Dr. Guochen Ning

To the pioneers who lead, the companions who walk beside, and the successors yet to stride.

Assistant Professor | Tsinghua University

Guochen Ning

Email: ningguochen@tsinghua.edu.cn

Google Scholar | ORCID | ResearchGate

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About Me

Dr. Ning (宁国琛) is currently an Assistant Professor and a Principal Investigator (PI) at Tsinghua University. His research interests encompass structural design and autonomous control of medical robots, with a particular emphasis on intelligence. He also concentrates on research areas involving robot learning and the intersection of robotics and artificial intelligence (AI), with the ultimate goal of achieving autonomous medical robots capable of performing medical tasks in the future.2027年1月有1博士名额，欢迎相关方向同学邮件沟通。

Curriculum Vitae

Education

Work Experience

Awards

Talks

Publications

2026

Graphical abstract
A lightweight portable ultrasound robot for autonomous liver sonography
Zihan Li†, Yixiao Xu†, Lei Zhang, Taiyu Han, Xinshan Yang, Yingni Wang, Mingxuan Liu, Shenghai Xin, Linxun Liu, Hongen Liao*, Guochen Ning*
Nature Communications, 2026
[Link]
Graphical abstract
Automatic probe guidance for volumetric liver ultrasound acquisition via imitation learning from a virtual expert
Taiyu Han, Hanying Liang, Qi Zeng, Yan Kang, Hongen Liao, Guochen Ning*
, Septimiu E. Salcudean*
International Journal of Computer Assisted Radiology and Surgery, 2026
[Link]
Graphical abstract
From Gaze to Action: A Hands-Free Robotic Ultrasound System via Gaze-Embodied Perception
Taiyu Han,Jiayuan Liu,Hanying Liang,Yan Kang, Hongen Liao, Guochen Ning*
IEEE/RSJ IROS 2026, 2026
[Link]
Graphical abstract
HSD-MM: Hierarchical Shallow-Deep Multimodal Policy for Autonomous Bronchoscope Navigation and Control
Zhiwei Zhang, Yiguang Yang, Hongen Liao, Guochen Ning*
IEEE/RSJ IROS 2026, 2026
[Link]
Graphical abstract
GCM-Net: Anatomy-Aware Gaussian-Contrastive Multi-Layer Fusion Network for Abdominal Ultrasound Standard Plane Classification
Anqi Wang,Zihan Li,Lei Zhang,Xinye Zhang,Yingni Wang,Xinshan Yang, Mingxuan Liu,Xiuming Wang, Hongen Liao, Guochen Ning*
MICCAI 2026, 2026
[Link]
Graphical abstract
A Progressive Gaussian Splatting Framework for Monocular‑Only High‑Fidelity Surgical Scene Reconstruction (IEEE EMBC TOP 7%)
Yuchao Zheng, Jianing Zhang, Yutong Wu, Hongen Liao, Guochen Ning*
IEEE Transactions in Biomedical Engineering, 2026
[Link]
Graphical abstract
Breaking the Latency Barrier: Synergistic Perception and Control for High-Frequency 3D Ultrasound Servoing (Oral)
Yizhao Qian, Yujie Zhu, Jiayuan Luo, Li Liu, Yixuan Yuan, Hongen Liao, Guochen Ning*
IEEE ICRA, 2026
[Link]

