Prof LIU, Li 刘立
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Research Assistant Professor
_{B.Sc. (Tianjin University, China), M.Sc. (Tianjin University, China), Ph.D. (University of Bern, Switzerland)}
Rm 311, Ho Sin Hang Engineering Building Tel: +852 3943 4343 This email address is being protected from spambots. You need JavaScript enabled to view it.
Research Interests:
Surgical Robotics and Navigation, Autonomous Robotic Ultrasound Imaging, Photoacoustics-based Functional Image Guided Surgery, Steerable Microrobotic Endomicroscopy.

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Resume of Career
LIU Li received his Ph.D. degree in Biomedical Engineering from the University of Bern, Switzerland, and then worked as a postdoctoral fellow at the University of Bern and the Chinese University of Hong Kong. He held the position of assistant professor in the School of Biomedical Engineering at Shenzhen University since 2016. In 2019 he joined CUHK as a faculty member. He has served as Program and Publication Chair of many international conferences including Publication Chair of IEEE ICIA 2017, 2018 and Program Chair of ROBIO 2019, Video Chair of IEEE ICRA 2021. He served as Associate Editor of Biomimetic Intelligence and Robotics (BIROB) since 2021. He is a recipient of the Distinguished Doctorate Dissertation Award, Swiss Institute of Computer Assisted Surgery (2016), the MICCAI Student Travel Award (2014) and the Best Paper Award of IEEE ICIA (2009).
Current Research Interests
He has extensive research experience in the areas of AI augmented surgical robotics and perception for minimally invasive precision diagnosis and therapy, including medical image computing and robotics assisted interventions. Specifically, medical image computing ensures the derivation of optimized parameters from the acquired multi-modality medical images, allows for exploitation of the image derived parameters, and facilitates the development of anatomical and associated physiological models which can further help in understanding different disease mechanism. Most importantly, the combination of multi-modal imaging, multi-scale sensing, AR in-situ visualization, or other feedback systems in robotic assisted interventions will facilitate personalized therapy.
Current interests focus on the interface of surgical robotics, in-situ sensing and medical imaging, and to develop robotic assisted medical imaging as well as image-guided robotic intervention systems, where ultrasound, photoacoustic sensing/imaging and endoscopic OCT are three major modalities to be investigated and incorporated with minimally invasive surgical robotics.
Honors and Awards
2016 Distinguished Doctorate Dissertation Award, Swiss Institute of Computer Assisted Surgery
2014 MICCAI Student Travel Award, Medical Image Computing and Computer-Assisted Intervention (MICCAI) Society
2009 Best Paper Award, IEEE International Conference on Information and Automation (ICIA)
External Service
Video Chair, IEEE International Conference on Robotics and Automation (ICRA), 2021.
Program Chair, IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019.
Associate Editor, Biomimetic Intelligence and Robotics (BIROB), 2021- Present.
Publication Chair, IEEE International Conference on Information and Automation (ICIA), 2017, 2018.
Publications
Zhao, Y., Liu, L., Li, A., Zhu, L., Lan, H., & Gao, F. (2021). Design of Continuously-Adjustable Light-Scanning Handheld Probe for Photoacoustic Imaging. IEEE Photonics Journal.
Fang, Y., Zhu, D., Zhou, N., Liu, L., & Yao, J. (2021). PiPo-Net: A Semi-automatic and Polygon-based Annotation Method for Pathological Images. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
Li, K., Wang, J., Xu, Y., Qin, H., Liu, D., Liu, L., & Meng, M. Q. H. (2021). Autonomous Navigation of an Ultrasound Probe Towards Standard Scan Planes with Deep Reinforcement Learning. In 2021 IEEE International Conference on Robotics and Automation (ICRA) (pp. 8302-8308). IEEE.
