Guang-Zhong Yang


Location: Institute of Medical Robotics


Professor Guang-Zhong Yang is the founding dean of the Medical Robotics Institute, Shanghai Jiao Tong University. He was the founding director of the Hamlyn Centre for Robotic Surgery, Imperial College London.   Professor Yang is also the Chairman of the advisory board, the UK-RAS Network ( Professor Yang’s main research interests are in medical imaging, sensing and robotics. He is a Fellow of the Royal Academy of Engineering, fellow of IEEE, IET, AIMBE, IAMBE, MICCAI, CGI and a recipient of the Royal Society Research Merit Award and listed in The Times Eureka ‘Top 100’ in British Science. Professor Yang is the founding editor of Science Robotics ( – a journal of the Science family dedicated to the latest advances in robotics and how it enables or underpins new scientific discoveries. He was awarded a CBE in the Queen’s 2017 New Year Honour for his contribution to biomedical engineering.

Educational Background

Imperial College of Science, Technology and Medicine, 1991
PhD, Computer Science
Shanghai Jiao Tong University, 1986
BSc, Electrical and Electronic Engineering

Work Experiences

Nov 2019 - present Chair professor, Shanghai Jiao Tong University, China
Dec 2017 - present Dean, Institute of Medical Robotics, Shanghai Jiao Tong University, China
Sept 2001 - Nov 2017 Chair in Medical Image Computing, Imperial College London, UK
Oct 2000 - Aug 2001 Reader, Department of Computing, Imperial College London, UK
April 1999 - Sept 2000 Lecturer, Department of Computing, Imperial College London, UK
Oct 1991 - April 1999 Principal Scientist, Royal Brompton Hospital London, UK

Research Interests

Medical imaging technology, sensing technology, robots

Selected Publications

1. A. Barbot, H. Tan, M. Power, F. Seichepine, G.-Z. Yang, Floating magnetic microrobots for fiber functionalization. Science Robotics, 4, eaax8336 (2019).
2. Li B, Gil B, Power M, Gao A, Treratanakulchai S, Anastasova S, Yang GZ. Carbon Nanotube-coated 3D Micro-spring Force Sensor for Medical Applications. ACS Applied Materials & Interfaces. 2019 Sep 4.
3. Deligianni F, Guo Y, Yang GZ. From Emotions to Mood Disorders: A Survey on Gait Analysis Methodology. IEEE J Biomed Health Inform. 2019 Sep 9. doi: 10.1109/JBHI.2019.2938111 Add to Citavi project by DOI. [Epub ahead of print]
4. Modi HN, Singh H, Fiorentino F, Orihuela-Espina F, Athanasiou T, Yang GZ, Darzi A, Leff DR. Association of Residents' Neural Signatures with Stress Resilience During Surgery. JAMA surgery. 2019 Aug 7:e192552-.
5. Zheng JQ, Zhou XY, Riga C, Yang GZ. Real-Time 3-D Shape Instantiation for Partially Deployed Stent Segments From a Single 2-D Fluoroscopic Image in Fenestrated Endovascular Aortic Repair. IEEE Robotics and Automation Letters. 2019 Jul 12;4(4):3703-10.
6. Troccaz J, Dagnino G, Yang GZ. Frontiers of medical robotics: from concept to systems to clinical translation. Annual review of biomedical engineering. 2019 Jun 4;21:193-218.
7. Marques MJ, Hughes MR, Vyas K, Thrapp A, Zhang H, Bradu A, Gelikonov G, Giataganas P, Payne CJ, Yang GZ, Podoleanu A. En-face optical coherence tomography/fluorescence endomicroscopy for minimally invasive imaging using a robotic scanner. J Biomed Opt. 2019 Jun;24(6):1-15. doi: 10.1117/1.JBO.24.6.066006 Add to Citavi project by DOI.
8. Berthelot M, Henry FP, Hunter J, Leff D, Wood S, Jallali N, Dex E, Lysakova L, Lo B, Yang GZ. Pervasive wearable device for free tissue transfer monitoring based on advanced data analysis: clinical study report. Journal of Biomedical Optics. 2019 Jun;24(6):067001.
9. Tenda ED, Ridge CA, Shen M, Yang GZ, Shah PL. Role of Quantitative Computed Tomographic Scan Analysis in Lung Volume Reduction for Emphysema. Respiration. 2019 May 8:1-9.
10. Chen CM, Kwasnicki RM, Curto VF, Yang GZ, Lo BP. Tissue Oxygenation Sensor and an Active In Vitro Phantom for Sensor Validation. IEEE Sensors Journal. 2019 May 15;19(18):8233-40.
11. Cabrera-Munoz NE, Eliahoo P, Wodnicki R, Jung H, Chiu CT, Williams JA, Kim HH, Zhou Q, Yang GZ, Shung KK. Fabrication and Characterization of a Miniaturized 15-MHz Side-Looking Phased-Array Transducer Catheter. IEEE transactions on ultrasonics, ferroelectrics, and frequency control. 2019 Mar 20.
12. Qin Y, Wen J, Zheng H, Huang X, Yang J, Wu L, Song N, Zhu YM, Yang GZ. Varifocal-Net: A Chromosome Classification Approach Using Deep Convolutional Networks. IEEE Trans Med Imaging. 2019 Mar 19. doi: 10.1109/TMI.2019.2905841 Add to Citavi project by DOI. [Epub ahead of print]
13. Yang GZ, Full RJ, Jacobstein N, Fischer P, Bellingham J, Choset H, Christensen H, Dario P, Nelson BJ, Taylor R. Ten robotics technologies of the year. Science Robotics Jan, 2019.
14. Hu Y, Zhang L, Li W, Yang GZ. Design and Fabrication of a 3-D Printed Metallic Flexible Joint for Snake-Like Surgical Robot. IEEE Robotics and Automation Letters. 2019 Jan 30;4(2):1557-63.
15. Li B, Tan H, Anastasova S, Power M, Seichepine F, Yang GZ. A bio-inspired 3D micro-structure for graphene-based bacteria sensing. Biosens Bioelectron. 2019 Jan 1;123:77-84.
16. Hu Y, Zhang L, Seneci CA, Li W, Abdelaziz ME, Yang GZ. Design, Fabrication, and Testing a Semiautomatic Sewing Device for Personalized Stent Graft Manufacturing. IEEE/ASME Transactions on Mechatronics. 2019 Jan 24;24(2):517-26.
17. Giataganas P, Hughes M, Payne CJ, Wisanuvej P, Temelkuran B, Yang GZ. Intraoperative Robotic-Assisted Large-Area High-Speed Microscopic Imaging and Intervention. IEEE Trans Biomed Eng. 2019 Jan;66(1):208-216.
18. Gu Y, Shen M, Jie Y, Yang GZ. Reliable Label-Efficient Learning for Biomedical Image Recognition. IEEE Trans Biomed Eng. 2018 Dec 27. doi: 10.1109/TBME.2018.2889915 Add to Citavi project by DOI. [Epub ahead of print]
19. Gu Y, Vyas K, Yang J, Yang GZ. Transfer Recurrent Feature Learning for Endomicroscopy Image Recognition. IEEE Trans Med Imaging. 2018 Sep 27. doi: 10.1109/TMI.2018.2872473 Add to Citavi project by DOI. [Epub ahead of print]
20. Tudor A, Delaney C, Zhang H, Thompson AJ, Curto VF, Yang GZ, Higgins MJ, Diamond D, Florea L. Fabrication of soft, stimulus-responsive structures with sub-micron resolution via two-photon polymerization of poly (ionic liquid) s. Materials Today. 2018 Oct 1;21(8):807-16.
21. Vyas K, Hughes M, Rosa BG, Yang GZ. Fiber bundle shifting endomicroscopy for high-resolution imaging. Biomed Opt Express. 2018 Sep 6;9(10):4649-4664.
22. Gu Y, Vyas K, Yang J, Yang GZ. Transfer Recurrent Feature Learning for Endomicroscopy Image Recognition. IEEE Trans Med Imaging. 2018 Sep 27. doi: 10.1109/TMI.2018.2872473 Add to Citavi project by DOI. [Epub ahead of print]
23. Li Y, Charalampaki P, Liu Y, Yang GZ, Giannarou S. Context aware decision support in neurosurgical oncology based on an efficient classification of endomicroscopic data. Int J Comput Assist Radiol Surg. 2018 Aug;13(8):1187-1199.
24. Berthet-Rayne P, Gras G, Leibrandt K, Wisanuvej P, Schmitz A, Seneci CA, Yang GZ. The i2Snake Robotic Platform for Endoscopic Surgery. Ann Biomed Eng. 2018 Oct;46(10):1663-1675.
25. Deligianni F, Wong C, Lo B, Yang GZ. A fusion framework to estimate plantar ground force distributions and ankle dynamics. Information Fusion 2018: 41: 255-263
26. Thompson AJ, Power M, Yang GZ. Micro-scale fiber-optic force sensor fabricated using direct laser writing and calibrated using machine learning. Opt Express. 2018 May 28;26(11):14186-14200.
27. Singh H, Modi HN, Ranjan S, Dilley JWR, Airantzis D, Yang GZ, Darzi A, Leff DR. Robotic Surgery Improves Technical Performance and Enhances Prefrontal Activation During High Temporal Demand. Ann Biomed Eng. 2018 Oct;46(10):1621-1636.
28. Kwasnicki RM, Cross GWV, Geoghegan L, Zhang Z, Reilly P, Darzi A, Yang GZ, Emery R. A lightweight sensing platform for monitoring sleep quality and posture: a simulated validation study. Eur J Med Res. 2018 May 30;23(1):28.
29. Constantinescu MA, Lee SL, Ernst S, Hemakom A, Mandic D, Yang GZ. Probabilistic guidance for catheter tip motion in cardiac ablation procedures. Med Image Anal. 2018 Jul;47:1-14.
30. Chi W, Liu J, Rafii-Tari H, Riga C, Bicknell C, Yang GZ. Learning-based endovascular navigation through the use of non-rigid registration for collaborative robotic catheterization. Int J Comput Assist Radiol Surg. 2018 Jun;13(6):855-864.
31. Xiao-Yun Zhou, Jianyu Lin, Celia V. Riga, Guang-Zhong Yang, Su-Lin Lee. Real-Time 3-D Shape Instantiation From Single Fluoroscopy Projection for Fenestrated Stent Graft Deployment. IEEE Robotics and Automation Letters 3(2): 1314-1321 (2018)
32. Pierre Berthet-Rayne, Konrad Leibrandt, Gauthier Gras, Philippe Fraisse, André Crosnier, Guang-Zhong Yang. Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery. IEEE Robotics and Automation Letters 3(3): 2501-2508 (2018)
33. Javier Andréu Pérez, Fan Cao, Hani Hagras, Guang-Zhong Yang. A Self-Adaptive Online Brain-Machine Interface of a Humanoid Robot Through a General Type-2 Fuzzy Inference System. IEEE Trans. Fuzzy Systems 26(1): 101-116 (2018)
34. Bidan Huang, Menglong Ye, Yang Hu, Alessandro Vandini, Su-Lin Lee, Guang-Zhong Yang. A Multirobot Cooperation Framework for Sewing Personalized Stent Grafts. IEEE Trans. Industrial Informatics 14(4): 1776-1785 (2018)
35. Yang GZ, Bellingham J, Dupont PE, Fischer P, Floridi L, Full R, Jacobstein N, Kumar V, McNutt M, Merrifield R, Nelson BJ. The grand challenges of Science Robotics. Sci. Robot.. 2018 Jan 31;3(14):eaar7650.
36. Fabelo H, Ortega S, Ravi D, Kiran BR, Sosa C, Bulters D, Callicó GM, Bulstrode H, Szolna A, Piñeiro JF, Kabwama S, Madroñal D, Lazcano R, J-O'Shanahan A, Bisshopp S, Hernández M, Báez A, Yang GZ, Stanciulescu B, Salvador R, Juárez E, Sarmiento R. Spatio-spectral classification of hyperspectral images for brain cancer detection during surgical operations. PLoS One. 2018 Mar 19;13(3):e0193721.
37. Power M, Thompson AJ, Anastasova S, Yang GZ. A Monolithic Force-Sensitive 3D Microgripper Fabricated on the Tip of an Optical Fiber Using 2-Photon Polymerization. Small. 2018 Apr;14(16):e1703964.
38. Fabelo H, Ortega S, Lazcano R, Madroñal D, M Callicó G, Juárez E, Salvador R, Bulters D, Bulstrode H, Szolna A, Piñeiro JF, Sosa C, J O'Shanahan A, Bisshopp S, Hernández M, Morera J, Ravi D, Kiran BR, Vega A, Báez-Quevedo A, Yang GZ, Stanciulescu B, Sarmiento R. An Intraoperative Visualization System Using Hyperspectral Imaging to Aid in Brain Tumor Delineation. Sensors (Basel). 2018 Feb 1;18(2).
39. Berthelot M, Yang GZ, Lo B. A Self-Calibrated Tissue Viability Sensor for Free Flap Monitoring. IEEE J Biomed Health Inform. 2018 Jan;22(1):5-14.
40. Fujii K, Gras G, Salerno A, Yang GZ. Gaze gesture based human robot interaction for laparoscopic surgery. Med Image Anal. 2018 Feb;44:196-214.
41. Zhou XY, Yang GZ, Lee SL. A real-time and registration-free framework for dynamic shape instantiation. Med Image Anal. 2018 Feb;44:86-97.
42. Anastasova S, Kassanos P, Yang GZ. Multi-parametric rigid and flexible, low-cost, disposable sensing platforms for biomedical applications. Biosens Bioelectron. 2018 Apr 15;102:668-675.
43. Orihuela-Espina F, Leff DR, James DRC, Darzi AW, Yang GZ. Imperial College near infrared spectroscopy neuroimaging analysis framework. Neurophotonics. 2018 Jan;5(1):011011.
44. Modi HN, Singh H, Orihuela-Espina F, Athanasiou T, Fiorentino F, Yang GZ, Darzi A, Leff DR. Temporal Stress in the Operating Room: Brain Engagement Promotes "Coping" and Disengagement Prompts "Choking". Ann Surg. 2018 Apr;267(4):683-691.


