computation (AMC), 452, 128016, 2023 PDF Link

[146]

J. Xiao, Q. Dai, X. Xie, J. Lam, K.W. Kwok, “Adversarially Regularized Graph Attention Networks for Inductive Learning on Partially Labeled Graphs,” Knowledge-Based Systems, 268,110456, 2023 PDF Link

[145]

K. Wang, J.D.L. Ho, X. Wang, G. Fang, B. Zhu, R. Xie, Y.H. Liu, K.W.S. Au, J.Y.K. Chan, K.W. Kwok,“A Fast Soft Robotic Laser Sweeping System using Data-driven Modelling Approach,” IEEE Transactions on Robotics (TRO), 39(4), 3043-3058, 2023 PDF Video Link

[144]

Y. Wang, Y. Xu, K.W. Kwok, I. Iordachita,“In Situ Flexible Needle Adjustment for MRI-Guided Spinal Injections Based on Finite Element Simulation,” 2023 International Symposium on Medical Robotics (ISMR), 1-7, 2023 Link

[143]

J. Liu, K.W. Kwok, J. Lam, “Decentralized H2 Control for Discrete-Time Networked Systems with Positivity Constraint,” IEEE Transactions on Neural Networks and Learning Systems (TNNLS), 35(8), 11613-11619, 2024 (Early Access in 2023) PDF Link

[142]

Y. Wang, K.W. Kwok, K. Cleary, I. Iordachita, R.H. Taylor, “Flexible Needle Bending Model for Spinal Injection Procedures,” IEEE Robotics and Automation Letters (RA-L), 8(3) 1343-1350, 2023 PDF Link

[141]

X. Wang, J. Dai, H.S. Tong, K. Wang, G. Fang, X. Xie, Y.H. Liu, K.W.S. Au, K.W. Kwok, “Learning-based Visual-Strain Fusion for Eye-in-hand Continuum Robot Pose Estimation and Control,” IEEE Transactions on Robotics (TRO), 39(3), 2448-2467, 2023 PDF Video Link
2022

[140]

G. Fang, X. Wang, J.D.L. Ho, K. Wang, C.K. Chow, K.H. Lee, X. Xie, W.L. Tang, L. Liang, H.C. Chang, C.J. Juan, Y.H. Liu, J.Y.K. Chan, K.W. Kwok, “Epipolar-geometry-based visual servoing of soft endoscopic manipulator for transoral laser ablation,” Advanced Intelligent Systems (AISY), 2200197, 2022 PDF Video Link

[139]

J. Xiao, Q. Dai, X. Xie, Q. Dou, K.W. Kwok, J. Lam, “Domain Adaptive Graph Infomax via Conditional Adversarial Networks,” IEEE Transactions on Network Science and Engineering (TNSE), 10(1), 35-52, 2022 PDF Link

[138]

J. Liu, X. Gong, Y. Cui, J. Lam, K.W. Kwok, “Further Improvements on Nonnegative Edge Consensus of Networked Systems”, IEEE Transactions on Cybernetics (TCYB), 52(9), 9111-9119, 2022 PDF Link

[137]

Y. Li, X. Wang, K.W Kwok, “Towards Adaptive Continuous Control of Soft Robotic Manipulator using Reinforcement Learning,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 7074-7081, 2022 PDF Link

[136]

B. Zhu, J. Lam, X. Song, H. Lin, J.Y.K. Chan, K.W. Kwok, “Stability and Stabilization of Periodic Piecewise Positive Systems: A Time Segmentation Approach,” Asian Journal of Control, 1-18, 2022 PDF Link

[135]

B. Zhu, J. Lam, X. Xie, X. Song, K.W. Kwok, “Stability and L1-gain analysis of periodic piecewise positive systems with constant time delay,” IEEE Transactions on Automatic Control (TAC), 67(5), 2655-2662, 2022 PDF Link

[134]

H.M. Lai, Y. Tang, Z.Y.H. Lau, R.A.A. Campbell, J.C.N. Yau, C.C.Y. Chan, D.C.W. Chan, T.Y. Wong, H.K.T. Wong, L.Y.C. Yan, W.K.K. Wu, S.H. Wong, K.W. Kwok, Y.K. Wing, H.H.N. Lam, H.K. Ng, T.D. Mrsic-Flogel, V.C.T. Mok, J.Y.K. Chan, H. Ko, “Antibody stabilization for thermally accelerated deep immunostaining,” Nature Methods, 19, 1137-1146, 2022 PDF Link

[133]

H. Su, K.W. Kwok, K. Cleary, I. Iordachita, M.C. Cavusoglu, J. Desai, G.S. Fischer, “State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions,” Proceedings of the IEEE, 110(7), 968-992, July 2022 PDF Link

[132]

Z. Dong, X. Wang, J.D.L. Ho, Z. He, G. Fang, W.L. Tang, X. Xie, C.K. Ching, K.W. Kwok, “Shape Tracking and Feedback Control of Cardiac Catheter Using MRI-guided Robotic Platform – Validation with Pulmonary Vein Isolation Simulator in MRI,” IEEE Transactions on Robotics (TRO), 38(5), 2781-2798, 2022 PDF Video Link [Best Technical Experimental Paper 2022-2023, selected by the Society for Cardiac Robotic Navigation (SCRN)]

[131]

X. Xie, J. Lam, C. Fan, X. Wang, K.W. Kwok, “A Polynomial Blossoming Approach to Stabilization of Periodic Time-varying Systems,” Automatica, 141, 110305, 2022 PDF Link 

[130]

K.Y.Y. Lau, K.S. Ng, K.W. Kwok, K.K. Tsia, C.F. Sin, C.W. Lam, V. Vardhanabhuti, “An Unsupervised Machine Learning Clustering and Prediction of Differential Clinical Phenotypes of COVID-19 Patients based on Blood Tests – A Hong Kong Population Study,” Frontiers in Medicine, 24(8), 764934, 2022 PDF Link 

[129]

K.W. Kwok, H. Wurdemann, A. Arezzo, A. Menciassi, K. Althofer, “Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook,”Proceedings of the IEEE, 110(7), 871-892, July 2022 PDF Link 

[128]

L.K.L. Lai, C.K. So, K.L. Chui, K.K.H. Kam, K.W. Kwok, R.H.L. Wong, G.S.H. Cheung, Y.Y. Lam, A.P.L. Lee, “Plug and Clip: Percutaneous Repair of a Perforated Mitral Valve Complicating Severe Functional Mitral Regurgitation,” Journal of the American College of Cardiology (JACC): Cardiovascular Intervention, 15(4):e41-e43, 2022 PDF Link 

[127]