2025

Graphical abstract
Quasi-static Elastography-driven Automated Robotic Ultrasound Screening and Localization
Hanying Liang, Shipeng Zhang, Guochen Ning*, Jianwen Luo, Hongen Liao
IEEE Transactions in Biomedical Engineering, 2025
[Link]
Graphical abstract
Toward Clinical Applications of Intelligent Robotic Ultrasound Systems
Taiyu Han, Guochen Ning*, Hanying Liang, Zihan Li, Zhongliang Jiang, Fang Chen, Yan Kang, Jianwen Luo, Hongen Liao*
IEEE Reviews in Biomedical Engineering, 2025
[Link]
Graphical abstract
Contact-aware Prediction for Reliable Autonomous Deformable Tissue Retraction in Robotic Surgery
Jiaqi Chen, Yujie Zhu, Guochen Ning*, Hongen Liao
IEEE Robotics and Automation Letters, 2025
[Link]
Graphical abstract
Seeing Beyond the Surface: Retinal Thickness Prediction from Color Fundus Photography for DME Management (Early accepted)
Wenquan Cheng1,Yihua Sun, Jinyuan Wang, Jia Guo, Zihan Li, Zhuhao Wang, Guochen Ning*, Yingfeng Zheng, Hongen Liao, Tienyin Wong, Sujeon Song*
MICCAI, 2025
[Link]
Graphical abstract
SurGSplat: Progressive Geometry-Constrained Gaussian Splatting for Surgical Scene Reconstruction
Y Zheng, J Zhang, G Ning*, H Liao
IEEE EMBC, 2025
[Link]
Graphical abstract
A Soft-Tip Hydraulically Steerable Catheter for Enhanced Flexibility and Safety in Vascular Interventions
J Kang, Y Wang, J Liu, Z Wang, X Yang, J Wang, G Ning*, B Zhang*, H Liao*
Advanced Intelligent Systems, 2025
[Link]
Graphical abstract
Autonomous Deformable Tissue Retraction System Based on 2D Visual Representation and Asymmetric Reinforcement Learning for Robotic Surgery
J Chen, G Ning*, L Ma, H Liao
IEEE Transactions on Medical Robotics and Bionics, 2025
[Link]
Graphical abstract
Computational multi-angle optical coherence tomography using implicit neural representation
Y Li, C Zhang, T Huang, Y Fan, G Ning, H Liao*
Optics & Laser Technology, 2025
[Link]
Graphical abstract
Amber Light-Assisted CBI Endoscopy for Superior Deep Vascular Visualization and Blood-Containing Tissue Depth Differentiation
S Zhang, T Xie, G Tuya, G Ning, L Ma, Z Zhao, Y Fu, H Liao*
IEEE Transactions on Biomedical Engineering, 2025
[Link]
Graphical abstract
A compact monocular dual-view 3D endoscope imaging system based on dichroic prism for minimally invasive surgery
X Wei, T Huang, G Ning, J Wang, S Zhang, H Liang, Y Zhai, L Ma, H Liao*
IEEE Transactions on Biomedical Engineering, 2025
[Link]

2024

Graphical abstract
Adversarial Diffusion Model for Domain-Adaptive Depth Estimation in Bronchoscopic Navigation
Y Yang, G Ning*, C Zhong, H Liao
MICCAI, 2024
[Link]
Graphical abstract
Airway Segmentation Based on Topological Structure Enhancement Using Multi-task Learning
X Yang, L Chen, Y Zheng, L Ma, F Chen, G Ning, H Liao*
MICCAI, 2024
[Link]
Graphical abstract
A Fast-scanning Protocol of Optical Coherence Tomography Angiography Based on Structure-Aware Attention
Y Zheng, J Liao, L Ma, G Ning, F Chen, C Li, H Liao
IEEE Transactions on Biomedical Engineering, 2024
[Link]
Graphical abstract
Cable-Driven Light-Weighting and Portable System for Robotic Medical Ultrasound Imaging
G Ning*, J Wang, H Liao
IEEE Transactions on Medical Robotics and Bionics, 2024
[Link]
Graphical abstract
Inverse-reinforcement-learning-based robotic ultrasound active compliance control in uncertain environments
G Ning, H Liang, X Zhang, H Liao*
IEEE Transactions on Industrial Electronics, 2024
[Link]
Graphical abstract
One-shot neuroanatomy segmentation through online data augmentation and confidence aware pseudo label
L Zhang, G Ning, H Liang, B Han, H Liao
Medical Image Analysis, 2024
[Link]