45. Thompson AJ, Hughes M, Anastasova S, Conklin LS, Thomas T, Leggett C, Faubion WA, Miller TJ, Delaney P, Lacombe F, Loiseau S, Meining A, Richards-Kortum R, Tearney GJ, Kelly P, Yang GZ. Position paper: The potential role of optical biopsy in the study and diagnosis of environmental enteric dysfunction. Nat Rev Gastroenterol Hepatol. 2017 Dec;14(12):727-738
46. Marcus HJ, Hughes-Hallett A, Payne CJ, Cundy TP, Nandi D, Yang GZ, Darzi A. Trends in the diffusion of robotic surgery: A retrospective observational study. Int J Med Robot. 2017 Dec;13(4). doi: 10.1002/rcs.1870 Add to Citavi project by DOI. Epub 2017 Nov 6.
47. Modi HN, Singh H, Yang GZ, Darzi A, Leff DR. A decade of imaging surgeons' brain function (part I): Terminology, techniques, and clinical translation. Surgery. 2017 Nov;162(5):1121-1130.
48. Modi HN, Singh H, Yang GZ, Darzi A, Leff DR. A decade of imaging surgeons' brain function (part II): A systematic review of applications for technical and nontechnical skills assessment. Surgery. 2017 Nov;162(5):1130-1139.
49. Shah PL, Kemp SV, Newton RC, Elson DS, Nicholson AG, Yang GZ. Clinical Correlation between Real-Time Endocytoscopy, Confocal Endomicroscopy, and Histopathology in the Central Airways. Respiration. 2017 Nov;93(1):51-57.
50. Bao SD, Chen M, Yang GZ. A Method of Signal Scrambling to Secure Data Storage for Healthcare Applications. IEEE J Biomed Health Inform. 2017 Nov;21(6):1487-1494.
51. Zhang Z, Zhang L, Yang GZ. A computationally efficient method for hand-eye calibration. Int J Comput Assist Radiol Surg. 2017 Oct;12(10):1775-1787.
52. Zuo S, Yang GZ. Endomicroscopy for Computer and Robot Assisted Intervention. IEEE Rev Biomed Eng. 2017;10:12-25.
53. Andreu-Perez J, Garcia-Gancedo L, McKinnell J, Van der Drift A, Powell A, Hamy V, Keller T, Yang GZ. Developing Fine-Grained Actigraphies for Rheumatoid Arthritis Patients from a Single Accelerometer Using Machine Learning. Sensors (Basel). 2017 Sep 14;17(9). pii: E2113.
54. Ye M, Johns E, Walter B, Meining A, Yang GZ. An image retrieval framework for real-time endoscopic image retargeting. Int J Comput Assist Radiol Surg. 2017 Aug;12(8):1281-1292.
55. Ravi D, Fabelo H, Callic GM, Yang GZ. Manifold Embedding and Semantic Segmentation for Intraoperative Guidance With Hyperspectral Brain Imaging. IEEE Trans Med Imaging. 2017 Sep;36(9):1845-1857.
56. Anastasova S, Crewther B, Bembnowicz P, Curto V, Ip HM, Rosa B, Yang GZ. A wearable multisensing patch for continuous sweat monitoring. Biosens Bioelectron. 2017 Jul 15;93:139-145.
57. Tonutti M, Gras G, Yang GZ. A machine learning approach for real-time modelling of tissue deformation in image-guided neurosurgery. Artif Intell Med. 2017 Jul;80:39-47.
58. Palamidas AF, Kemp SV, Shen M, McNulty W, Zoumot Z, Hopkinson NS, Yang GZ, Shah PL. Putative Mechanisms of Action of Endobronchial Coils. Am J Respir Crit Care Med. 2017 Jul 1;196(1):109-115.
59. Zhang L, Ye M, Chan PL, Yang GZ. Real-time surgical tool tracking and pose estimation using a hybrid cylindrical marker. Int J Comput Assist Radiol Surg. 2017 Jun;12(6):921-930.
60. Jianzhong Shang, Konrad Leibrandt, Petros Giataganas, Valentina Vitiello, Carlo A. Seneci, Piyamate Wisanuvej, Jindong Liu, Gauthier Gras, James Clark, Ara Darzi, Guang-Zhong Yang. A Single-Port Robotic System for Transanal Microsurgery - Design and Validation. IEEE Robotics and Automation Letters 2(3): 1510-1517 (2017)
61. Konrad Leibrandt, Guang-Zhong Yang. Efficient Proximity Queries for Continuum Robots on Parallel Computing Hardware. IEEE Robotics and Automation Letters 2(3): 1548-1555 (2017)
62. Konrad Leibrandt, Piyamate Wisanuvej, Gauthier Gras, Jianzhong Shang, Carlo A. Seneci, Petros Giataganas, Valentina Vitiello, Ara Darzi, Guang-Zhong Yang. Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery. IEEE Robotics and Automation Letters 2(3): 1704-1711 (2017)
63. Konrad Leibrandt, Christos Bergeles, Guang-Zhong Yang. Concentric Tube Robots: Rapid, Stable Path-Planning and Guidance for Surgical Use. IEEE Robot. Automat. Mag. 24(2): 42-53 (2017)
64. Lin Zhang, Menglong Ye, Petros Giataganas, Michael Hughes, Adrian Bradu, Adrian Gh. Podoleanu, Guang-Zhong Yang. From Macro to Micro: Autonomous Multiscale Image Fusion for Robotic Surgery. IEEE Robot. Automat. Mag. 24(2): 63-72 (2017)
65. Vandini A, Glocker B, Hamady M, Yang GZ. Robust guidewire tracking under large deformations combining segment-like features (SEGlets). Med Image Anal. 2017 May;38:150-164.
66. Alessandro Vandini, Christos Bergeles, Ben Glocker, Petros Giataganas, Guang-Zhong Yang. Unified Tracking and Shape Estimation for Concentric Tube Robots. IEEE Trans. Robotics 33(4): 901-915 (2017)
67. Rafii-Tari H, Payne CJ, Bicknell C, Kwok KW, Cheshire NJW, Riga C, Yang GZ. Objective Assessment of Endovascular Navigation Skills with Force Sensing. Ann Biomed Eng. 2017 May;45(5):1315-1327.
68. Tonutti M, Elson DS, Yang GZ, Darzi AW, Sodergren MH. The role of technology in minimally invasive surgery: state of the art, recent developments and future directions. Postgrad Med J. 2017 Mar;93(1097):159-167.
69. Leff DR, Yongue G, Vlaev I, Orihuela-Espina F, James D, Taylor MJ, Athanasiou T, Dolan R, Yang GZ, Darzi A. "Contemplating the Next Maneuver": Functional Neuroimaging Reveals Intraoperative Decision-making Strategies. Ann Surg. 2017 Feb;265(2):320-330.
70. Ravi D, Wong C, Deligianni F, Berthelot M, Andreu-Perez J, Lo B, Yang GZ. Deep Learning for Health Informatics. IEEE J Biomed Health Inform. 2017 Jan;21(1):4-21.
71. Ravi D, Wong C, Lo B, Yang GZ. A Deep Learning Approach to on-Node Sensor Data Analytics for Mobile or Wearable Devices. IEEE J Biomed Health Inform. 2017 Jan;21(1):56-64