J. Liu, N. Yang, K.W. Kwok, J. Lam, “Positive Consensus of Directed Multiagent Systems,” IEEE Transactions on Automatic Control (TAC), 67(7), 3641-3646, 2022 PDF Link 

[126]

J. Liu, J. Lam, K.W. Kwok, “Positive Consensus of Fractional-Order Multi-Agent Systems over Directed Graphs,” IEEE Transactions on Neural Networks and Learning Systems (TNNLS), 34(11), 9542-9548, 2022 PDF Link 
2021

[125]

J. Mehmood Butt, X. Chu, H. Zheng, X. Wang, K.W. Kwok, K.W.S. Au, “Modeling and Control of Soft Robotic Tail Based Aerial Maneuvering (STAM) System: Towards Agile Self-Righting with a Soft Tail,” International Conference on Advanced Robotics (ICAR), 531-538, 2021 PDF Link 

[124]

X. Wang, Y. Li, K.W. Kwok, “A Survey for Machine Learning-based Control of Continuum Robots,” Frontiers in Robotics and AI, 280, 2021 PDF Link 

[123]

G. Fang, M.C.K. Chow, J.D.L. Ho, Z. He, K. Wang, T.C. Ng, J.K.H. Tsoi, P.L. Chan, H.C. Chang, D.T.M. Chan, C. Holsinger, J.Y.K. Chan, K.W Kwok, “Soft Robotic Manipulator for Intra-operative MRI-guided Transoral Laser Microsurgery”, Science Robotics, 6(57), 2021 PDF Video Link [HKU Research Output Prize 2021-22]

[122]

J. Liu, N. Yang, K.W. Kwok, J. Lam, “Proportional-derivative Controller Design of Continuous-Time Positive Linear Systems,” International Journal of Robust and Nonlinear Control, 1-15, 2021 PDF Link 

[121]

J. Liu, M. Zhang, J. Lam, B. Du, K.W. Kwok, “PD Control of Positive Interval Continuous-Time Systems with Time-Varying Delay,” Information Sciences, 580, 371-384, 2021 PDF Link 

[120]

X. Xie, C. Fan, K.W. Kwok, J. Lam, “Reachable Set Estimation of Periodic Piecewise Polynomial Systems Using Bernstein Polynomials,” Proceedings of the 40th Chinese Control Conference, pp. 9078-9080, 2021 PDF

[119]

K. Wang, C.H. Mak, J.D.L. Ho, Z. Liu, K.Y. Sze, K.K.Y. Wong, K. Althoefer, Y.H. Liu, T. Fukuda, K.W. Kwok, “Large-scale surface shape sensing with learning-based computational mechanics,” Advanced Intelligent Systems (AISY), 2100089, 2021 PDF Video Link

[118]

Y. Wang, G. Li, K.W. Kwok, K. Cleary, R.H. Taylor, I. Iordachita, “Towards Safe In Situ Needle Manipulation for Robot Assisted Lumbar Injection in Interventional MRI,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1835-1842, 2021 Link

[117]

T.K.W. Leung, X. Ji, B. Peng, G.K.K. Chik, D.S.H.S. Dai, G. Fang, T. Zhang, X. Cheng, K.W. Kwok, A.C.O. Tsang, G.K.K. Leung, P.K.L. Chan, “Micro-electrodes for In Situ Temperature and bio-impedance measurement,” Nano Select, 2(10), 1986-1996, 2021 PDF Link

[116]

J. Liu, J. Lam, B. Zhu, X. Wang, Z. Shu, K.W. Kwok, “Nonnegative Consensus Tracking of Networked Systems with Convergence Rate of Optimization,” IEEE Transactions on Neural Networks and Learning Systems (TNNLS), 1-11, 2021 PDF Link

[115]

M.C.W. Leong, K.H. Lee, B.P.Y. Kwan, Y.L. Ng, Z. Liu, N. Navab, W. Luk, K.W. Kwok, “Performance-aware Programming for Intraoperative Intensity-based Image Registration on Graphics Processing Units,” International Journal for Computer Assisted Radiology and Surgery (IJCARS),16(3): 375-386, 2021 PDF Link
Open-source code for Intensity-based Image Registration on Graphics Processing Units: Link

[114]

Y.C. Hu, Y.X. Zhou, K.W. Kwok, K.Y. Sze, “Simulating flexible origami structures by finite element method,” International Journal of Mechanics and Materials in Design, 1-29, 2021 PDF Link

[113]

H.S. Tong, Y.L. Ng, Z. Liu, J.D.L. Ho, P.L. Chan, J.Y.K. Chan, K.W. Kwok, “Real-to-Virtual Domain Transfer-based Depth Estimation for Real-time 3D Annotation in Transnasal Surgery: A Study of Annotation Accuracy and Stability,” International Journal for Computer Assisted Radiology and Surgery (IJCARS), 16(5):731-739, 2021 PDF Video Link

[112]

Y. Chen, J. Lam, Y. Cui, J. Shen, K.W. Kwok, “Reachable Set Estimation and Synthesis for Periodic Positive Systems,” IEEE Transactions on Cybernetics, 51(2): 501-511, 2021 PDF Link

[111]

J. Dai, Z. He, G. Fang, X. Wang, Y. Li, C.L. Cheung, L. Liang, I.I. Iordachita, H.C. Chang, K.W. Kwok, “A Robotic Platform to Navigate MRI-guided Focused Ultrasound System,” IEEE Robotics and Automation Letters (RA-L), 6(3):5137-5144, 2021 PDF Video Link

[110]

X. Xie, J. Lam, C. Fan, X. Wang, K.W. Kwok, “Energy-to-peak Output Tracking Control of Actuator Saturated Periodic Piecewise Time-varying Systems with Nonlinear Perturbations,” IEEE Transactions on Systems, Man and Cybernetics: Systems, 52(4), 2578-2590, 2022 (Early Access in 2021) PDF Link

[109]

X. Xie, C. Fan, K.W. Kwok, J. Lam, “A Bernstein Polynomial Approach to Estimating Reachable Set of Periodic Piecewise Polynomial Systems,” IEEE Transactions on Automatic Control (TAC), 66(10), 4812-4819, 2021 PDF Link

[108]

L. Liang, C.L. Cheung, G. Fang, J.D.L. Ho, C.J. Juan, H.W. Chung, K.W. Kwok, H.C. Chang, “Head Motion Tracking in MRI Using Novel Tiny Wireless Tracking Markers and Projection Signals,” Proceedings of International Society for Magnetic Resonance in Medicine (ISMRM) Virtual Conference, 2021 PDF Link

[107]

J. Liu, K.W. Kwok, Y. Cui, J. Shen, J. Lam, “Consensus of Positive Networked Systems on Directed Graphs,” IEEE Transactions on Neural Networks and Learning Systems (TNNLS), 2021 PDF Link

