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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) (Accepted)

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

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

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

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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

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 Link

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 Link

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 Link

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) (Early Access) PDF Link

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) (Early Access) PDF Link

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

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, (Accepted)

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) (Early Access) PDF Link

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 (Early Access) PDF Link

C.H. Mak, Y. Li, Kui 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

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 Cover Link

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

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

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

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

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

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) (Early Access) PDF Link

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

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

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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 Link

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

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

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

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

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

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

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

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)]

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

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

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

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

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

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

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 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

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

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

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

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

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

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, 2100089, 2021 PDF Link

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

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

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

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

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

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

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

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

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, 2021. PDF Link

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

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

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

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

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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

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

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

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

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

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  Video 1  Video 2 Link

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, 2020 Link

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

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/

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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

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

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

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

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

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

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

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

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

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

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.

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

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)

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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

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

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

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

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

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

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

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

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

Presented in The 9th International Conference on Information Processing in Computer-Assisted Interventions, 2018 (IPCAI'18)

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

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

 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

 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 – Self-healing, Growing and Evolving Soft Robots, 2018.   PDF

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 – Self-healing, Growing and Evolving Soft Robots, 2018.   PDF

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

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

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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

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

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

Best Conference Paper Award

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

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

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.

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

Best Poster Paper Award (Merit prize)

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

First Place Prize Paper Award (out of 789 papers published in 2017)

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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

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

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

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

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

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

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

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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

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

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

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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. 

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

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

Finalist for ICRA Best Medical Robotics Paper Award