72. Chen S, Lach J, Lo B, Yang GZ. Toward Pervasive Gait Analysis With Wearable Sensors: A Systematic Review. IEEE J Biomed Health Inform. 2016 Nov;20(6):1521-1537.
73. Ding XR, Zhao N, Yang GZ, Pettigrew RI, Lo B, Miao F, Li Y, Liu J, Zhang YT. Continuous Blood Pressure Measurement From Invasive to Unobtrusive: Celebration of 200th Birth Anniversary of Carl Ludwig. IEEE J Biomed Health Inform. 2016 Nov;20(6):1455-1465
74. Rafii-Tari H, Riga CV, Payne CJ, Hamady MS, Cheshire NJ, Bicknell CD, Yang GZ. Reducing contact forces in the arch and supra-aortic vessels using the Magellan robot. J Vasc Surg. 2016 Nov;64(5):1422-1432.
75. Marcus HJ, Payne CJ, Kailaya-Vasa A, Griffiths S, Clark J, Yang GZ, Darzi A, Nandi D. A "Smart" Force-Limiting Instrument for Microsurgery: Laboratory and In Vivo Validation. PLoS One. 2016 Sep 13;11(9):e0162232.
76. Jarchi D, Lo B, Wong C, Ieong E, Nathwani D, Yang GZ. Gait Analysis from a Single Ear-Worn Sensor: Reliability and Clinical Evaluation for Orthopaedic Patients. IEEE Trans Neural Syst Rehabil Eng. 2016 Aug;24(8):882-92.
77. Shetty K, Leff DR, Orihuela-Espina F, Yang GZ, Darzi A. Persistent Prefrontal Engagement Despite Improvements in Laparoscopic Technical Skill. JAMA Surg. 2016 Jul 1;151(7):682-4.
78. Zuo S, Hughes M, Yang GZ. Novel Balloon Surface Scanning Device for Intraoperative Breast Endomicroscopy. Ann Biomed Eng. 2016 Jul;44(7):2313-26.
79. Constantinescu M, Lee SL, Navkar N, Al-Rawas S, Abinahed J, Zheng G, Al-Ansari A, Jomaah N, Landreau P, Yang GZ. Constrained Statistical Modelling of Knee Flexion from Multi-Pose Magnetic Resonance Imaging. IEEE Trans Med Imaging. 2016 Jul;35(7):1686-95.
80. Marcus HJ, Payne CJ, Hughes-Hallett A, Gras G, Leibrandt K, Nandi D, Yang GZ. Making the Leap: the Translation of Innovative Surgical Devices From the Laboratory to the Operating Room. Ann Surg. 2016 Jun;263(6):1077-8.
81. Andreu-Perez J, Leff DR, Shetty K, Darzi A, Yang GZ. Disparity in Frontal Lobe Connectivity on a Complex Bimanual Motor Task Aids in Classification of Operator Skill Level. Brain Connect. 2016 Jun;6(5):375-88.
82. Giannarou S, Ye M, Gras G, Leibrandt K, Marcus HJ, Yang GZ. Vision-based deformation recovery for intraoperative force estimation of tool-tissue interaction for neurosurgery. Int J Comput Assist Radiol Surg. 2016 Jun;11(6):929-36.
83. Hughes M, Yang GZ. Line-scanning fiber bundle endomicroscopy with a virtual detector slit. Biomed Opt Express. 2016, May 18;7(6):2257-68.
84. Liang Zhao, Stamatia Giannarou, Su-Lin Lee, Guang-Zhong Yang. SCEM+: Real-Time Robust Simultaneous Catheter and Environment Modeling for Endovascular Navigation. IEEE Robotics and Automation Letters 1(2): 961-968 (2016)
85. Marcus HJ, Payne CJ, Hughes-Hallett A, Marcus AP, Yang GZ, Darzi A, Nandi D. Regulatory approval of new medical devices: cross sectional study. BMJ. 2016 May 20;353:i2587.
86. Ye M, Giannarou S, Meining A, Yang GZ. Online tracking and retargeting with applications to optical biopsy in gastrointestinal endoscopic examinations. Med Image Anal. 2016 May;30:144-157.
87. Edmondson MJ, Pucher PH, Sriskandarajah K, Hoare J, Teare J, Yang GZ, Darzi A, Sodergren MH. Looking towards objective quality evaluation in colonoscopy: Analysis of visual gaze patterns. J Gastroenterol Hepatol. 2016 Mar;31(3):604-9.
88. Marcus HJ, Seneci CA, Hughes-Hallett A, Cundy TP, Nandi D, Yang GZ, Darzi A. Comparative Performance in Single-Port Versus Multiport Minimally Invasive Surgery, and Small Versus Large Operative Working Spaces: A Preclinical Randomized Crossover Trial. Surg Innov. 2015 Oct 12. Surg Innov. 2016 Apr;23(2):148-55.
89. Kwasnicki RM, Hughes-Hallett A, Marcus HJ, Yang GZ, Darzi A, Hettiaratchy S. Fifty Years of Innovation in Plastic Surgery. Arch Plast Surg. 2016 Mar;43(2):145-52.
90. Di Marco AN, Jeyakumar J, Pratt PJ, Yang GZ, Darzi AW. Evaluating a Novel 3D Stereoscopic Visual Display for Transanal Endoscopic Surgery: A Randomized Controlled Crossover Study. Ann Surg. 2016 Jan;263(1):36-42.
91. Lo BP, Ip H, Yang GZ. Transforming Health Care: Body Sensor Networks, Wearables, and the Internet of Things. IEEE Pulse. 2016 Jan-Feb;7(1):4-8.
92. Pettitt C, Liu J, Kwasnicki RM, Yang GZ, Preston T, Frost G. A pilot study to determine whether using a lightweight, wearable micro-camera improves dietary assessment accuracy and offers information on macronutrients and eating rate. Br J Nutr. 2016 Jan;115(1):160-7.


