Author

Zekai Liang

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Preprint Oct 2026

Robust Surgical Robotic Instrument Tracking via Sequential Multi-Cue Fusion and Sim-to-Real Self-Training

Efficient and robust tracking of surgical robotic instruments is important for robot-assisted minimally invasive surgery, yet remains challenging due to the complexity of surgical scenes and the unconventional geometry of surgical instruments. Keypoint-based approaches are efficient, but their performance depends on re...

Han-Yang Hu, Ze-Kai Liang, Florian Richter et al. · 0 citations

Preprint Sep 2026

Humanoids for Robot-Assisted Surgery: Bimanual Base Placement and Tool-Mount Optimization via Capability Maps

Rapid advances in humanoid robotics have motivated growing interest in the application of humanoids for healthcare and clinical tasks. However, it remains unclear how close contemporary humanoids are to meeting the kinematic demands of robot-assisted laparoscopic surgery. In this work, we address the question of optima...

Pei-Han Zhang, Ze-Kai Liang, Florian Richter et al. · 0 citations

Open access Jul 2026

In vivo feasibility study of humanoid robots in surgery

A systematic evaluation shows that contemporary humanoid robots can perform laparoscopic surgical tasks through teleoperation, highlighting both their promise and key technical challenges before clinical deployment.

Zekai Liang, N. Thareja, Peihan Zhang et al. · Nature · 1 citation