[106]

J. Xiao, Q. Dai, X. Xie, J. Lam, K.W. Kwok, “Adversarially Regularized Graph Attention Networks for Inductive Learning on Partially Labeled Graphs,” arXiv:2106.03393
2020

[105]

W.F. Yang, W.S. Choi, W.Y. Zhu, C.Y. Zhang, D.T.S. Li, J.K.H. Tsoi, A.W.L. Tang, K.W. Kwok, Y.X. Su, “Spatial deviations of the temporomandibular joint after oncological mandibular reconstruction,” International Journal of Oral and Maxillofacial Surgery, 78(10), Supplement: e32, 2020 PDF Link

[104]

W. Yang, W.S. Choi, M. Wong, W. Powcharoen, W. Zhu, J.K.H. Tsoi, M. Chow, K.W. Kwok, Y. Su, “Three-Dimensional Printed Patient-Specific Surgical Plates Increase Accuracy of Oncological Head and Neck Reconstruction Versus Conventional Surgical Plates: A Comparative Study,” Annals of Surgical Oncology, 28(1):363-375, 2021 PDF Link

[103]

Z. Guo, M.C.W. Leong, H. Su, K.W. Kwok, D.T.M. Chan, W.S. Poon, “Prospective Techniques for Magnetic Resonance Imaging–Guided Robot-Assisted Stereotactic Neurosurgery,” Handbook of Robotic and Image-Guided Surgery, pp. 585-598, 2020 PDF Link

[102]

C.L. Cheung, J.D.L.Ho, V. Vardhanabhuti, H.C.Chang, K.W. Kwok, “Design and Fabrication of Wireless Multilayer Tracking Marker for Intraoperative MRI-Guided Interventions,” in IEEE/ASME Transactions on Mechatronics, 25(2):1016-1025, 2020 PDF Link

[101]

Z. He, Z. Dong, G. Fang, J.D.L. Ho, C.L. Cheung, H.C. Chang, C.N. Chong, Y.K. Chan, T.M. Chan, K.W. Kwok, “Design of a Percutaneous MRI-guided Needle Robot with Soft Fluid-driven Actuator,” IEEE Robotics and Automation Letters, 5(2):2100-2107, 2020 PDF Link

[100]

H.C. Fu, J.D.L. Ho, K.H. Lee, Y.C. Hu, K.W. Au, K.J. Cho, K.Y. Sze, K.W. Kwok, “Interfacing soft and hard: a spring reinforced actuator,” Soft Robotics, 7(1):44-58, 2020 PDF Video1 Video2 Link

[99]

X. Xie, J. Lam, K.W. Kwok, “A novel scheme of nonfragile controller design for periodic piecewise LTV systems,” IEEE Transactions on Industrial Electronics, 67(12):10766-10775, 2020PDF Link

[98]

X. Wang, G. Fang, K. Wang, X. Xie, K.H. Lee, J.D.L. Ho, W.L. Tang, J. Lam, K.W. Kwok, “Eye-in-hand Visual Servoing Enhanced with Sparse Strain Measurement for Soft Continuum Robots,” IEEE Robotics and Automation Letters, 5(2):2161-2168, 2020 PDF Video Link

[97]

Y.L. Ng, C.K. Lo, K.H. Lee, X. Xie, T. N.Y. Kwong, M. Ip, L. Zhang, J. Yu, J. J.Y. Sung, W.K.K. Wu, S. H. Wong, K.W. Kwok, “Development of an open-access and explainable machine learning prediction system to assess the mortality and recurrence risk factors of Clostridioides difficile infection patients,” Advanced Intelligent Systems, 3(1): 2000188, 2020 PDF Link
Interactive Supporting Information published on Authorea: Link
Open-access prediction system for CDI patients: https://www.cdiml.care/

2019

[96]

P. Li, J. Lam, R. Lu, K.W. Kwok, “Stability and L2 Synthesis of a Class of Periodic Piecewise Time-Varying Systems,” IEEE Transactions on Automatic Control, 64(8):3378-3384, 2019 PDF Link

[95]

W. Jiang, Z. Liu, K.H. Lee, S. Chen, Y.L. Ng, Q. Dou, H.C. Chang, K.W. Kwok, “Respiratory Motion Correction in Abdominal MRI using a Densely Connected U-Net with GAN-guided Training,” arXiv preprint, arXiv: 1906.09745, 2019 PDF Link

[94]

J. Li, T. Kong, J. Yu, K.H. Lee, Y.H. Tang, K.W. Kwok, J.T. Kim, H.C. Shum, “Electrocoiling-guided Printing of Multiscale Architectures at Single-wavelength Resolution,”Lab on a Chip, 19(11):1953-1960, 2019 PDF Link

[93]

Y. Chen, C. Zhao, J. Lam, Y. Cui, K.W. Kwok, “Stability and l1-Gain Analysis for Positive 2-D Markov Jump Systems,” International Journal of Systems Science, 50(11):2077-2087, 2019 PDF Link

[92]

Y. Fan, F. Yang, G.S.H. Cheung, A.K.Y. Chan, D.D. Wang, Y.Y. Lam, M.C.K. Chow, M.C.W. Leong, K.K.H. Kam, K.C.Y. So, G. Tse, E. Fung, Z. Qiao, B. He, K.W. Kwok, A.P.W. Lee, “Device Sizing Guided by Echocardiography-Based Three-Dimensional Printing is Associated with Superior Outcome after Percutaneous Left Atrial Appendage Occlusion,”Journal of the American Society of Echocardiography, 32(6):708-719, 2019 PDF Link

[91]

Z. Tang, Y.T. Fan, Y. Wang, C.N. Jin, K.W. Kwok, A.P.W. Lee, “Mitral Annular and Left Ventricular Dynamics in Atrial Functional Mitral Regurgitation: A Three-Dimensional and Speckle-Tracking Echocardiographic Study,” Journal of the American Society of Echocardiography, 32(4):503-513, 2019 PDF Link

[90]

Z. Dong, Z. Guo, K.H. Lee, G. Fang, W.L. Tang, H.C. Chang, D.T.M. Chan, K.W. Kwok, “High-performance Continuous Hydraulic Motor for MR Safe Robotic Teleoperation,” IEEE Robotics and Automation Letters, 4(2):1964-1971, 2019 PDF  Video Link

[89]

T.L.T. Lun, K. Wang, J.D.L. Ho, K.H. Lee, K.Y. Sze, K.W. Kwok, “Real-time Surface Shape Sensing for Soft and Flexible Structures using Fiber Bragg Gratings,” IEEE Robotics and Automation Letters, 4(2):1454-1461, 2019 PDF  Video Link