93. Zuo S, Hughes M, Seneci C, Chang TP, Yang GZ. Toward Intraoperative Breast Endomicroscopy With a Novel Surface-Scanning Device. IEEE Trans Biomed Eng. 2015 Dec;62(12):2941-52.
94. Andreu-Perez J, Leff DR, Ip HM, Yang GZ. From Wearable Sensors to Smart Implants-- Toward Pervasive and Personalized Healthcare. IEEE Trans Biomed Eng. 2015 Dec;62(12):2750-62.
95. Pratt P, Jaeger A, Hughes-Hallett A, Mayer E, Vale J, Darzi A, Peters T, Yang GZ. Robust ultrasound probe tracking: initial clinical experiences during robot-assisted partial nephrectomy. Int J Comput Assist Radiol Surg. 2015 Dec;10(12):1905-13.
96. Patel N, Seneci CA, Shang J, Leibrandt K, Yang GZ, Darzi A, Teare J. Evaluation of a novel flexible snake robot for endoluminal surgery. Surg Endosc. 2015 Nov;29(11):3349-55.
97. Crewther BT, Shetty K, Jarchi D, Selvadurai S, Cook CJ, Leff DR, Darzi A, Yang GZ. Skill acquisition and stress adaptations following laparoscopic surgery training and detraining in novice surgeons. Surg Endosc. Surg Endosc. 2016 Jul;30(7):2961-8.
98. Leff DR, James DR, Orihuela-Espina F, Kwok KW, Sun LW, Mylonas G, Athanasiou T, Darzi AW, Yang GZ. The impact of expert visual guidance on trainee visual search strategy, visual attention and motor skills. Front Hum Neurosci. 2015 Oct 14;9:526
99. Edgcumbe P, Pratt P, Yang GZ, Nguan C, Rohling R. Pico Lantern: Surface reconstruction and augmented reality in laparoscopic surgery using a pick-up laser projector. Med Image Anal. 2015 Oct;25(1):95-102.
100. Rafii-Tari H, Riga CV, Payne CJ, Hamady MS, Cheshire NJ, Bicknell CD, Yang GZ. Reducing contact forces in the arch and supra-aortic vessels using the Magellan robot. J Vasc Surg. 2015 Sep 17. pii: S0741-5214(15)01464-0. [Epub ahead of print]
101. Payne CJ, Marcus HJ, Yang GZ. A Smart Haptic Hand-Held Device for Neurosurgical Microdissection. Ann Biomed Eng. 2015 Sep;43(9):2185-95.
102. Chang TP, Leff DR, Shousha S, Hadjiminas DJ, Ramakrishnan R, Hughes MR, Yang GZ, Darzi A. Imaging breast cancer morphology using probe-based confocal laser endomicroscopy: towards a real-time intraoperative imaging tool for cavity scanning. Breast Cancer Res Treat. 2015 Sep;153(2):299-310.
103. Keir GJ, Nair A, Giannarou S, Yang GZ, Oldershaw P, Wort SJ, MacDonald P, Hansell DM, Wells AU. Pulmonary vasospasm in systemic sclerosis: noninvasive techniques for detection. Pulm Circ. 2015 Sep;5(3):498-505.
104. Cundy TP, Marcus HJ, Hughes-Hallett A, MacKinnon T, Najmaldin AS, Yang GZ, Darzi A. Robotic versus Non-Robotic Instruments in Spatially Constrained Operative Workspaces - A Pre-Clinical Randomised Crossover Study. BJU Int. 2015 Sep;116(3):415-22.
105. Gowers SA, Curto VF, Seneci CA, Wang C, Anastasova S, Vadgama P, Yang GZ, Boutelle MG. 3D Printed Microfluidic Device with Integrated Biosensors for Online Analysis of Subcutaneous Human Microdialysate. Anal Chem. 2015 Aug 4;87(15):7763-70.
106. Cantillon-Murphy P, Cundy TP, Patel NK, Yang GZ, Darzi A, Teare JP. Magnets for therapy in the GI tract: a systematic review. Gastrointest Endosc. 2015 Aug;82(2):237-45.
107. Andreu-Perez J, Poon CC, Merrifield RD, Wong ST, Yang GZ. Big data for health. IEEE J Biomed Health Inform. 2015 Jul;19(4):1193-208
108. Kirby GS, Guyver P, Strickland L, Alvand A, Yang GZ, Hargrove C, Lo BP, Rees JL. Assessing Arthroscopic Skills Using Wireless Elbow-Worn Motion Sensors. J Bone Joint Surg Am. 2015 Jul 1;97(13):1119-27
109. Marcus HJ, Hughes-Hallett A, Kwasnicki RM, Darzi A, Yang GZ, Nandi D. Technological innovation in neurosurgery: a quantitative study. J Neurosurg. 2015 Jul;123(1):174-81.
110. Liu J, Yang G-Z, Robust speech recognition in reverberant environments by using an optimal synthetic room impulse response model, Speech Communication 2015;67:65-77.
111. Shen M, Giannarou S, Yang GZ. Robust camera localisation with depth reconstruction for bronchoscopic navigation. Int J Comput Assist Radiol Surg. 2015 Jun;10(6):801-13.
112. Giataganas P, Hughes M, Yang GZ. Force adaptive robotically assisted endomicroscopy for intraoperative tumour identification. Int J Comput Assist Radiol Surg. 2015 Jun;10(6):825-32.
113. Kwasnicki RM, Ali R, Jordan SJ, Atallah L, Leong JJ, Jones GG, Cobb J, Yang GZ, Darzi A. A wearable mobility assessment device for total knee replacement: A longitudinal feasibility study. Int J Surg. 2015 Jun;18:14-20.
114. Paggetti G, Leff DR, Orihuela-Espina F, Mylonas G, Darzi A, Yang GZ, Menegaz G. The role of the posterior parietal cortex in stereopsis and hand-eye coordination during motor task behaviours. Cogn Process. 2015 May;16(2):177-90.
115. Teachasrisaksakul K, Zhang ZQ, Yang GZ, Lo B. Imitation of Dynamic Walking With BSN for Humanoid Robot. IEEE J Biomed Health Inform. 2015 May;19(3):794-802.
116. Kwasnicki RM, Hettiaratchy S, Jarchi D, Nightingale C, Wordsworth M, Simmons J, Yang G-Z, Darzi A, Assessing functional mobility after lower limb reconstruction: A psychometric evaluation of a sensor-based mobility score, Annals of Surgery 2015 Apr;261(4):800-6.
117. Marcus HJ, Hughes-Hallett A, Cundy TP, Yang GZ, Darzi A, Nandi D. da Vinci robot-assisted keyhole neurosurgery: a cadaver study on feasibility and safety. Neurosurg Rev. 2015 Apr;38(2):367-71
118. Pucher PH, Sodergren MH, Lord AC, Teare J, Yang G-Z, Darzi A, Consumer demand for surgical innovation: a systematic review of public perception of NOTES, Surgical Endoscopy, 2014 2015 Apr;29(4):774-80.
119. Hughes M, Giataganas P, Yang G-Z, 2014, Color reflectance fiber bundle endomicroscopy without back-reflections, JOURNAL OF BIOMEDICAL OPTICS, Vol: 19 2014 Mar;19(3):30501
120. Hughes M, Yang GZ. High speed, line-scanning, fiber bundle fluorescence confocal endomicroscopy for improved mosaicking. Biomed Opt Express. 2015 Mar 12;6(4):1241-52.
121. Clark J, Noonan DP, Vitiello V, Sodergren MH, Shang J, Payne CJ, Cundy TP, Yang G-Z, Darzi A, A novel flexible hyper-redundant surgical robot: prototype evaluation using a single incision flexible access pelvic application as a clinical exemplar, Surgical Endoscopy, 2015 Mar;29(3):658-67.
122. Zhang ZQ, Yang GZ. Micromagnetometer Calibration for Accurate Orientation Estimation. IEEE Trans Biomed Eng. 2015 Feb;62(2):553-60
123. Tien T, Pucher PH, Sodergren MH, Sriskandarajah K, Yang G-Z, Darzi A, Differences in gaze behaviour of expert and junior surgeons performing open inguinal hernia repair, Surgical Endoscopy 2015 Feb;29(2):405-13
124. Chaudery M, Clark J, Wilson MH, Bew D, Yang GZ, Darzi A. Traumatic intra-abdominal hemorrhage control: Has current technology tipped the balance toward a role for prehospital intervention? J Trauma Acute Care Surg. 2015 Jan;78(1):153-63


