教师名录
宋霜
通讯地址:深圳市南山区西丽大学城哈工大校区G311
电子邮件:songshuang@hit.edu.cn
联系电话:0755-86912763

个人简介

招收机器人或相关方向博士后,详情请点击这里

招收机械方向研究生

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宋霜,博士,哈尔滨工业大学深圳研究生院机电工程与自动化学院助理教授,分别于2010年、2013年获得中国科学院大学硕士与博士学位。博士毕业后前往新加坡国立大学生物医学工程系开展博士后研究工作。2015年6月聘为哈尔滨工业大学深圳研究生院助理教授,并陆续认定为深圳市海外高层次人才以及南山区领航人才。

多年来主要从事微创手术机器人系统设计、定位导航以及主动驱动等技术的研究工作。作为项目负责人已累计获得700万元人民币的科研经费。研究方向为微创手术机器人系统设计与感知理论研究,包括新型胶囊机器人结构设计与位置感知技术、微型机器人主动驱动技术、基于电磁/永磁信号的定位跟踪技术、连续型手术机器人设计及其实时形状感知与检测技术等。发表期刊与会议等学术论文70余篇,文献总引用量663,h指数13,i10指数19(基于Google Scholar数据)。其中在IEEE Transactions on Magnetics、 IEEE Sensors Journal、 IEEE Transactions on Biomedical Engineering、IEEE Transactions on Control Systems Technology、Medical & Biological Engineering & Computing、 Mechatronics等国际重要期刊上发表相关领域SCI论文30余篇,授权专利4项,英文合著1部。多次担任IEEE国际会议组委会成员与出版主席(IEEE ICIA、IEEE ICAL、ROBIO、CCECE)。

Self introduction:

Dr. Shuang SONG is an Assistant Professor at School of Mechanical Engineering and Automation. He received his master and doctor degree from University of Chinese Academy of Science at 2010 and 2013, respectively.

His main researches focus on the Design and Sensing of the Minimally Invasive Surgery Robots, including the wireless capsule robot, the wire-driven flexible robot, the concentric tube robot, the magnetic driven microrobot, and so on. He has published 70 journal and conference papers, with a total citation of 667 accoding to google scholar, and h-index is 13. He has published 30 SCI-indexed journal paper in IEEE Transactions on Magnetics, IEEE Sensors Journal, IEEE Transactions on Biomedical Engineering, IEEE Transactions on Control Systems Technology, Medical & Biological Engineering & Computing, Mechatronics, and so on. He has been a committee member and published chair for several IEEE International Conference.

研究方向

微创手术机器人结构创新设计与优化、控制与感知、规划与导航等关键技术研究
具体内容包括:胶囊机器人、线驱动机器人、同心管机器人、磁驱动微机器人、电磁定位系统与算法等。
一些实验视频,请点击这里

Research area:

Novel design and optimization, control and sensing, plan and navigation of minimally invasive surgery robots, including the wireless capsule robot, the wire-driven flexible robot, the concentric tube robot, the magnetic driven microrobot, and so on.

Please click here to watch my expriment videos on Youku
Please click here to watch my expriment videos on Youtube

Magnetic Tracking System


Magnetic Tracking for Capsule Robot in GI Tract


Magnetic Tracking based Registration and Navigation for Wire-Driven Flexible Robot


Concentric Tube Robot


Magnetic Actuation for MicroRobot

教育经历

2010-2013  中国科学院大学,博士学位
2007-2010  中国科学院研究生院,硕士学位
2003-2007  华北电力大学,学士学位

研究与工作经历

2015-今  哈尔滨工业大学深圳研究生院,助理教授
2013-2015  新加坡国立大学, Research Fellow
  

专业资质与学术兼职

Publication Chair  IEEE ICIA 2012,2014,2015,2016,2017
                              ICAR 2017
                              CCECE 2015
Reviewer  IEEE Transactions on Biomedical Engineering;
                 IEEE Transactions on Magnetics
                 IEEE Sensors Journal;
                 International Journal of Medical Robotics and Computer Assisted Surgery;
                 International Journal of Robotics and Automation;
                 Measurement
                 IEEE RAL
                 IEEE ICRA

