Ming Li

Graduated

Engineering Research Center for Computer-Integrated Surgery System and Technology
Computer Science Department
Johns Hopkins University
3400 N. Charles St., Baltimore, MD 21218

Lab: NEB B26

Phone: 410-516-3417

E-mail: liming@cs.jhu.edu

Web: http://www.cs.jhu.edu/~liming

Education

B.Sc. Biomedical Engineering, Shanghai Jiaotong University Shanghai, China (1992)

M.Sc. Precision Engineering, University of Tokyo Tokyo, Japan (2000)

M.Sc. Computer Science, Johns Hopkins University Baltimore, USA (2002)

Ph.D. Computer Science, Johns Hopkins University Baltimore, USA (2005)

Research

I am working in Engineering Research Center/Computer Integrated Surgery Lab with talented CIS crew. My advisor is Professor Russell Taylor. My current work focuses on developing a robotic surgical assistant system. It includes

Robot assisted minimally invasive surgical intervention

Virtual fixtures for surgical robotic assistance

Video based surgical registration and navigation

Visually guided robot control

Human-machine interface

My Master thesis advisor in the University of Tokyo was Takeyoshi Dohi.

Publications

Journal Papers

D. Kragic, P. Marayong, M. Li, A. M. Okamura, and G. D. Hager, "Human Machine Collaborative Systems for Microsurgical Applications," International Journal of Robotics Research. (in press)

D. Burschka, M. Li, R. H. Taylor, and G. D. Hager, "Scale-Invariant Registratin of Monocular Endocsope Images to CT-Scans For Sinus Surgery," Medical Imaging Analysis. (in press)

Peer Reviewed Conference Papers

M. Li, A. Kapoor and R.H. Taylor, "A Constrained Optimization Approach to Virtual Fixtures," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2005 (in press)

A. Kapoor, M. Li and R.H. Taylor, "Spatial Motion Contraints for Robot Assisted Suturing using Virtual Fixtures," Proceedings of 8th International Conference on Medical Image Computing and Comuter-Assisted Intervention (MICCAI), 2005 (accepted)

M. Li, and R.H. Taylor, "Performance of Surgical Robots with Automatically Generated Spatial Virtual Fixtures," Proceedings of IEEE International Conference on Robotics & Automation (ICRA), pp 218-223, 2005

D. Burschka, M. Li, R.H. Taylor, G.D. Hager, "Scale-Invariant Registration of Monocular Images to 3D Surface Models," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 2581-2586, 2004

D. Burschka, M. Li, R.H. Taylor, G.D. Hager, "Scale-Invariant Registration of Monocular Images to 3D Surface Models," Proceedings of 7th International Conference on Medical Image Computing and Comuter-Assisted Intervention (MICCAI), pp 413-421, 2004

M. Li, R.H. Taylor, "Spatial Motion Constraints in Medical Robot Using Virtual Fixtures Generated by Anatomy," Proceedings of IEEE International Conference on Robotics & Automation (ICRA), pp 1270-1275, 2004

M. Li, R.H. Taylor, "Optimum Robot Control for 3D Virtual Fixture in Constrained ENT Surgery," Proceedings of 6th International Conference on Medical Image Computing and Comuter-Assisted Intervention (MICCAI), pp 165-172, 2003

D. Kragic, P. Marayong, M. Li, A.M. Okamura, G.D.Hager, "Human-Machine Collaborative Systems for Microsurgical Applications," International Symposium on Robotics Research (ISRR), 2003

P. Marayong, M. Li, A.M. Okamura, G.D. Hager, "Spatial motion constrains: theory and demonstrations for robot guidance using virtual fixtures," Proceedings of IEEE international Conference on Robotics & Automation (ICRA), pp 1954-1959, 2003

M. Li, A.M. Okamura, " Recognition of Operator Motions for Real-Time Assistance Using Virtual Fixtures," 11th Sysmposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (IEEE/HAPTICS), Los Angeles, CA, March 2003

M. Li, K. Masamune, I. Sakuma, T. Dohi, "Development of a Lung Biopsy Manipulator under CT," 8th Annual Conference of Japan Society of Computer Aided Surgery, Kyoto, Japan, 1999 (in Japanese)

Workshops

A.M. Okamura, D. Kragic, G.D. Hager, P. Marayong, M. Dewan, H. Lin and M. Li, "Human-Machine Collaborative Systems for Micro-scale Applications", Workshop on Issues and Approaches to Task Level Control, (D. Botturi and P. Fiorini, eds.) IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2004, Sendai, Japan

G.D. Hager, P. Marayong, M. Dewan, H. Lin, D. Burschka, W. Lau, N. Ramey, M. Li and J. Corso, "Navigating Inner Space: 3-D Assistance for Minimally Invasive Surgery", Workshop on Advances in Robot Vision - From Domestic Environments to Medical Application, (D. Kragic and H. Christensen, eds.) IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2004, Sendai, Japan

Short Papers

N.A. Ramey, M. Li, S.K. Prasad, F.J. Frassica, R.H. Taylor, "Evaluation of registration techniques in a robotic approach to pelvic osteolysis," International Proceedings of Computer Assisted Orthopaedic Surgery (CAOS), pp 26-27, Chicago, IN, June, 2004

S.K. Prasad, M. Li, N.A. Ramey, F.J. Frassica and R.H. Taylor, "A co-registration technique for fluoroscopically-guided robotic surgery," Computer Assisted Orthopaedic Surgery (CAOS), pp 320-322, Santa Fe, NM, June 2002

S.K. Prasad, M. Li, N.A. Ramey, F.J. Frassica and R.H. Taylor, "A minimally invasive approach to pelvic osteolysis," Computer Assisted Orthopaedic Surgery (CAOS), pp349-350, Santa Fe, NM, June 2002

Submitted / In Preparation

M. Li, R.H. Taylor, "Spatial Motion Constraints in Medical Robot Using Virtual Fixtures Generated by Anatomy," Submitted to IEEE Transaction on Robotics.

Thesis

Ming Li, 2000, "Development of a MRI compatible manipulator for lung biopsy" (in Japanese), Master thesis, University of Tokyo, Tokyo, Japan

Patents

Darius Burschka, Ming Li, Russell H. Taylor, Gregory D. Hager: "Automatic image-based 2D to 3D registration of endoscopic images to medical CT scans" Provisional US patent application was filed August 12th, 2004