125. Atallah L, Wiik A, Lo B, Cobb JP, Amis AA, Yang G-Z, 2014, Gait asymmetry detection in older adults using a light ear-worn sensor, PHYSIOLOGICAL MEASUREMENT, 2014, Vol: 35, N29-N40.
126. Bergeles C, Yang G-Z, From Passive Tool Holders to Microsurgeons: Safer, Smaller, Smarter Surgical Robots, IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 2014, Vol: 61, 1565-1576.
127. Bouarfa L, Atallah L, Kwasnicki RM, Pettitt C, Frost G, Yang G-Z, Predicting Free-Living Energy Expenditure Using a Miniaturized Ear-Worn Sensor: An Evaluation Against Doubly Labeled Water, IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 2014, Vol: 61, 566-575.
128. Cundy TP, Gattas NE, Yang G-Z, Darzi A, Najmaldin AS, Experience Related Factors Compensate for Haptic Loss in Robot-Assisted Laparoscopic Surgery, JOURNAL OF ENDOUROLOGY, 2014, Vol: 28, 532-538.
129. Cundy TP, Harling L, Hughes-Hallett A, Mayer EK, Najmaldin AS, Athanasiou T, Yang G-Z, Darzi A, Meta-analysis of robot-assisted vs conventional laparoscopic and open pyeloplasty in children, BJU INTERNATIONAL, 2014. Vol: 114, 582-594.
130. Cundy TP, Marcus HJ, Clark J, Hughes-Hallett A, Mayer EK, Najmaldin AS, Yang G-Z, Darzi A, Robot-Assisted Minimally Invasive Surgery for Pediatric Solid Tumors: A Systematic Review of Feasibility and Current Status, EUROPEAN JOURNAL OF PEDIATRIC SURGERY, 2014, Vol: 24, 127-135
131. Cundy TP, Marcus HJ, Hughes-Hallett A, Najmaldin AS, Yang G-Z, Darzi A, International attitudes of early adopters to current and future robotic technologies in pediatric surgery, JOURNAL OF PEDIATRIC SURGERY, 2014, Vol: 49, 1522-1526.
132. Feng Y, He T, Feng M, Carpenter J-P, Greiser A, Xin X, Chen W, Pennell DJ, Yang G-Z, Firmin DN, Improved Pixel-by-Pixel MRI R2*Relaxometry by Nonlocal Means, MAGNETIC RESONANCE IN MEDICINE, 2014, Vol: 72, 260-268.
133. Hughes-Hallett A, Pratt P, Mayer E, Di Marco A, Yang G-Z, Vale J, Darzi A, Intraoperative Ultrasound Overlay in Robot-assisted Partial Nephrectomy: First Clinical Experience, EUROPEAN UROLOGY, 2014, Vol: 65, 671-672.
134. Jarchi D, Wong C, Kwasnicki RM, Heller B, Tew GA, Yang G-Z, Gait Parameter Estimation From a Miniaturized Ear-Worn Sensor Using Singular Spectrum Analysis and Longest Common Subsequence, IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 2014, Vol: 61, Pages: 1261-1273,
135. Johns E, Yang G-Z, Generative Methods for Long-Term Place Recognition in Dynamic Scenes, INTERNATIONAL JOURNAL OF COMPUTER VISION, 2014, Vol: 106, 297-314.
136. Marcus HJ, Cundy TP, Hughes-Hallett A, Yang G-Z, Darzi A, Nandi D, Endoscopic and keyhole endoscope-assisted neurosurgical approaches: A qualitative survey on technical challenges and technological solutions, BRITISH JOURNAL OF NEUROSURGERY, 2014, Vol: 28, 606-610.
137. Marcus HJ, Cundy TP, Nandi D, Yang G-Z, Darzi A, Robot-assisted and fluoroscopy-guided pedicle screw placement: a systematic review, EUROPEAN SPINE JOURNAL, 2014, Vol: 23, 291-297.
138. Marcus HJ, Hughes-Hallett A, Cundy TP, Di Marco A, Pratt P, Nandi D, Darzi A, Yang G-Z, Comparative Effectiveness of 3-Dimensional vs 2-Dimensional and High-Definition vs Standard-Definition Neuroendoscopy: A Preclinical Randomized Crossover Study, NEUROSURGERY, 2014, Vol: 74, 375-380.
139. Marcus HJ, Seneci CA, Payne CJ, Nandi D, Darzi A, Yang G-Z, Robotics in Keyhole Transcranial Endoscope-Assisted Microsurgery: A Critical Review of Existing Systems and Proposed Specifications for New Robotic Platforms, NEUROSURGERY, 2014, Vol: 10, 84-95.
140. Marcus HJ, Zareinia K, Gan LS, Yang FW, Lama S, Yang G-Z, Sutherland GR, Forces exerted during microneurosurgery: a cadaver study, INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 2014, Vol: 10, 251-256.
141. Payne CJ, Yang G-Z, 2014, Hand-Held Medical Robots, ANNALS OF BIOMEDICAL ENGINEERING, 2014, Vol: 42, 1594-1605.
142. Rafii-Tari H, Payne CJ, Yang G-Z, Current and Emerging Robot-Assisted Endovascular Catheterization Technologies: A Review, ANNALS OF BIOMEDICAL ENGINEERING, 2014, Vol: 42, 697-715.
143. Sodergren MH, Warren A, Nehme J, Clark J, Gillen S, Feussner H, Teare J, Darzi A, Yang G-Z, Endoscopic Horizon Stabilization in Natural Orifice Translumenal Endoscopic Surgery A Randomized Controlled Trial, SURGICAL INNOVATION, 2014, Vol: 21, 74-79.
144. Tien T, Pucher PH, Sodergren MH, Sriskandarajah K, Yang G-Z, Darzi A, Eye tracking for skills assessment and training: a systematic review, JOURNAL OF SURGICAL RESEARCH, 2014, Vol: 191, 169-178.
145. Zhang Z-Q, Yang G-Z, Calibration of Miniature Inertial and Magnetic Sensor Units for Robust Attitude Estimation, IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2014, Vol: 63, Pages: 711-718.
146. Zheng Y-L, Ding X-R, Poon CCY, Lo BPL, Zhang H, Zhou X-L, Yang G-Z, Zhao N, Zhang Y-T, Unobtrusive Sensing and Wearable Devices for Health Informatics, IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 2014, Vol: 61, 1538-1554