2023

Graphical abstract
Large language models and their impact in ophthalmology
Bjorn Kaijun Betzler, Haichao Chen, Ching-Yu Cheng, Cecilia S Lee, G Ning, Su Jeong Song, Aaron Y Lee, Ryo Kawasaki, Peter van Wijngaarden, Andrzej Grzybowski, Mingguang He, Dawei Li, An Ran Ran, Daniel Shu Wei Ting, Kelvin Teo, Paisan Ruamviboonsuk, Sobha Sivaprasad, Varun Chaudhary, Ramin Tadayoni, Xiaofei Wang, Carol Y Cheung, Yingfeng Zheng, Ya Xing Wang, Yih Chung Tham, Tien Yin Wong
The Lancet Digital Health, 2023
[Link]
Graphical abstract
A segmentation framework with unsupervised learning-based label mapper for the ventricular target of intracranial germ cell tumor
X Wang, S Liu, N Yang, F Chen, L Ma, G Ning, H Zhang, X Qiu, H Liao*
IEEE Journal of Biomedical and Health Informatics, 2023
[Link]
Graphical abstract
Anatomically constrained and attention-guided deep feature fusion for joint segmentation and deformable medical image registration
HG Khor,G Ning, Y Sun, X Lu, X Zhang, H Liao*
Medical Image Analysis, 2023
[Link]
Graphical abstract
The potential of'Segment Anything'(SAM) for universal intelligent ultrasound image guidance
G Ning*, H Liang, Z Jiang, H Zhang, H Liao
Bioscience trends, 2023
[Link]
Graphical abstract
Autonomous robotic ultrasound vascular imaging system with decoupled control strategy for external-vision-free environments
G Ning, H Liang, X Zhang, H Liao
IEEE Transactions on Biomedical Engineering, 2023
[Link]
Graphical abstract
Doppler image-based weakly-supervised vascular ultrasound segmentation with transformer
G Ning, H Liang, F Chen, X Zhang, H Liao*
ISBI, 2023
[Link]
Graphical abstract
A novel miniature spring-based continuum manipulator for minimally invasive surgery: Design and evaluation
J Wang, C Hu, G Ning, L Ma, X Zhang, H Liao*
IEEE/ASME Transactions on Mechatronics, 2023
[Link]
Graphical abstract
Symmetric pyramid network for medical image inverse consistent diffeomorphic registration
L Zhang, G Ning, L Zhou, H Liao*
Computerized Medical Imaging and Graphics, 2023
[Link]
Graphical abstract
Immunohistochemical index prediction of breast cancer by using hybrid ultrasound data
F Chen, H Han, G Ning, B Wen, H Liao, W Kong, D Zhang
IEEE Transactions on Biomedical Engineering, 2023
[Link]

2022

Graphical abstract
Spatial position estimation method for 3d ultrasound reconstruction based on hybrid transfomers
G Ning, H Liang, L Zhou, X Zhang, H Liao
ISBI, 2022
[Link]
Graphical abstract
Ultrasound speckle reduction using wavelet-based generative adversarial network
HG Khor#, G Ning#, X Zhang, H Liao*
IEEE Journal of Biomedical and Health Informatics, 2022
[Link]

2021-2018

Graphical abstract
Force-guided autonomous robotic ultrasound scanning control method for soft uncertain environment
G Ning, J Chen, X Zhang, H Liao*
International Journal of Computer Assisted Radiology and Surgery, 2022
[Link]
Graphical abstract
Autonomic robotic ultrasound imaging system based on reinforcement learning
G Ning, X Zhang, H Liao*
IEEE transactions on biomedical engineering , 2021
[Link]
Graphical abstract
Real-time and multimodality image-guided intelligent HIFU therapy for uterine fibroid
G Ning, X Zhang, Q Zhang, Z Wang, H Liao*
Theranostics, 2020
[Link]
Graphical abstract
Morphological active contour without edge‐based model for real‐time and non‐rigid uterine fibroid tracking in HIFU treatment
G Ning, X Zhang, H Liao
Healthcare Technology Letters, 2019
[Link]
Graphical abstract
Augmented reality surgical navigation with accurate CBCT-patient registration for dental implant placement
L Ma, W Jiang, B Zhang, X Qu,G Ning, X Zhang, H Liao
Medical & biological engineering & computing, 2018
[Link]
Graphical abstract
Moving-tolerant augmented reality surgical navigation system using autostereoscopic three-dimensional image overlay
C Ma, G Chen, X Zhang, G Ning, H Liao
IEEE journal of biomedical and health informatics, 2018
[Link]

Funding