Xu, Y., Li, K., Zhao, Z., Meng, F., Liu, L., & Meng, M. Q. H. (2021, May). Reciprocally Rotating Magnetic Actuation and Automatic Trajectory Following for Wireless Capsule Endoscopy. In 2021 IEEE International Conference on Robotics and Automation (ICRA) (pp. 6768-6774). IEEE.
Li, Z., Yang, X., Song, S., Liu, L., & Meng, M. Q. H. (2021). Tip estimation approach for concentric tube robots using 2D ultrasound images and kinematic model. Medical & Biological Engineering & Computing, 59, 1461–1473.
Min, Z., Liu, J., Liu, L., & Meng, M. Q. H. (2021). Generalized Coherent Point Drift With Multi-Variate Gaussian Distribution and Watson Distribution. IEEE Robotics and Automation Letters, 6(4), 6749-6756.
Pan, J., Mai, X., Wang, C., Min, Z., Wang, J., Cheng, H., Li, T., Lyu, E., Liu, L., & Meng, M. Q. H. (2020). A Searching Space Constrained Partial to Full Registration Approach With Applications in Airport Trolley Deployment Robot. IEEE Sensors Journal, 21(10), 11946-11960.
Yang, X., Li, H., Liu, L., & Ni, D. (2020). Scale-aware Auto-context-guided Fetal US Segmentation with Structured Random Forests. BIO Integration, 1(3), 118-129.
Wang, C., Ma, H., Chen, W., Liu, L., & Meng, M. Q. H. (2020). Efficient autonomous exploration with incrementally built topological map in 3-D environments. IEEE Transactions on Instrumentation and Measurement, 69(12), 9853-9865.
Wang, J., Yang, X., Li, P., Song, S., Liu, L., & Meng, M. Q. H. (2020). Design of a multi-arm concentric-tube robot system for transnasal surgery. Medical & biological engineering & computing, 58(3), 497-508.
Min, Z., Liu, L., & Meng, M. Q. H. (2019, October). Generalized non-rigid point set registration with hybrid mixture models considering anisotropic positional uncertainties. In International Conference on Medical Image Computing and Computer-Assisted Intervention (pp. 547-555). Springer, Cham.
Li, Z., Song, S., Liu, L., & Meng, M. Q. H. (2019). Tip estimation method in phantoms for curved needle using 2D transverse ultrasound images. Applied Sciences, 9(24), 5305.
Yang, X., Song, S., Liu, L., Yan, T., & Meng, M. Q. H. (2019). Design and Optimization of Concentric Tube Robots Based on Surgical Tasks, Anatomical Constraints and Follow-the-Leader Deployment. IEEE Access, 7, 173612-173625.
Liu, S., Wang, Y., Yang, X., Lei, B., Liu, L., Li, S. X., Ni, D., & Wang, T. (2019). Deep learning in medical ultrasound analysis: a review. Engineering, 5(2), 261-275.
Liu, L., Siebenrock, K., Nolte, L. P., & Zheng, G. (2018). Computer-Assisted Planning, Simulation, and Navigation System for Periacetabular Osteotomy. In Intelligent Orthopaedics (pp. 143-155). Springer, Singapore.
Liu, L., Siebenrock, K., Nolte, L. P., & Zheng, G. (2018). Biomechanical Optimization-Based Planning of Periacetabular Osteotomy. In Intelligent Orthopaedics (pp. 157-168). Springer, Singapore.
Song, S., Zhang, C., Liu, L., & Meng, M. Q. H. (2018). Preliminary study on magnetic tracking-based planar shape sensing and navigation for flexible surgical robots in transoral surgery: methods and phantom experiments. International journal of computer assisted radiology and surgery, 13(2), 241-251.
Zhang, C., Lu, Y., Qiu, X., Song, S., Liu, L., & Meng, M. Q. H. (2017, September). Preliminary study on magnetic tracking based navigation for wire-driven flexible robot. In Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on (pp. 2517-2523). IEEE.