147. Wang L, Lekadir, K, Lee SL, Merrifield R, Yang GZ, A General Framework for Context-Specific Segmentation Using Reinforcement Learning, IEEE Trans Med Imaging. 2013; 32:943-956.
148. Sridhar AN, Hughes-Hallett A, Mayer EK, Pratt PJ, Edwards PJ, Yang G-Z, Darzi AW, Vale JA, Image-guided robotic interventions for prostate cancer, NATURE REVIEWS UROLOGY, 2013, Vol: 10, 452-462.
149. Nehme J, Sodergren MH, Sugden C, Aggarwal R, Gillen S, Feussner H, Yang G-Z, Darzi A, 2013, A Randomized Controlled Trial Evaluating Endoscopic and Laparoscopic Training in Skills Transfer for Novices Performing a Simulated NOTES Task, SURGICAL INNOVATION, 2013, Vol: 20, 631-638.
150. Cundy TP, Shetty K, Clark J, Chang TP, Sriskandarajah K, Gattas NE, Najmaldin A, Yang G-Z, Darzi A, 2013, The first decade of robotic surgery in children, JOURNAL OF PEDIATRIC SURGERY, 2013, Vol: 48, Pages: 858-865.
151. Lee S-L, Kwok K-W, Wang L, Riga C, Bicknell C, Cheshire N, Yang G-Z, Motion-adapted catheter navigation with real-time instantiation and improved visualisation, Journal of Robotic Surgery, 2013, Vol: 7, 251-260.
152. Hughes M, Chang TP, Yang G-Z, Fiber bundle endocytoscopy, BIOMEDICAL OPTICS EXPRESS, 2013, Vol: 4, 2781-2794.
153. Pucher P, Sodergren MH, Alkhusheh M, Clark J, Jethwa P, Teare J, Yang GZ, Darzi A. The Effects of Natural Orifice Translumenal Endoscopic Surgery (NOTES) on Cardiorespiratory Physiology: A Systematic Review. Surg Innov. 2013 Apr;20(2):183-9
154. He B, Baird R, Butera R, Datta A, George S, Hecht B, Hero A, Lazzi G, Lee RC, Liang J, Neuman M, eng GC, Perreault E, Ramasubramanian M, Wang MD, Wikswo J, Yang GZ, Zhang YT. IEEE Trans Biomed Eng. 2013; 60:589-598.
155. Marcus H, Nandi D, Darzi A, Yang GZ, Surgical Robotics through a Keyhole: from Today’s Translational Barriers to Tomorrow’s ‘Disappearing’ Robots, IEEE Trans Biomed Eng. 2013; 60:674-681.
156. Vitiello, V, Lee, S, Cundy, T, Yang, GZ, Emerging Robotic Platforms for Minimally Invasive Surgery, IEEE Reviews in Biomedical Engineering, 2013; 6: 111-126.
157. Kwok, K.-W, Tsoi, K. H, Vitiello, V, Clark, J, Chow, G. C. T, Luk, W, Yang, G.-Z, Dimensionality Reduction in Controlling Articulated Snake Robot for Endoscopy Under Dynamic Active Constraints, IEEE Transactions on Robotics, 2013; 29:15-31.
158. Gao Q, Chang PL, Rueckert D, Ali SM, Cohen D, Pratt P, Mayer E, Yang GZ, Darzi A, Edwards PE. Modeling of the bony pelvis from MRI using a multi-atlas AE-SDM for registration and tracking in image-guided robotic prostatectomy. Comput Med Imaging Graph. 2013; 37:183-194.
159. Atallah L, Aziz O, Gray E, Lo B, Yang GZ. An ear-worn sensor for the detection of gait impairment after abdominal surgery. Surg Innov. 2013;20(1):86-94.
160. Moghul MR, Sodergren MH, Clark J, Teare J, Yang GZ, Darzi A. Education and Training in NOTES: A Systematic Review. Surg Innov. 2013; 20:282-291.
161. Clark J, Leff DR, Sodergren M, Newton R, Noonan D, Goldin R, Darzi A, Yang GZ. Single-incision transumbilical levels 1 and 2 axillary lymph node dissection using a flexible endoscope in human cadaveric models. Surg Endosc. 2013;27(2):478-86.
162. Clark J, Orihuela-Espina F, Sodergren M, James DR, Karimyan V, Teare J, Darzi A, Yang GZ. A quantitative scale to define endoscopic torque control during natural orifice surgery. Minim Invasive Ther Allied Technol. 2013;22(1):17-25.
163. James DR, Leff DR, Orihuela-Espina F, Kwok KW, Mylonas GP, Athanasiou T, Darzi AW, Yang GZ. Enhanced frontoparietal network architectures following "gaze-contingent" versus "free-hand" motor learning. Neuroimage. 2013;64:267-76.
164. Giannarou S, Visentini-Scarzanella M, Yang GZ. Probabilistic tracking of affine-invariant anisotropic regions. IEEE Trans Pattern Anal Mach Intell. 2013;35(1):130-43
165. Benny Lo, Surapa Thiemjarus, Athanasia Panousopoulou, and Guang-Zhong Yang, Bioinspired Design for Body Sensor Networks, IEEE Signal Processing Magazine. 2013; 30(1):165-170.


166. Copley SJ, Giannarou S, Schmid VJ, Hansell DM, Wells AU, Yang GZ. Effect of aging on lung structure in vivo: assessment with densitometric and fractal analysis of high-resolution computed tomography data. J Thorac Imaging. 2012 Nov;27(6):366-71.
167. Clancy NT, Stoyanov D, James DR, Di Marco A, Sauvage V, Clark J, Yang GZ, Elson DS. Multispectral image alignment using a three channel endoscope in vivo during minimally invasive surgery. Biomed Opt Express. 2012 Oct 1;3(10):2567-78.
168. Kwok KW, Sun LW, Mylonas GP, James DR, Orihuela-Espina F, Yang GZ. Collaborative gaze channelling for improved cooperation during robotic assisted surgery. Ann Biomed Eng. 2012 Oct;40(10):2156-67.
169. Newton RC, Noonan DP, Vitiello V, Clark J, Payne CJ, Shang J, Sodergren M, Darzi A, Yang GZ. Robot-assisted transvaginal peritoneoscopy using confocal endomicroscopy: a feasibility study in a porcine model. Surg Endosc. 2012 Sep;26(9):2532-40.
170. Howitt P, Darzi A, Yang GZ et al, Technologies for global health. Lancet. 2012 Aug 4;380(9840):507-35.
171. Chetwood AS, Kwok KW, Sun LW, Mylonas GP, Clark J, Darzi A, Yang GZ. Collaborative eye tracking: a potential training tool in laparoscopic surgery. Surg Endosc. 2012 Jul;26(7):2003-9.
172. Clancy NT, Clark J, Noonan DP, Yang GZ, Elson DS. Light sources for single-access surgery. Surg Innov. 2012 Jun;19(2):134-44.
173. J. Clark, K. Shetty, M. H. Sodergren, D. R. C. James, S. Purkayastha, T. Athanasiou, G.-Z. Yang, A. Darzi, Robotic-assisted total mesorectal excision: should it be considered as thetechnique of choice in the management of rectal cancer? Journal of Robotic Surgery. June 2012, Volume 6, Issue 2, pp 99-114.
174. Totz J, Fujii K, Mountney P, Yang GZ. Enhanced visualisation for minimally invasive surgery. Int J Comput Assist Radiol Surg. 2012 May;7(3):423-32.
175. Wieboldt J, Atallah L, Kelly JL, Shrikrishna D, Gyi KM, Lo B, Yang GZ, Bilton D, Polkey MI, Hopkinson NS. Effect of acute exacerbations on skeletal muscle strength and physical activity in cystic fibrosis. J Cyst Fibros. 2012 May;11(3):209-15.
176. Atallah L, Wiik A, Jones GG, Lo B, Cobb JP, Amis A, Yang GZ. Validation of an ear-worn sensor for gait monitoring using a force-plate instrumented treadmill, Gait Posture. 2012 Apr;35(4):674-6.
177. Mountney P, Yang GZ. Context specific descriptors for tracking deforming tissue. Med Image Anal. 2012 Apr;16(3):550-61.
178. Mylonas GP, Kwok KW, James DR, Leff D, Orihuela-Espina F, Darzi A, Yang GZ. Gaze-Contingent Motor Channelling, haptic constraints and associated cognitive demand for robotic MIS. Med Image Anal. 2012 Apr;16(3):612-31.
179. Atasoy S, Mateus D, Meining A, Yang GZ, Navab N. Endoscopic video manifolds for targeted optical biopsy. IEEE Trans Med Imaging. 2012 Mar;31(3):637-53.
180. Coomber RS, Sodergren MH, Clark J, Teare J, Yang GZ, Darzi A. Natural orifice translumenal endoscopic surgery applications in clinical practice. World J Gastrointest Endosc. 2012 Mar 16;4(3):65-74.
181. Sodergren M, Yang GZ, Darzi A. Perception and orientation in minimally invasive surgery. Arch Surg. 2012 Mar;147(3):210-1.
182. Louis Atallah, Benny Lo and G.Z. Yang, Can Pervasive Sensing Address Current Challenges in Global Healthcare?, Journal of Epidemiology and Global Health, 2012 Mar, 2 (1): 1-13.
183. Warren A, Mountney P, Noonan D, Yang GZ. Horizon stabilized--dynamic view expansion for robotic assisted surgery (HS-DVE). Int J Comput Assist Radiol Surg. 2012 Mar;7(2):281-8.
184. Ali R, Atallah L, Lo B, Yang GZ. Detection and analysis of transitional activity in manifold space. IEEE Trans Inf Technol Biomed. 2012 Jan;16(1):119-28.
185. Karimyan V, Orihuela-Espina F, Leff DR, Clark J, Sodergren M, Darzi A, Yang GZ. Spatial awareness in Natural Orifice Transluminal Endoscopic Surgery (NOTES) navigation. Int J Surg. 2012;10(2):80-6.
186. Newton RC, Kemp SV, Yang GZ, Elson DS, Darzi A, Shah PL. Imaging parenchymal lung diseases with confocal endomicroscopy. Respir Med. 2012 Jan;106(1):127-37.
187. Louis Atallah, Douglas McIlwraith, Surapa Thiemjarus, Benny Lo, Guang-Zhong Yang, Distributed inferencing with ambient and wearable sensors, Wireless Communications and Mobile Computing, Special Issue: Recent Advancement in Wireless Ad Hoc and Sensor Networks, 2012; 12(1), 117–131.
188. Philip Pratt, Erik Mayer, Justin Vale, Daniel Cohen, Eddie Edwards, Ara Darzi and Guang-Zhong Yang. An effective visualisation and registration system for image-guided robotic partial nephrectomy. Journal of Robotic Surgery, 2012; 6(1), 23-31.