[88]

G. Fang, X. Wang, K. Wang, K.H. Lee, J.D.L. Ho, H.C. Fu, D.K.C. Fu, K.W. Kwok, “Vision-based Online Learning Kinematic Control for Soft Robots using Local Gaussian Process Regression,” IEEE Robotics and Automation Letters, 4(2):1194-1201, 2019 PDF  Video Link

[87]

M. Liu, J. Lam, B. Zhu, K.W. Kwok, “On Positive Realness, Negative Imaginariness, and H∞ Control of State-space Symmetric Systems,” Automatica, 101:190-196, 2019 PDF Link

[86]

Z. Li, G. Fang, J.D.L. Ho, C.I. Lam, Y.W. Yim, J.Y.K. Chan, K.W. Kwok, “Augmented Reality-Guided Visual Servoing for Flexible Endoscope Control,” IEEE International Conference on Robotics and Automation (ICRA) Workshop – Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems, 2019

[85]

Z. Liu, W. Jiang, K.H. Lee, Y.L. Lo, Y.L. NG, Q. Dou, V. Vardhanabhuti, K.W. Kwok, “A Two-Stage Approach for Automated Prostate Lesion Detection and Classification with Mask R-CNN and Weakly Supervised Deep Neural Network,” Medical Image Computing and Computer-Assisted Intervention (MICCAI) Workshop – Artificial Intelligence in Radiation Therapy. Springer, Cham, pp. 43-51, 2019 PDF Link

[84]

Z. Dong, X. Wang, Z. He, J.D.L. Ho, W.L. Tang, Y. Tao, A.P.W. Lee, K.W. Kwok, “Experimental Validation of Autonomous Motion Control with Standard Cardiac Electrophysiology Catheter,” IEEE International Conference on Robotics and Automation (ICRA) Workshop – Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems, 2019 PDF
[Best Poster Paper Award (2nd place)]

2018

[83]

J.D.L. Ho, K.H. Lee, W.L. Tang, K.M. Hui, K. Althoefer, J. Lam, K.W. Kwok, “Localised Online Learning-Based Control of a Soft Redundant Manipulator Under Variable Loading,” Advanced Robotics, 32(21):1168-1183, 2018 PDF Link

[82]

M. Yin, Y. Chen, K.H. Lee, D.K.C. Fu, Z.T.H. Tse, K.W. Kwok, “Dynamic Modeling and Characterization of the Core-XY Cartesian Motion System,” 2018 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 206-211, 2018 PDF Link

[81]

A.J. Taylor, R. Montayre, Z. Zhao, K.W. Kwok, Z.T.H. Tse, “Modular force approximating soft robotic pneumatic actuator,” International Journal of Computer Assisted Radiology and Surgery, 13(11):1819-1827, 2018 PDF Link

[80]

Y. Chen, J. Lam, Y. Cui, K.W. Kwok, “Switched Systems Approach to State Bounding for Time Delay Systems,” Information Sciences, 465:191-201, 2018 PDF Link

[79]

A.P.W. Lee, M.C.W. Leong, K.W. Kwok, Y. Fan, “Using 3D Printed Models for Planning Transcatheter Aortic Valve Implantation in Patients with Bicuspid Aortic Valve,” Journal of the American College of Cardiology (JACC), 71(11):A1130, 2018 PDF Link

[78]

S. Fan, A. Chan, S. Au, M.C.W. Leong, M.C.K. Chow, Y. Fan, R. Wong, S. Chan, S.K. Ng, A.P.W. Lee, K.W. Kwok, “Personalised Anaesthesia: 3D Printing in Patient with Facial Deformity and Difficult Airway,” British Journal of Anaesthesia, 121(3):675-678, 2018 PDF Link

[77]

Z. Guo, M.C.W. Leong, H. Su, K.W. Kwok, D.T.M. Chan, W.S.Poon, “Techniques for Stereotactic Neurosurgery: Beyond the Frame, Towards the Intraoperative Magnetic Resonance Imaging-guided and Robot-assisted Approaches,” World Neurosurgery, 116:77-87, 2018 PDF Link

[76]

P. Li, J. Lam, K.W. Kwok, R. Lu, “Stability and Stabilization of Periodic Piecewise Linear Systems: A Matrix Polynomial Approach,” Automatica, 94:1-8, 2018 PDF Link

[75]

X. Wang, K.H. Lee, D.K.C. Fu, Z. Dong, K. Wang, G. Fang, S.L. Lee, A.P.W. Lee, K.W. Kwok, “Experimental Validation of Robot-assisted Cardiovascular Catheterization: Model-based versus Model-free Control,” International Journal of Computer Assisted Radiology and Surgery (IJCARS), 13(6):797-804, 2018 PDF Link
Presented in The 9th International Conference on Information Processing in Computer-Assisted Interventions, 2018 (IPCAI’18)

[74]

K.H. Lee, D.K.C. Fu, Z. Guo, Z. Dong, M.C.W. Leong, C.L. Cheung, A.P.W. Lee, K.W. Kwok, “MR Safe Robotic Manipulator for MRI-guided Intra-cardiac Catheterization,” IEEE/ASME Transactions on Mechatronics, 23(2):586-595, 2018 PDF Link

[73]

Z. Dong, Z. Guo, K.H. Lee, G. Fan, W. Luk, J. Lam, A.P.W. Lee, K.W. Kwok, “Continuous Hydraulic Actuation for MRI-guided Robotic Catheterization: Design, Evaluation and Application,” IEEE International Conference on Robotics and Automation (ICRA) Workshop – Supervised Autonomy in Surgical Robotics, 2018 PDF

[72]

G. Fang, X. Wang, K. Wang, K.H. Lee, D.K.C. Fu, K.W. Kwok, “Visual Servo Control of a Soft Continuum Robot using Gaussian Process Regression,” IEEE International Conference on Robotics and Automation (ICRA) Workshop – Growing and Evolving Soft Robots, 2018 PDF

[71]

J.D.L. Ho, K.H. Lee, W.L. Tang, K. Althoefer, J. Lam, K.W. Kwok, “Control of a Soft Redundant Manipulator Under Variable Loading Through Localized Online Learning,” IEEE International Conference on Robotics and Automation (ICRA) Workshop – Growing and Evolving Soft Robots, 2018 PDF

[70]

H.C. Fu, K.H. Lee, J.D.L. Ho, K.Y. Sze, K.W. Kwok, “A Bio-inspired Spring Reinforced Actuator for a Legged Robot,”IEEE International Conference on Robotics and Automation (ICRA) Workshop – Growing and Evolving Soft Robots, 2018 PDF

[69]