科研项目

2015-2017  哈工大深圳新教师启动项目: 微创手术多目标磁定位技术研究
2016-2018  哈工大科研创新基金: 新型磁控蛇型柔性机器人关键技术研究
2016-2018  深圳市基础研究自由探索项目: 基于可控磁场的微机器人主动控制技术研究
2017-2019  深圳市基础研究自由探索项目: 面向无线胶囊机器人的精确定位与主动驱动关键技术研究
2017-2020  深圳市基础研究学科布局项目: 具活检取样及施药功能的微型肠道机器人系统研究
2017-2019  哈工大深圳引进人才启动经费: 微创手术机器人主动控制与精确定位导航关键技术研究

科研成果及奖励

2016  深圳市南山区领航人才C
2016  深圳市海外高层次人才孔雀计划C
2015  IEEE CCECE Best Conference Paper Award

论文及著作

章节著作

[1] S. Song, H. Ren, Magnetic Tracking in Medical Robotics, Electromagnetic Actuation and Sensing in Medical Robotics, Spirnger, 2018

期刊文章(*为通讯作者)

===============================2018===============================

[32] S. Song, C. Zhang, L. Liu, M. Meng, Preliminary study on magnetic tracking-based planar shape sensing and navigation for flexible surgical robots in transoral surgery: methods and phantom experiments, Int J CARS, 2018

[31] L. Kuang, L. Lou, S. Song, Design and Fabrication of a Novel Force Sensor for Robot Grippers, IEEE Sensors Journal, 2018

[30] Y. Zeng, H. Yu, H. Dai, S. Song*, M. Lin, B. Sun, W. Jiang, M. Meng, An Improved Calibration Method for a Rotating 2D LIDAR System, Sensors, 2018

[29] H. Dai, S. Song*, X. Zeng, S. Su, M. Lin, M. Meng, 6-D Electromagnetic Tracking Approach Using Uniaxial Transmitting Coil and Tri-Axial Magneto-Resistive Sensor, IEEE Sensors Journal, 2018

===============================2017===============================

[28] S. Song, Q. Xiao, W. Liu, M. Meng, An Improved 6D Pose Detection Method Based on Opposing-Magnet Pair System and Constraint Multiple Magnets Tracking Algorithm. IEEE Sensors Journal, 2017

[27] Q. Xiao, S. Song*, M. Meng. A Novel 6-D Pose Detection Method Using Opposing-Magnet Pair System. IEEE Sensors Journal, 2017

[26] S. Song, X. Qiu, J. Wang, M. Meng. Design and Optimization Strategy of Sensor Array Layout for Magnetic Localization System. IEEE Sensors Journal, 2017

[25] C. Shi, X. Luo, P. Qi, T. Li, S. Song, Z. Najdovski, T. Fukuda, H. Ren. Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey. IEEE Transactions on Biomedical Engineering, 2017

[24] Y. Chen, W. Xu, Z. Li, S. Song, C.M. Lim, Y. Wang, H. Ren. Safety-Enhanced Motion Planning for Flexible Surgical Manipulator Using Neural Dynamic. IEEE Transactions on Control System Technology, 2017.

===============================2016===============================

[23] S. Song, X. Qiu, J. Wang, M. Meng. Real-time Tracking and Navigation for Magnetically Manipulated Untethered Robot. IEEE ACCESS, 2016.

[22] S. Song, C. Hu and M. Meng. Multiple Objects Positioning and Identification Method Based on Magnetic Localization System. IEEE Transactions on Magnetics, 2016.

[21] L. Wu, S. Song, K. Wu, C. Lim and H. Ren. Development of a compact continuum tubular robotic system for nasopharyngeal biopsy. Medical & Biological Engineering & Computing, 2016

[20] C. Hu, Y. Ren, X. You, W. Yang, S. Song*, S. Xiang, X. He, Z. Zhang and M. Meng. Locating Intra-Body Capsule Object by Three-Magnet Sensing System. IEEE Sensors Journal, 16(13):5167-5176, July 2016

[19] Y. Sun, S. Song, X. Liang, H. Ren. A Miniature Soft Robotic Manipulator Based on Novel Fabrication Methods. IEEE Robotics and Automation Letters, 1(2):617-623, July, 2016

===============================2015===============================

[18] S. Song, Z. Li, Max Meng, H. Yu, H. Ren. Real-Time Shape Estimation for Wire-Driven Flexible Robots With Multiple Bending Sections Based on Quadratic Bézier Curves. IEEE Sensors Jounrnal, 15(11):6326-6334, Nov 2015

[17] S. Song, Z. Li, H. Ren and H. Yu. Shape Reconstruction for Wire-Driven Flexible Robots Based on Bézier Curve and Electromagnetic Positioning.Mechatronics. 29:28-35, Aug 2015.