189. Athanasiou T, Ashrafian H, Rao C, Yang GZ, Darzi A. The Tipping Point of Robotic Surgery In Healthcare: From Master-Slave to Flexible Access Bio-Inspired Platforms. Surg Technol Int. 2011 Dec 1;XXI:28-34
190. Y. Zhao, A. Sani, Y. Hao, S.-L. Lee, and G.-Z. Yang, "A Subject-Specific Radio Propagation Study in Wireless Body Area Networks," IEEE Antennas and Propagation Magazine, 2011. (accepted).
191. Sodergren MH, Orihuela-Espina F, Froghi F, Clark J, Teare J, Yang GZ, Darzi A. Value of orientation training in laparoscopic cholecystectomy. Br J Surg. 2011 Oct; 98(10):1437-45.Patterson, J.A.C.; Guang-Zhong Yang, Ratiometric Artifact Reduction in Low Power Reflective Photoplethysmography, IEEE Trans Biomedical Circuits and Systems, 2011, 5(4): 330 – 338.
192. Atallah, L.; Lo, B.; King, R.; Guang-Zhong Yang, Sensor Positioning for Activity Recognition Using Wearable Accelerometers, IEEE Trans Biomedical Circuits and Systems, 2011, 5(4): 320 – 329.
193. J Pansiot, Z Zhang, B Lo and G Z Yang, WISDOM: wheelchair inertial sensors for displacement and orientation monitoring, Measurement Science and Technology, 22(10), 2011.
194. Latt WT, Newton RC, Visentini-Scarzanella M, Payne CJ, Noonan DP, Shang J, Yang GZ.A Hand-held Instrument to Maintain Steady Tissue Contact during Probe-Based Confocal Laser Endomicroscopy. IEEE Trans Biomed Eng. 2011 Sep; 58(9):2694-703.
195. Sodergren MH, Pucher P, Clark J, James DR, Sockett J, Matar N, Teare J, Yang GZ, Darzi A. Disinfection of the Access Orifice in NOTES: Evaluation of the Evidence Base. Diagn Ther Endosc. 2011:245175. Epub 2011 Jul 12.
196. Atallah L, Leong JJ, Lo B, Yang GZ. Energy Expenditure Prediction Using a Miniaturised Ear-Worn Sensor. Med Sci Sports Exerc. Med Sci Sports Exerc. 2011 Jul; 43(7):1369-77.
197. Sodergren MH, Orihuela-Espina F, Mountney P, Clark J, Teare J, Darzi A, Yang GZ. Orientation strategies in natural orifice translumenal endoscopic surgery. Ann Surg. 2011 Aug; 254(2):257-66.
198. Clark J, Sodergren MH, Purkayastha S, Mayer EK, James D, Athanasiou T, Yang GZ, Darzi A. The role of robotic assisted laparoscopy for oesophagogastric oncological resection; an appraisal of the literature. Dis Esophagus. 2011 May; 24(4):240-50.
199. James DR, Orihuela-Espina F, Leff DR, Sodergren MH, Athanasiou T, Darzi AW, Yang GZ. The ergonomics of natural orifice translumenal endoscopic surgery (NOTES) navigation in terms of performance, stress, and cognitive behavior. Surgery. 2011 Apr; 149(4): 525-33.
200. Crewther BT, Kilduff LP, Cunningham DJ, Cook C, Owen N, Yang GZ. Validating two systems for estimating force and power. Int J Sports Med. 2011 Apr; 32(4):254-8.
201. Clark J, Gillen S, James DR, Fiolka A, Karimyan V, Sodergren M, Orihuela-Espina F, Friess H, Darzi A, Feussner HD, Yang GZ. Transgastric or trans-sigmoidal? The impact of the choice of access on task performance in target natural orifice translumenal endoscopic surgery procedures. J Laparoendosc Adv Surg Tech A. 2011 Apr; 21(3):237-42.
202. Newton RC, Kemp SV, Shah PL, Elson D, Darzi A, Shibuya K, Mulgrew S, Yang GZ. Progress toward optical biopsy: bringing the microscope to the patient. Lung. 2011 Apr;189(2):111-9.
203. Aziz O, Atallah L, Lo B, Gray E, Athanasiou T, Darzi A, Yang GZ. Ear-worn body sensor network device: an objective tool for functional postoperative home recovery monitoring. J Am Med Inform Assoc. J Am Med Inform Assoc. 2011 Mar-Apr; 18(2):156-9.
204. Newton RC, Kemp SV, Yang GZ, Darzi A, Sheppard MN, Shah PL. Tracheobronchial amyloidosis and confocal endomicroscopy. Respiration. 2011; 82(2):209-11.
205. Meining A, Feussner H, Swain P, Yang GZ, Lehmann K, Zorron R, Meisner S, Ponsky J, Martiny H, Reddy N, Armengol-Miro JR, Fockens P, Fingerhut A, Costamagna G. Natural-orifice transluminal endoscopic surgery (NOTES) in Europe: summary of the working group reports of the Euro-NOTES meeting 2010. Endoscopy. 2011 Feb; 43(2):140-3.
206. Leff DR, Vashisht R, Yongue G, Keshtgar M, Yang GZ, Darzi A. Endoscopic breast surgery: where are we now and what might the future hold for video-assisted breast surgery? Breast Cancer Res Treat. 2011 Feb; 125(3):607-25.
207. Leff DR, Orihuela-Espina F, Elwell CE, Athanasiou T, Delpy DT, Darzi AW, Yang GZ. Assessment of the cerebral cortex during motor task behaviours in adults: A systematic review of functional near infrared spectroscopy (fNIRS) studies. Neuroimage. 2011 Feb 14;54(4):2922-36.
208. Lekadir K, Keenan NG, Pennell DJ, Yang GZ. An inter-landmark approach to 4-D shape extraction and interpretation: application to myocardial motion assessment in MRI. IEEE Trans Med Imaging. IEEE Trans Med Imaging. 2011 Jan;30(1):52-68.

Software copyright registration and Patent

• PCT/GB2017/051436 Surgical Instrument. This patent features the design of surgical tools incorporating a flexible elbow, a wrist and end-effectors; and the design of several articulated end effectors incorporating monopolar and bipolar electrocautery, cutting, and grasping tools.
• PCT/GB2017/051436 Safety Device. The patent covers the general and technical aspects of the supporting arm holding the surgical robot and the surgical port and its safety mechanism. The robotic arm is composed of a series of linkages and hinge joints with breaks and position sensors. It can move when the user requires it, it can hold and measure the position.
• PCT/GB2017/051436 Control System. The patent covers the general architecture of the control system components, some technical aspects and the implementation of a safety mechanism. The control system is composed of a plurality of motor controllers, a safety watchdog, a motherboard that are operably connected in a modular architecture.
• GB1616827 Coupling Instrument Drive Unit and Robotic Surgical Instrument. The patent describes a quick inter-changing mechanism for changing surgical instrument to minimise dead-time during surgery. It describes a simple surgical instrument design connected by actuating ”hooks” and therefore significantly simplifies the sterilisable part of the instrument, leading towards disposable robotic surgical instrument.
• WO/2015/GB53621 Absolute Rotary Encoder - A rotary encoder for measuring absolute rotation around an axis of the rotary encoder for accurate robotic joint control.
• WO2009/004296, PCT/GB2008/002139, Non-photorealistic rendering of augmented reality (A method for rendering a captured image of a scene that provide see-through vision in image guided surgery without the knowledge nor explicit 3D model of the object).
• WO/2010/149969, An actuatable joint arrangement including a first joint member, a transmission member and drive means associated with the first joint member and a second joint member moveably linked to the first joint member to enable movement of the first and second joint members relative to each other. Incorporation within endoscopes improves flexibility and manoeuvrability of the device; improving surgical efficiency.
• WO/2012/153151, Surgical device and in particular a bimanual robotic surgical device suitable for use in Minimally Invasive Surgery (MIS). The end of the surgical device is flexible and accommodates two arms that each can hold an interchangeable instrument and carries an on-board camera and LED lights. Potential of performing complicated surgical tasks that are difficult for standard endoscopic surgery.
• WO/2012/153152, Apparatus for Minimal Invasive Surgery (MIS) comprising a master device, a slave device, a detector for detecting a parameter of, or associated with the slave device, and a shape locking system for locking the shape of the master device in response to a parameter detected by the detector.
• WO/2012/080694, A robotic control device for receiving manipulation instructions for an end effector of a surgical instrument. Exhibits a platform for supporting a haptic manipulator device, the platform being movably coupled to a surface for supporting the platform and having a movement facilitating member operable to change the amount of force required to move the platform relative to the surface.
• WO2014/053859, The invention relates to an endovascular catheterisation device capable of insertion within the vascular system of a patient using minimal invasive surgery. The device allows for force amplification of the forces experienced by the catheter tip, and subsequently provides tactile feedback of the forces to the user, improving perception, manoeuvrability, and control of the device by the user; improving surgical efficiency.
• PCT/GB2014/052686, The invention relates to imaging, and in particular to methods and apparatus for co-registration of images and for the tracking of objects in an image. This relates to the tracking of objects in an image which may be subject to motion, deformation and changes of perspective and/or magnification of the imaging apparatus.
• WO03/024319, US 10/490128 & EP 02758639.5, Manipulation of image data (a method of analysing an image comprising carrying out eye tracking on an observer observing the image and applying factor analysis to the fixation regions to identify underlying image attributes which the observer is seeking).
• WO04/029786, US 10/529023 & EP 1550025, Control of Robotic Manipulation (In a remote controlled robotic manipulator a motion sensor senses motion of a region of an object to be manipulated. A controller locks motion of the robotic manipulator relative to the region of the object and also selects the region of the object to be sensed. The frame of reference of the manipulator is locked relative to the relevant region of the object to be manipulated, improving ease of control and manipulation).
• WO06/000789 & EP 05755129.3, Method of correlating internal tissue movement (Internal tissue movement is correlated with the external body surface movement by tracking external surface movement at a plurality of surface points, simultaneously imaging internal tissue movement and correlating the external and internal movement using partial least squares regression to obtain a correlation model. In subsequent techniques, internal tissue movement can be predicted from measured external surface movement using the correlation model).
• WO07/026130, Bayesian feature selection (A method of feature selection applicable to both forward selection and backward elimination of features. The algorithm selects features to be used as an input for a classifier. Exemplary applications are in homecare or patient modelling, body sensor networks, environmental monitoring, image processing and questionnaire design).
• PCT/GB06/000948 & WO06/097734, Spatial temporal self-organising maps (The invention is an algorithm for a two-layer Self Organising Map designed to utilise both the spatial and temporal changes of a sensor signal so as to enhance classification capabilities).
• PCT/GB07/000358 & WO07/088374, Gait analysis (A method of analysing gait including measuring a signal representative of acceleration of the head of a subject and applying a transform to the measured signal to compute a gait signature. The signature can be derived from the acceleration signal using a number of techniques and the signature may be analysed in a number of ways including calculating its entropy, using it as an input to a spatio-temporal self organising maps).
• GB 0705033.9, PPG sensor (Reflectance based PPG e-AR sensor design for pervasive monitoring. The sensor is wearable behind a subject’s ear and detects radiation reflected from the cranial surface of the auricula, the adjacent temporal scalp. Multiple detectors and a selection algorithm allow a quality measure to be calculated for each PPG signal from the respective detectors and the best one selected based on this quality measure. The device derives a heart rate signal from the selected detector thereby accounting for variations in the anatomy between subjects).