Z. Guo, Z. Dong, K.H. Lee, C.L. Cheung, H.C. Fu, J.D.L. Ho, H. He, W.S. Poon, D.T.M. Chan, K.W. Kwok, “Compact Design of a Hydraulic Driving Robot for Intra-operative MRI-guided Bilateral Stereotactic Neurosurgery,” IEEE Robotics and Automation Letters, 3(3):2515-2522, 2018 PDF Link 
Presented in IEEE International Conference on Robotics and Automation, 2018 (ICRA’18)
[ICRA Best Conference Paper Award (out of 2,539 papers)]
[Finalist (out of 3) for the Best Medical Robotics Paper Award]

2017

[68]

Y. Feng, Z. Guo, Z. Dong, X.Y. Zhou, K.W. Kwok, S. Ernst, S.L. Lee, “An Efficient Cardiac Mapping Strategy for Radiofrequency Catheter Ablation with Active Learning,”International Journal of Computer Assisted Radiology and Surgery, 12(7):1199-1207, 2017 PDF Link

[67]

K.H. Lee, D.K. Fu, M.C. Leong, M. Chow, H.C. Fu, K. Althoefer, K.Y. Sze, C.K. Yeung, K.W. Kwok, “Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation,” Soft Robotics, 4(4):324-337, 2017 PDF Link

[66]

K.H. Lee, M.C.W. Leong, M.C.K. Chow, H.C. Fu, D.K.C. Fu, Wayne Luk, K.Y. Sze, C.K. Yeung, K.W. Kwok, “FEM-based Soft Robotic Control Framework for Intracavitary Navigation,” IEEE International Conference on Real-time Computing and Robotics (RCAR), pp.11-16,2017 PDF Link
[Best Conference Paper Award]

[65]

K.C.Y. So, Y. Fan (co-first author), L. Sze, K.W. Kwok, A.K.Y. Chan, G.S.H. Cheung, A.P.W. Lee, “Using Multi-material 3D Printing for Personalized Planning of Complex Structural Heart Disease Intervention,” Journal of the American College of Cardiology (JACC): Cardiovascular Intervention, 10(11):e97-e98, 2017 PDF Link

[64]

H. Rafii-Tari, C. J. Payne, C. Bicknell, K.W. Kwok, N. J. Cheshire, C. Riga, G.Z. Yang, “Objective Assessment of Endovascular Navigation Skills with Force Sensing,” Annals of Biomedical Engineering, 45(5):1315-1327, 2017 PDF Link

[63]

K.H. Lee, D.K.C. Fu, M.C.W. Leong, J.D.L. Ho, H.C. Fu, K. Althoefer, K.Y. Sze, C.K. Yeung, K.W. Kwok, “Nonparametric Online Learning for Hyper-Elastic Robotic Control: Efficient training based on Finite Element Analysis,” IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS) Workshop – Soft Morphological Design for Haptic Sensation, Interaction and Display, 2017 

[62]

Z. Dong, Z. Guo, D.K.C. Fu, K.H. Lee, M.C.W. Leong, C.L. Cheung, A.P.W. Lee, W. Luk, K.W. Kwok, “A Robotic Catheter System for MRI-guided Cardiac Electrophysiological Intervention,” IEEE International Conference on Robotics and Automation (ICRA) Workshop – C4 Surgical Robots: Compliant, Continuum, Cognitive, and Collaborative, 2017 PDF

[61]

S.C. Tang, T.L.T. Lun, Z. Guo, K.W. Kwok, N.J. McDannold, “Intermediate Range Wireless Power Transfer With Segmented Coil Transmitters for Implantable Heart Pumps,”IEEE Transactions on Power Electronics, 32(5):3844-3857, 2017 PDF Link
[First Place Prize Paper Award (out of 789 papers published in 2017]
2016

[60]

J. Ge, A. E. James, L. Xu, Y. Chen, K.W. Kwok, M. P. Fok, “Bidirectional Soft Silicone Curvature Sensor Based on Off-Centered Embedded Fiber Bragg Grating,” IEEE Photonics Technology Letters (PTL), 28(20):2237-2240, 2016 PDF Link

[59]

Z. Zhang, Y. Xin, B. Liu, W.X. Li, K.H. Lee, C.F. Ng, D. Stoyanov, R.C. Cheung, K.W. Kwok, “FPGA-Based high-Performance collision Detection: an enabling Technique for image-guided robotic surgery,” Frontiers in Robotics and AI, 3(5):article 51, 2016 PDF Link

[58]

Y. Fan, K.W. Kwok, Y. Zhang, G. S.H. Cheung, A. K.-Y. Chan, A.P.W. Lee, “Three-dimensional printing for planning occlusion procedure for a double-lobed left atrial appendage,” Circulation: Cardiovascular Interventions, 9(3):e003561, 2016 PDF Link

[57]

C.L. Cheung, K.H. Lee, Z. Guo, Z. Dong, Martin C.W. Leong, Y. Chen, A.P.W. Lee, K.W. Kwok, “Kinematic-model-free positional control for robot-assisted cardiac catheterization,” Proceedings of the Hamlyn Symposium on Medical Robotics, pp.80-81, 2016 PDF

[56]

S.C. Tang, T.L.T. Lun, Z. Guo, K.W. Kwok, N.J. McDannold, “Mid-range wireless power transfer with segmented coil transmitters for implantable heart pumps,” Proceedings of IEEE International Workshop on Electromagnetics(iWEM), pp. 1-3, 2016 PDF

[55]

Z. Guo, T. L. T. Lun, Y. Chen, H. Su, D.T.M. Chan, K.W. Kwok, “Novel Design of an MR-safe Pneumatic Stepper Motor for MRI-guided Robotic Interventions,” Proceedings of Hamlyn Symposium on Medical Robotics, pp. 50-51, 2016 PDF

[54]

Y. Chen, W. Wang, E.J. Schmidt, K.W. Kwok, A.N. Viswanathan, R. Cormack, Z.T.H. Tse, “Design and fabrication of MR-tracked metallic stylet for gynecologic brachytherapy,” IEEE/ASME Transactions on Mechatronics, 21(2):956-962, 2015 PDF Link
2015

[53]

D. R. Leff, D. R. James, F. Orihuela-Espina, K.W. Kwok, L. W. Sun, G. Mylonas, T. Athanasiou, A. W. Darzi, G.-Z. Yang, “The impact of expert visual guidance on trainee visual search strategy, visual attention and motor skills,” Frontiers in Human Neuroscience, 9(526):1-11, 2015 PDF Link

[52]

K.H. Lee, Z. Guo, G. C. Chow, Y. Chen, W. Luk, K.W. Kwok, “GPU-based proximity query processing on unstructured triangular mesh model,” IEEE International Conference on Robotics and Automation (ICRA), pp. 4405-4411, 2015 PDF Link