[16] S. Song, H. Ren and H. Yu. Electromagnetic Positioning for Tip Tracking and Shape Sensing of Flexible Robots. IEEE Sensors Journal, 15(8):4565-4575, 2015 (封面文章)

===============================2014===============================

[15] S. Song, H. Ren and H. Yu. An Improved Magnetic Tracking Method using Rotating Uniaxial Coil with Sparse Points and Closed Form Analytic Solution. IEEE Sensors Journal, 14(10): 3585-3592, 2014

[14] S. Song, B. Li, W. Qiao, C. Hu, H. Ren, H. Yu, Q. Zhang, Max Meng and G. Xu. 6-D Magnetic Localization and Orientation Method for an Annular Magnet Based on a Closed-Form Analytical Model. IEEE Transactions on Magnetics. 2014, 50(9)

[13] S. Song, W. Qiao, B. Li, C. Hu, H. Ren and Max Meng. An Efficient Magnetic Tracking Method Using Uniaxial Sensing Coil. IEEE Transactions on Magnetics,  2014. 50(1)

===============================2013===============================

[12] S. Song, C. Hu, B. Li, X.Li and Max Meng. An Electromagnetic Localization and Orientation Method Based on Rotating Magnetic Dipole. IEEE Transactions on Magnetics, 49(3):1274-1277, 2013.

[11] C. Hu, W. Qu, Z. Zhang, Z. Feng, S. Song and Meng, M.Q.-H. Recovering Amplitudes and Phases From Saturated Multifrequency Sinusoid Signals. IEEE Sensors Journal, 13(11):4569-4575, 2013

[10] H. Ren, W. Liu and S. Song. Towards occlusion-resistant surgical instrument tracking. Bone and Joint Journal Orthopaedic Proceedings Supplement, 95-B(SUPP 28):52, 2013.

=============================Before 2012============================

[9] C. Hu, S. Song, X. Wang, Meng, M.Q.-H. and B. Li. A Novel Positioning and Orientation System Based on Three-Axis Magnetic Coils. IEEE Transactions on Magnetics, 48(7):2211-2219, 2012

[8] W. Yang, Y. Li, C. Hu and S. Song. A real-time tracking method for the rectangular magnet based on parallel Levenberg-Marquardt algorithm.  International Journal of Applied Electromagnetics and Mechanics, 37(4):241-251, 2011.

[7] W. Yang, C. Hu, M. Li, Meng M.Q.-H. and S. Song. A New Tracking System for Three Magnetic Objectives.  IEEE Transactions on Magnetics, 46(12):4023-4029, 2010.

[6] C. Hu, M. Li, S. Song, W. Yang, R. Zhang and Meng, M.Q.-H. A Cubic 3-Axis Magnetic Sensor Array for Wirelessly Tracking Magnet Position and Orientation. IEEE Sensors Journal, 10(5):903-913, 2010.

[5] W. Yang, C. Hu, Meng, M.Q.-H., S. Song and H. Dai. A Six-Dimensional Magnetic Localization Algorithm for a Rectangular Magnet Objective Based on a Particle Swarm Optimizer. IEEE Transactions on Magnetics, 45(8):3092-3099, 2009.

[4] S. Song, C. Hu, B. Li, X. Li, W. Qiao and Max Meng. Electromagnetic Localization and Orientation Method and System. Journal of Integration Technology, 2(2):8-15, 2013.

[3] C. Hu, S. Song, W. Yang, Max Meng, B. Li, D. Zeng, X. Li and H. Zhu. On the Magnetic Localization Techniques for Position and Orientation of the Capsule Endoscope. Journal of Integration Technology, 1(1):105-113,2012.

[2] W. Liu, C. Hu, B. Li, S. Song and Max Meng. Multi-view Optical Tracking System. Journal of Integration Technology, 2(1):35-41, 2012.

[1] X. Shi, C. Hu, W. Xiang, S. Song and X. Wang. An Electromagnetic Locating Method for Orthopaedic Surgery Robot. Chinese Journal of Sensors and Actuators, 24(11):1569-1573, 2011. 