Liu, L., Ecker, T. M., Schumann, S., Siebenrock, K. A., & Zheng, G. (2016). Evaluation of constant thickness cartilage models vs. patient specific cartilage models for an optimized computer-assisted planning of periacetabular osteotomy. PloS one, 11(1), e0146452.
Liu, L., Ecker, T., Xie, L., Schumann, S., Siebenrock, K., & Zheng, G. (2015). Biomechanical validation of computer assisted planning of periacetabular osteotomy: A preliminary study based on finite element analysis. Medical engineering & physics, 37(12), 1169-1173.
Liu, L., Zheng, G., Bastian, J. D., Keel, M. J. B., Nolte, L. P., Siebenrock, K. A., & Ecker, T. M. (2016). Periacetabular osteotomy through the pararectus approach: technical feasibility and control of fragment mobility by a validated surgical navigation system in a cadaver experiment. International orthopaedics, 40(7), 1389-1396.
Pflugi, S., Liu, L., Ecker, T. M., Schumann, S., Cullmann, J. L., Siebenrock, K., & Zheng, G. (2016). A cost-effective surgical navigation solution for periacetabular osteotomy (PAO) surgery. International journal of computer assisted radiology and surgery, 11(2), 271-280.
Cheng, H., Liu, L., Yu, W., Zhang, H., Luo, D., & Zheng, G. (2015). Comparison of 2.5 D and 3D quantification of femoral head coverage in normal control subjects and patients with hip dysplasia. PloS one, 10(11), e0143498. (co-first author)
Schumann, S., Liu, L., Tannast, M., Bergmann, M., Nolte, L. P., & Zheng, G. (2013). An integrated system for 3D hip joint reconstruction from 2D X-rays: a preliminary validation study. Annals of biomedical engineering, 41(10), 2077-2087.
Liu, L., Ecker, T. M., Schumann, S., Siebenrock, K. A., & Zheng, G. (2016). Computer Assisted Planning of Periacetabular Osteotomy with Biomechanical Optimization: Constant Thickness Cartilage Models vs. Patient-Specific Cartilage Models. In Computational Biomechanics for Medicine (pp. 3-13). Springer, Cham.
Ecker, T. M., Liu, L., Zheng, G., Albers, C. E., & Siebenrock, K. A. (2016). Preoperative Planning of Periacetabular Osteotomy (PAO). In Computational Radiology for Orthopaedic Interventions (pp. 151-171). Springer, Cham.
Pflugi, S., Liu, L., Ecker, T. M., Cullmann, J. L., Siebenrock, K., & Zheng, G. (2016). A cost-effective surgical navigation solution for periacetabular osteotomy (PAO) surgery. In Computational Radiology for Orthopaedic Interventions (pp. 333-348). Springer, Cham.
Chu, C., Chen, C., Liu, L., & Zheng, G. (2015). FACTS: Fully Automatic CT Segmentation of a Hip Joint. Annals of biomedical engineering, 43(5), 1247-1259.
Liu, L., Ecker, T., Schumann, S., Siebenrock, K., Chu, C., & Zheng, G. (2015). Optimization of Acetabulum Reorientation in a Periacetabular Osteotomy by Finite Element Simulation: A Preliminary Study. In Computational Biomechanics for Medicine (pp. 129-139). Springer, Cham.
Liu, L., Ecker, T., Schumann, S., Siebenrock, K., Nolte, L., & Zheng, G. (2014, September). Computer assisted planning and navigation of periacetabular osteotomy with range of motion optimization. In International Conference on Medical Image Computing and Computer-Assisted Intervention (pp. 643-650). Springer, Cham.
He, Q., Hu, C., Liu, W., Wei, N., Meng, M. Q. H., Liu, L., & Wang, C. (2013). Simple 3-D point reconstruction methods with accuracy prediction for multiocular system. IEEE/ASME Transactions on Mechatronics, 18(1), 366-375.