[51]

H.C. Fu, C.L. Cheung, K.H. Lee, K.W. Kwok, “High-performance Proximity Query: An Enabling Technique for Improving Safety of Human-robot Interactive Tasks,” IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS) Workshop – Safety for Human-Robot interaction in Industrial Settings, 2015 PDF
2014

[50]

K.W. Kwok, K.H. Lee (co-1st author), Y. Chen, W. Wang, Y. Hu, G.C. Chow, H.S. Zhang, W.G. Stevenson, R.Y. Kwong, W. Luk, E.J. Schmidt, Z.T.H. Tse, “Interfacing fast multi-phase cardiac image registration with Real-time MRI-based catheter tracking for MRI-guided electrophysiological ablative procedures,” Circulation, 130:A18568, 2014 Link

[49]

Y. Chen, K.W. Kwok (co-1st author), Z.T.H. Tse, “An MR-conditional high-torque pneumatic stepper motor for MRI-guided and robot-assisted intervention,” Annals of Biomedical Engineering, 42(9):1823-1833, 2014 PDF Link

[48]

K. Leibrandt, H.J. Marcus, K.W. Kwok, G.Z. Yang, “Implicit active constraints for a compliant surgical manipulator,” IEEE International Conference on Robotics and Automation (ICRA), pp. 276-283, 2014.  PDF Link
[Finalist for ICRA Best Medical Robotics Paper Award]


Publications before IRIS

[47]

T. C. Chau, K.W. Kwok, G. C. Chow, K. H. Tsoi, K.H. Lee, Z. Tse, P. Y. Cheung, W. Luk, “Acceleration of real-time Proximity Query for dynamic active constraints,” IEEE International Conference on Field-Programmable Technology (FPT), pp. 206-213, 2013 PDF Link

[46]

Y. Chen, K.W. Kwok, J. Ge, Y. Hu, M. Fok, K.R. Nilsson, Z.T.H. Tse, “Augmented Reality for Improving Catheterization in MRI-guided Cardiac Electrophysiology Therapy,” Journal of Medical Devices – Transactions of the ASME, 8(2):020917, 2014 PDF Link

[45]

Y. Gao, K.W. Kwok, R. Chandrawanshi, A. Squires, A.C. Nau, Z.T.H. Tse, “Wearable Virtual White Cane: Assistive Technology for Navigating the Visually Impaired,” Journal of Medical Devices, 8(2):020931, 2014 PDF Link

[44]

K.W. Kwok, Y. Chen, T.C. Chau, W. Luk, K.R. Nilsson, E.J. Schmidt, Z.T.H. Tse, “MRI-based Visual and Haptic Catheter Feedback: Simulating a novel system’s contribution to efficient and safe MRI-guided Cardiac Electrophysiology Procedures,” Journal of Cardiovascular Magnetic Resonance, 16(Suppl 1):O50, 2014 PDF Link

[43]

Y. Chen, J. Ge, K.W. Kwok, K. R. Nilsson, M. Fok, Z.T.H. Tse, “MRI-conditional Catheter Sensor for Contact Force and Temperature Monitoring during Cardiac Electrophysiology Procedures,” Journal of Cardiovascular Magnetic Resonance, 16(Suppl 1):P150, 2014 PDF Link

[42]

K.W. Kwok, G. C. Chow, T. C. Chau, Y. Chen, S. H. Zhang, W. Luk, E. J. Schmidt, Z.T.H. Tse, “FPGA-based Acceleration of MRI Registration: An Enabling Technique for Improving MRI-guided Cardiac Therapy,” Journal of Cardiovascular Magnetic Resonance, 16(Suppl 1):W11, 2014 PDF Link

[41]

K.W. Kwok, K. H. Tsoi, V. Vitiello, J. Clark, G. C. Chow, W. Luk, G.Z. Yang, “Dimensionality Reduction in Controlling Articulated Snake Robot for Endoscopy under Dynamic Active Constraints,” IEEE Transactions on Robotics (T-RO), 29(1):15-31, 2013 PDF  Link

[40]

S.L. Lee, K.W. Kwok, L. Wang, C. Riga, C. Bicknell, N. Cheshire, G.Z. Yang, “Motion-adapted catheter navigation with real-time instantiation and improved visualisation,” Journal of Robotic Surgery, 7(3):251-260, 2013 PDF Link

[39]

D.R.C. James, D.R. Leff, F. Orihuela-Espina, K.W. Kwok, G.P. Mylonas, T. Athanasiou, L.W. Sun, A. Darzi, G.Z. Yang, “Enhanced Frontoparietal Network Architectures Following ‘Gaze-Contingent’ Versus ‘Free-Hand’ Motor Learning,” Neuroimage, 64:267-276, 2013 PDF Link

[38]

K.W. Kwok, L.W. Sun (co-1st author), G. P. Mylonas, D. R. James, F. Orihuela-Espina, G.Z. Yang, “Collaborative Gaze Channelling for Improved Cooperation During Robotic Assisted Surgery,” Annals of Biomedical Engineering, 40(10):2156-2167, 2012 PDF Link

[37]

G. P. Mylonas, K.W. Kwok, D. R. James, D. Leff, F. Orihuela-Espina, A. Darzi, G.Z. Yang, “Gaze-Contingent Motor Channelling, haptic constraints and associated cognitive demand for robotic MIS,” Medical Image Analysis, 16(3):612-631, 2012 PDF Link

[36]

A. S. Chetwood, K.W. Kwok, L.W. Sun, G. P. Mylonas, J. Clark, A. Darzi, G.Z. Yang, “Collaborative Eye Tracking: A Potential Training Tool in Laparoscopic Surgery,” Surgical Endoscopy, 26(7):2003-2009, 2012 PDF Link

[35]

S.L. Lee, M. Lerotic, V. Vitiello, S. Giannarou, K.W. Kwok, M. Visentini-Scarzanella, G.Z. Yang, “From Medical Images to Minimally Invasive Intervention: Computer Assistance for Robotic Surgery,” Computerized Medical Imaging and Graphics, 34(1):33-45, 2010 PDF Link

[34]

Y. Chen, K.W. Kwok, T.C.P Chau, W. Luk, K.R. Nilsson, E.J. Schmidt, Z.T.H. Tse, “Haptic Guidance Platform for MRI-guided Cardiac Electrophysiology Therapy,” Proceedings of The International Society for Magnetic Resonance in Medicine (ISMRM), 2014 Link

[33]

K. Fujii, A. Salerno, K. Sriskandarajah, K.W. Kwok, K. Shetty, G.Z. Yang, “Gaze Contingent Cartesian Control of a Robotic Arm for Laparoscopic Surgery,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3582-3589, 2013 PDF Link