会议论文及发表演说

会议论文(*为通讯作者)

===============================2017===============================

[17] J. Wang, Y. Lu, C. Zhang, S. Song*, M. Meng, Pilot Study on Shape Sensing for Continum Tubular Robot with Multi-Magnet Tracking Algorithm, IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017

[16] S. Song, X. Qiu, M. Meng, An Improved 6D Pose Detection Method Based on Multiple Magnets Tracking, IEEE Sensors, 2017

[15] X. Zeng, S. Song*, J. Wang, H. Dai, S. Su, An Analytic Algorithm Based Position and Orientation Detection Using A Tri-axial Magnetoresistive Sensor, IEEE Sensors, 2017

[14] C. Zhang, Y. Lu, X. Qiu, S. Song*, L. Liu, M. Meng. Preliminary Study on Magnetic Tracking based Navigation for Wire-Driven Flexible Robot. IROS2017

[13] S. Song, S. Song*, M. Meng, Electromagnetic Actuation System Using Stationary Six-pair Coils for Three-dimensional Wireless Locomotive Microrobot, International Conference on Information and Automation (ICIA), 2017

=============================Before 2017=============================

[12] H. Gu, S. Song*, Q. Zhang, M. Meng, RectMag : An Accurate Magnetic Field Model based Actuation System, ROBIO2016

[11] S. Shen, S. Song, J. Zhu, Max Meng, J. Li, H .Ren. Preliminary design towards a magnetic actuated drug delivery system. Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), 2015 IEEE 7th International Conference on, 2015

[10] S. Song, H. Yu and H. Ren. Study on Mathematic Magnetic Field Model of Rectangular Coils for Magnetic Actuation. In: Proceedings of the IEEE 28th Canadian Conference on Electrical and Computer Engineering, May 2015

[9] S. Song, H. Yu and H. Ren. Study on Mathematic Magnetic Model of Annular Magnet for 6D Localization and Orientation ofWireless Capsule Endoscope. In: Proceedings of the 4th Annual IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2014), June 2014.

[8] S. Song and H. Ren. A Magnetic Tracking Method Using Active Uniaxial Sensor And Variable Step Size Searching Strategy. In: Proceedings of the 3rd IFToMM International Symposium on Robotics and Mechatronics (ISRM 2013), pp.770-779. October 2-4, 2013.

[7] S. Song, H. Ren, W. Liu and C. Hu. An Analytic Algorithm based Electromagnetic Localization Method. In: Proceedings of the 2013 IEEE International Conference on Information and Automation (ICIA 2013), pp.626-630. August 26-28, 2013.

[6] S. Song, C. Hu, M. Li, W. Yang, and M.Q.-H. Meng. Two-magnet-based 6d-localization and orientation for wireless capsule endoscope. In: Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on, pages 2338-2343, 2009.

[5] S. Song, C. Hu, M. Li, W. Yang, and M.Q.-H. Meng. Real time algorithm for magnet.s localization in capsule endoscope. In: Automation and Logistics, 2009. ICAL 09. IEEE International Conference on, pages 2030-2035, 2009.

[4] J. Tian, S. Song, X.Wang, T. Yan, C. Hu, and M.Q.-H. Meng. An improved method and algorithm for electromagnetic localization. In: Information and Automation (ICIA), 2011 IEEE International Conference on, pages 406-411, 2011.

[3] Xiaojing Wang, Shuang Song, and Chao Hu. The extraction technology of weak coupling ac signal in an electromagnetic localization system. In: Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on, pages 1170-1175, 2010.

[2] Mao Li, Shuang Song, Chao Hu, Dongmei Chen, and M.Q.-H. Meng. A novel method of 6-dof electromagnetic navigation system for surgical robot. In: Intelligent Control and Automation (WCICA), 2010 8th World Congress on, pages 2163-2167, 2010.

[1] Mao Li, Shuang Song, Chao Hu, Wanan Yang, Lujia Wang, and M.Q.-H. Meng. A new calibration method for magnetic sensor array for tracking capsule endoscope. In: Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on, pages1561-1566, 2009.

任教和任导师经历

2016、2017、2018年春,数据结构与算法分析,研究生课程  所指导研究生中,3人次获得研究生国家奖学金
最后更新:2018-07-09 14:02:12