Professional Affiliations

Institute of Medical Robotics, Shanghai Jiao Tong University

Honors and Awards

CBE, Commander of the Most Excellent Order of the British Empire, 2017

IEEE EMBS Technical Achievement Award, 2017

IEEE EMBS Distinguished Lecturer, 2012

Winner and Innovator of the Year, Bluetooth Innovation World Cup 2010

Overall Winner and Winner of Health Care, Bluetooth Innovation World Cup 2010

Medical Futures Innovation Award, 2008

Research Excellence Award, Imperial College London, 2006

Royal Society Research Merit Award, 2001

Outstanding Chapter Chair Leadership, IEEE, 2002

Outstanding Chapter Chair Leadership, IEEE, 2001

I. I. Rabi Young Investigator Award, ISMRM, 1996

【Best Paper Award】
• Finalist, Best Application Paper, (IROS 2018), Yang Hu, Lin Zhang, Wei Li, Guang-Zhong Yang: Robotic Sewing and Knot Tying for Personalized Stent Graft Manufacturing. IROS 2018: 754-760
• Parasuraman Award for Research Excellence, 2nd International Neuroergonomics Conference, Drexel Univ, 2018.
• Finalist, Best Medical Robotics Paper Award, ICRA 2017, Efficient Proximity Queries for Continuum Robots on Parallel Computing Hardware, Leibrandt, Konrad; Yang, Guang-Zhong.
• Best Paper Award, Vision-based Deformation Recovery for Intraoperative Force Estimation of Tool-Tissue Interaction for Neurosurgery, tamatia Giannarou, Menglong Ye, Gauthier Gras, Konrad Leibrandt, Hani Marcus, Guang-Zhong Yang
• Finalist, Best Medical Robotics Paper Award, ICRA 2015, A Miniaturised Robotic Probe for Real-Time Intraoperative Fusion of Ultrasound and Endomicroscopy, Dwyer, George; Giataganas, Petros; Pratt, Philip; Hughes, Michael; Yang, Guang-Zhong
• MICCAI Best Paper, Pico Lantern: A pick-up projector for augmented reality in laparoscopic surgery, MICCAI 2014, 432-439. Edgcumbe P, Pratt P, Yang G-Z, Nguan C, Rohling R.
• Runner up, Best Paper, Cooperative control of a compliant manipulator for robotic-assisted physiotherapy, Robotics and Automation (ICRA 2014), 339 – 346. Gras, G. ; Vitiello, V. ; Guang-Zhong Yang.
• Runner up, Best Paper, Implicit active constraints for a compliant surgical manipulator, Robotics and Automation (ICRA 2014), 276 – 283. Leibrandt, K. ; Marcus, H.J. ; Ka-Wai Kwok ; Guang-Zhong Yang.
• Runner up, Best Paper, An Ungrounded Hand-Held Surgical Device Incorporating Active Constraints with Force-Feedback, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, 2559-2565 Payne CJ, Kwok K-W, Yang G-Z.
• Best Poster, An Intelligent Food-intake Monitoring System Using Wearable Sensors. BSN 2012, London, 154-160, Jindong Liu, Edward Johns, Louis Atallah, Claire Pettitt, Benny Lo, Gary Frost, Guang-Zhong Yang.
• Best Paper Award, Hamlyn Symposium 2012, Improved Visualisation with Shape Instantiation for Robot Assisted Catheter Navigation, SL Lee, KW Kwok, C Riga, C Bicknell, GZ Yang.
• Best Poster Award, BSN 2012, An Intelligent Food-intake Monitoring System using Wearable Sensors, Jindong Liu, Edward Johns, Louis Atallah, Claire Pettitt, Benny Lo, Gary Frost, Guang-Zhong Yang.
• Best Medical Robotics Paper, ICRA 2011, An Articulated Universal Joint Based Flexible Access Robot for Minimally Invasive Surgery: Jianzhong Shang, David Noonan, Christopher Payne, James Clark, Mikael Hans Sodergren, Ara Darzi, Guang-Zhong Yang.
• Best Paper Award, SensorComm 2011, The BSNOS Platform: A Body Sensor Networks Targeted Operating System and Toolset, Joshua Ellul, Benny Lo, Guang-Zhong Yang.
• Best Paper Award, Julien Pansiot, Ahmed Elsaify, Benny Lo, and Guang-Zhong Yang. RACKET: Real-time autonomous computation of kinematic elements in tennis. In IEEE 12th International Conference on Computer Vision Workshops (ICCV Workshops) - Fifth IEEE Workshop on Embedded Computer Vision, pages 773-779, Kyoto, Japan, 2009.
• PE Publishing Best Paper Award 2008, Long Q, Merrifield R, Xu XY, Kilner P, Firmin DN, Yang GZ, Subject-specific computational simulation of left ventricular flow based on magnetic resonance imaging, Proc Inst Mech Eng [H].
• MICCAI 2006, Dowsey A, Keegan J, Lerotic M, Thom S, Firmin DN, Yang GZ, Motion-Compensated MR Valve Imaging with COMB Tag Tracking and Super-Resolution Enhancement.
• MICCAI 2004, Stoyanov D, Darzi A, Yang GZ. A practical approach towards accurate dense 3D depth recovery for robotic laparoscopic surgery.
• SPIE Medical Imaging 2003 Cum Laude, Dempere-Marco L, Hu XP, Yang GZ, Visual Scan-Path Analysis with Feature Space Transient Fixation Moments, SPIE Medical Imaging 2003 Conference, San Diego, California.
• MIAR 2001, Masood, Estcourt, GN, Gatehouse P, Firmin DN, Yang GZ. Virtual Tagging for Analysing Cardiac Deformation.
• I.I Rabi Award, Yang GZ, Kilner, PJ, Wood, NB, Underwood, SR. Computation of Flow Pressure Fields from Magnetic Resonance Velocity Mapping. Magn Reson Med, 1996.
• Winner of the Scientific Exhibition Award, 1996, European Society for MR in Medicine and Biology, Schmidt MA, Yang GZ, Keegan J, Gatehouse PD, Carr DH, Hansell DM, Firmin DN, Non-breath- hold lung MRI with real-time navigation.
• William Moore Award, 1993, Society of Magnetic Resonance Imaging, Mohiaddin RH, Yang GZ, Kilner PJ, Longmore DB, Visualization of flow by vector analysis of multidirectional cine magnetic resonance velocity mapping: technique and application.

Institute of Medical Robotics

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