[32]

C. J. Payne, K.W. Kwok, G.Z. Yang, “An Ungrounded Hand-Held Surgical Device Incorporating Active Constraints with Force-Feedback,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2559-2565, 2013 PDF Link
[Finalist for IROS Best Medical Robotics Paper Award]

[31]

E. Lopez, K.W. Kwok, C. J. Payne, P. Giataganas, G.Z. Yang, “Implicit Active Constraints for Robot Assisted Arthroscopy,” IEEE International Conference on Robotics and Automation (ICRA), pp. 5390-5395, 2013 PDF Link

[30]

W. T. Latt, T. P. Chang, A. Di Marco, P. Pratt, K.W. Kwok, J. Clark, G.Z. Yang, “A hand-held instrument for in vivo probe-based confocal laser endomicroscopy during minimally invasive surgery,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1982-1987, 2012 PDF Link

[29]

J. Shang, C. J. Payne, J. Clark, D. P. Noonan, K.W. Kwok, A. Darzi, G.Z. Yang, “Design of a multitasking robotic platform with flexible arms and articulated head for minimally invasive surgery,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1988-1993, 2012 PDF Link

[28]

K. Fujii, K.W. Kwok, M. Bailey, G.Z. Yang, “Visual Search Behaviour Characterisation during Perceptual-Motor Misalignment: a Colonoscopy disorientation study,” Medical Image Computing and Computer-Assisted Intervention (MICCAI) Workshop – Modelling and Monitoring of Computer Assisted Intervention, 2012

[27]

S.L. Lee, K.W. Kwok, L. Wang, C. Riga, C. Bicknell, M. Hamady, N. Cheshire, G.Z. Yang, “Motion Adapted Catheter Navigation with Shape Modelling and Real-Time Instantiation,” Medical Image Computing and Computer-Assisted Intervention (MICCAI) Workshop – Computer Assisted Stenting, 2012

[26]

S.L. Lee, K.W. Kwok, C. Riga, C. Bicknell, G.Z. Yang, “Improved Visualisation with Shape Instantiation for Robot Assisted Catheter Navigation,” Hamlyn Symposium for Medical Surgery (HSMR), pp. 38-39, 2012

[25]

V. Vitiello, K.W. Kwok, G.Z. Yang, “Introduction to robot assisted minimally invasive surgery (MIS),” Medical robotics: Minimally invasive surgery, ed: Woodhead Publishing Ltd., P. Gomes, Ed, UK: Cambridge Consultants, 2012, pp.1-40 Link

[24]

G.C.T Chow, K.W. Kwok, W. Luk, P. Leong, “Mixed Precision Processing in Reconfigurable Systems,” The 19th Annual IEEE International Symposium on Field-Programmable Custom Computing Machines 2011 (FCCM’11), pp.17-24, 2011 PDF
[The top conference in high-performance computing. Acceptance rate: 16.9% with [HiPEAC (High-Performance and Embedded Architecture and Compilation) Paper Award]

[23]

V. Vitiello, K.W. Kwok, C.J. Payne, G.Z. Yang, “DOF Minimization for Optimized Shape Control under Active Constraints for a Hyper-redundant Flexible Robot,” Information Processing in Computer-Assisted Interventions (IPCAI’11), LNCS, Springer Heidelberg, pp.67-78, 2011 Link

[22]

D.R.C. James, D.R. Leff, F. Orihuela-Espina, K.W. Kwok, L.W. Sun, T. Athanasiou, A. Darzi, G.Z. Yang, “Neuroergonomic assessment of collaborative gaze control for robotic surgery: a functional near infrared spectroscopy (fNIRS) study,” Hamlyn Symposium for Medical Robotics (HSMR), pp. 41-42, 2011

[21]

D.R.C James, D.R. Leff, F. Orihuela-Espina, K.W. Kwok, G.P. Mylonas, S. Gohil, T. Athanasiou, A. Darzi, G.Z. Yang, “Influence of heart rate and stress on cortical haemodynamics: a longitudinal fNIRS study,” The 17th Annual Meeting of the Organization for Human Brain Mapping (OHBM), pp.140, 2011

[20]

D.R.C. James, D.R. Leff, L.W. Sun, F. Orihuela-Espina, K.W. Kwok, G.P. Mylonas, T. Athanasiou, A. Darzi, G.Z. Yang, “Neuroergonomic assessment of collaborative gaze control for robotic surgery: an fNIRS study,” The 17th Annual Meeting of the Organization for Human Brain Mapping (OHBM), p. 139, 2011

[19]

G.P. Mylonas, L.W. Sun, K.W. Kwok, D.R.C. James, F. Orihuela-Espina, G.Z. Yang, “Collaborative Gaze Channelling for Cooperation within a Shared Tele-Surgery Environment,” Hamlyn Symposium on Medical Robotics (HSMR), pp. 27-28, 2011

[18]

K.W. Kwok, V. Vitiello, G.Z. Yang, “Control of Articulated Snake Robot under Dynamic Active Constraints,” Medical Image Computing and Computer-Assisted Intervention 2010 (MICCAI’10), LNCS, Springer Heidelberg, 13(3):229-236, 2010 PDF Link

[17]

D.R.C. James, F. Orihuela-Espina, D.R. Leff, G.P. Mylonas, K.W. Kwok, A. Darzi, G.Z. Yang, “Cognitive Burden Estimation for Visuomotor Learning with fNIRS,” Medical Image Computing and Computer-Assisted Intervention 2010 (MICCAI’10), LNCS, Springer Heidelberg, 12(13):319-326, 2010 PDF Link

[16]

H.H. King, B. Hannaford, K.W. Kwok, G.Z. Yang, “Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine,” Proc. of IEEE International Conference on Robotics and Automation 2010 (ICRA’10), pp. 1733-1738, 2010 PDF Link

[15]

D.R.C. James, D.R. Leff, F. Orihuela-Espina, K.W. Kwok, G.P. Mylonas, A. Darzi, G.Z. Yang, “Frontoparietal Activation during Learning of a Visuomotor Tracking Task: a Longitudinal fNIRS Study,” The 16th Annual Meeting of the Organization for Human Brain Mapping (OHBM), p. 145, 2010

[14]

F. Orihuela-Espina, D.R. Leff, D.R.C. James, K.W. Kwok, L.W. Sun, A. Darzi, G.Z. Yang, “Remote gaze assistance manipulates visual attention, enhances cortical activity and improves technical skills of a local operator: Implications for collaborative tele-robotic surgical procedures,” Functional Near Infrared Spectroscopy (fNIRS), pp. 60, 2010

[13]

D.R.C. James, F. Orihuela-Espina, D.R. Leff, G.P. Mylonas, K.W. Kwok, A. Darzi, G.Z. Yang, “Neuroergonomic assessment of the robotic enhancement of surgery,” The Society of American Gastrointestinal and Endoscopic Surgeons (SAGES), 2010

[12]

K.W. Kwok, G.P. Mylonas, L.W. Sun, M. Lerotic, J. Clark, T. Athanasiou, A. Darzi, G.Z. Yang, “Dynamic Active Constraints for Hyper-Redundant Flexible Robot,” Medical Image Computing and Computer-Assisted Intervention 2009 (MICCAI’09), LNCS, Springer Heidelberg, 12(1):410-417, 2009 PDF Link

[11]

K.W. Kwok, L.W. Sun, V. Vitiello, D. James, G.P. Mylonas, G.Z. Yang, “Perceptually Docked Control Environment for Multiple Microbots: Application to the Gastric Wall Biopsy,” Proc. of IEEE/RSJ International Conference on Intelligent Robotics and Systems 2009 (IROS’09), pp. 2783-2788, 2009 PDF Link

[10]

G.P. Mylonas, K.W. Kwok, A. Darzi, G.Z. Yang, “Gaze-Contingent Motor Channelling and Haptic Constraints for Minimally Invasive Robotic Surgery,” Medical Image Computing and Computer-Assisted Intervention 2008 (MICCAI’08), LNCS, Springer Heidelberg, 11(2):676-683, 2008 PDF Link

[9]

G.Z. Yang, G.P. Mylonas, K.W. Kwok, A. Chung, “Perceptual Docking for Robotic Control,” Medical Image and Augmented Reality 2008 (MIAR’08), LNCS, Springer Heidelberg, pp.21-30, 2008 PDF  Link

[8]

Y. Yam, K.W. Kwok, K.W. Lo, “Development and Capabilities of A Robot Drawing Platform,” Proc. of the 2006 International Conference on Intelligent Technologies 2006 (InTech’06), pp. 144-153, 2006

[7]

K.W. Kwok, K.W. Lo, S.M. Wong, Y. Yam, “Evolutionary Replication of Calligraphic Characters By A Robot Drawing Platform Using Experimentally Acquired Brush Footprint,” Proc. of IEEE Conference on Automation Science and Engineering 2006 (CASE’06), pp. 466-471, 2006 PDF Link

[6]

K.W. Lo, K.W. Kwok, S.M. Wong, Y. Yam, “Brush Footprint Acquisition and Preliminary Analysis for Chinese Calligraphy using a Robot Drawing Platform,”Proc. of IEEE/RSJ International Conference on Intelligent Robotics and Systems 2006 (IROS’06), pp. 5183-5188, 2006 PDF Link

[5]

K.W. Kwok, S.M. Wong, K.W. Lo, Y. Yam, “GA-based Brush Stroke Generation for Replication of Chinese Calligraphic Character,”Proc. of IEEE Conference on Evolutionary Computation 2006 (CEC’06), pp. 3802-3809, 2006 PDF Link

[4]

K.W. Kwok, Y. Yam, K.W. Lo, “GA-based homography Transformation for Vision Rectification in Robot Drawing System,” Proc. of the 44th IEEE Conference on Decision and Control CDC and European Control Conference 2005 (CDC-ECC’05), pp. 2047-2052, 2005 PDF Link

[3]

K.W. Kwok, Y. Yam, K.W. Lo, “Vision System and Projective Rectification for a Robot Drawing Platform,” Proc. of International Conference on Control and Automation 2005 (ICCA’05), pp. 691-696, 2005 PDF Link

[2]

K.W. Lo, K.W. Kwok, Y. Yam, “Automated Replication of Line Drawings By a Robot Drawing Platform,” Proc. of the 8th World Multi-Conference on Systemics, Cybernetics and Informatics 2004 (SCI’04), pp. 80-85, 2004

[1]

Y. Yam, K.W. Lo, K.W. Kwok, “A Robot Drawing System: Preliminary Design and Demonstration,” Proc. of the 2003 International Conference on Intelligent Technologies 2003 (InTech’03), pp. 545-551, 2003

Thesis by RPG Graduates

[14]

C.H. Mak, “Intelligent Soft Shape Sensing from Sparse to Dense in Real Time,” HKU Theses Online (HKUTO), 2023 PDF

[13]

H.S. Tong, “Augmented Reality-assisted Surgical Guidance for Transnasal Endoscopy,” HKU Theses Online (HKUTO), 2022 PDF

[12]

K. Wang, “Data-driven strategies for soft sensing, robot modelling and control,” HKU Theses Online (HKUTO), 2022 PDF

[11]

C.L. Cheung, “Wireless Positional MR-based Tracking Markers for Intraoperative MRI-guided Robotic Interventions,” HKU Theses Online (HKUTO), 2021 PDF

[10]

G. Fang, “Soft Robotic Manipulation for Intraoperative MRI-guided Non-contact Laser Surgery,” HKU Theses Online (HKUTO), 2021 PDF [HKU Best Thesis Awards 2020-21]

[9]

X. Wang, “Data-driven Control Strategies for Precise Manipulation of Continuum Robots,” HKU Theses Online (HKUTO), 2020 PDF

[8]

Z. Dong, “High-performance Tele-operated Robot Systems for Intra-operative MRI-guided Interventions,” HKU Theses Online (HKUTO), 2020 PDF

[7]

J.D.L. Ho, “Learning-based Control and Sensing for Soft Robotic Systems,” HKU Theses Online (HKUTO), 2019 PDF

[6]

H. C. Fu, “Design and Optimization for High Performance Soft Robotic Manipulation,” HKU Theses Online (HKUTO), 2019 PDF

[5]

K. H. Lee, “Continuum Robotic Systems for Intra-operative MRI-Guided Interventions,” HKU Theses Online (HKUTO), 2019 PDF

[4]

Z. Guo, “Fluid-Driven Robotic Systems for Intraoperative MRI-Guided Interventions,” HKU Theses Online (HKUTO), 2018 PDF

[3]

M.C.K. Chow, “Design and Control of a Soft Robotic Manipulation System for Transoral Laser Microsurgery under Magnetic Resonance Imaging,” HKU Theses Online (HKUTO), 2018 PDF

[2]

T.L.T. Lun, “Real-Time Surface Shape Sensing for Monitoring Flexible Structures Using Fiber Bragg Grating,” HKU Theses Online (HKUTO), 2018 PDF

[1]

M.C.W. Leong, “Performance-Aware Programming for Intraoperative Intensity-Based Image Registration on Graphics Processing Units,” HKU Theses Online (HKUTO), 2018 PDF