国家自然科学基金面面上项目 《骨铣削手术机器人振动触觉反馈控制和技能学习方法研究》 （62173190）

天津市自然科学基金面上项目《面向骨切削手术的机器人听认知》(18JCYBJC18800)                              

 国家自然科学基金面面上项目 《基于折展结构的经自然腔道手术器械入路载体设计与优化》 （51875394）                               

 国家重点研发计划“智能机器人”专项《经输尿管肾内介入诊疗机器人系统》之课题3：术前影像与术中图像联合定位导引与虚拟内窥镜技术（2017YFB1302803）              

国家重点研发计划“数字诊疗装备研发”专项《多孔腔镜手术机器人系统设计与产品研发》之课题2：多孔腔镜手术机器人功能拓展技术研究 （2017YFC0110402）             

国家自然科学基金面面上项目 《面向脊柱外科切削手术的机器人触听觉术野仿生认知》 （61773223）                                

国家自然科学基金面青年项目 《基于非接触组织振动测量的骨外科手术机器人钻磨状态精准辨识》 （61403212）                                

2025

[1] Sun J, XiR, Jiang Z, Xia G, Dai Y, Zhang J. Auditory perception based milling posturedetection and depth control enhancement for orthopedic robots. Measurement,2025, 239: 115448.

[2] Jiang C,Wang Y, Yu D, Zhang J. Dynamic residual distillation Cycle Consistent GAN forunpaired ultrasound image translation. Biomedical Signal Processing andControl, 2025, 105: 107578.

[3] Li M, Lü P,Liu Q, Dai Y, Zhang J. Leader-Follower Control Algorithm for Minimally InvasiveSurgical Robot. Journal of Shanghai Jiaotong University (Science), 2025: 1-12.

[4] Zhou Y, LiT, Dai Y, Zhang J. Mee-SLAM: Memory efficient endoscopic RGB SLAM with implicitscene representation. Expert Systems with Applications, 2025, 269: 126235.

[5] Xin Y, YinJ, Zhao Y, Dai Y, Cui L, Yin X. Depth Estimation of Flexible UreteroscopeImages Based on Style Transfer. Journal of Tianjin University (Science andTechnology), 2025, 58(01): 47-55. (in Chinese)

[6] Liu Y, DaiY, Chen G. A Survey on Federated Learning in Medical Image Processing Tasks.Computer Science, 2025, 52(01): 183-193. (in Chinese)

2024

[1] Xia G,Jiang Z, Dai Y, Duan F. A Cutter Vibration Signal Processing Based StateMonitoring Method for Improving Operation Safety of Spinal Automatic DrillingSystem. IEEE Transactions on Circuits and Systems II: Express Briefs, 2024,71(8): 4015-4019.

[2] Xia G,Jiang Z, Zhang J, Dai Y. Acoustic Signal-Based Robotic Cutting Depth ControlUnder Uncertain Bone Layer Distribution. IEEE Sensors Journal, 2024, 24(09):14726-14736.

[3] Sun J, XiaG, Jiang Z, Dai Y, Zhang J. Attention-Based CNN-LSTM for Enhanced Perception ofBone Milling States in Surgical Robots. IEEE Transactions on Instrumentationand Measurement, 2024, 73: 1-9.

[4] Chen G,Zhou L, Zhang L, Yin X, Cui L, Dai Y. ESKNet: An enhanced adaptive selectionkernel convolution for ultrasound breast tumors segmentation. Expert Systemswith Applications, 2024, 246: 123265.

[5] Liu Q, DaiY, Li M, Yao B, Zhang J. FBG-Based Sensorized Surgical Instrument for ForceMeasurement in Minimally Invasive Robotic Surgery. IEEE Sensors Journal, 2024,24(7): 11450-11458.

[6] Wang Y,Jiang C, Luo S, Dai Y, Zhang J. Graph Neural Network Enhanced Dual-BranchNetwork for lesion segmentation in ultrasound images. Expert Systems withApplications, 2024, 256:124835.

[7] Bai H, WangR, Dai Y, Xue Y. Optimizing milling parameters based on full factorialexperiment and backpropagation artificial neural network of lamina millingtemperature prediction model. TECHNOLOGY AND HEALTH CARE, 2024, 32(1): 201-214.

[8] Xia G,Jiang Z, Dai Y. Pedicle drilling force control of a robotic surgical system viaspine-soft tissue coupling model and parameters optimization. Computers inBiology and Medicine, 2024, 169: 107710.

[9] Jia W, ZhanY, Zhang J, Dai Y. Robot assisted bone milling state classification networkwith attention mechanism. Expert Systems with Applications, 2024, 249: 123726.

[10] Xia G,Zhang L, Dai Y, Xue Y, Zhang J. Sound Feedback Fuzzy Control for OptimizingBone Milling Operation During Robot-Assisted Laminectomy. IEEE Transactions onFuzzy Systems, 2024, 32(04): 2341-2351.

[11] Xia G,Wang J, Yao B, Dai Y, Xue Y, Zhang J. Tactile Perception-Based Depth and AngleControl During Robot-Assisted Bent Bone Grinding. IEEE Transactions onIndustrial Informatics, 2024, 20(01): 50-61.

[12] Zhou Y, LiR, Dai Y, Chen G, Zhang J, Cui L, Yin X. Taking measurement in every direction:Implicit scene representation for accurately estimating target dimensions undermonocular endoscope. Computer Methods and Programs in Biomedicine, 2024, 256: 108380.

[13] Xia G,Jiang Z, Yao B, Dai Y. Viscoelastic modeling based force control framework forenhancing operation safety of soft tissue for orthopedic surgical robots.Computers in Biology and Medicine, 2024, 183: 109291.

[14] Sun J,Wang R, Xia G, Dai Yu, Zhang J. Automatic Control of Robot-Assisted BoneMilling State Based on Binaural Microphones. Chinese Journal of ScientificInstrument, 2024, 45(01): 259-268. (in Chinese)

[15] Zhou Z, KeW, Hu J, Zhao Z, Dai Y. Temperature Modeling and Sensitivity Analysis ofRobot-Assisted Bone Milling Considering Irrigant Fluid. Chinese Journal ofScientific Instrument, 2024, 45(11): 300-311. (in Chinese)

[16] Dai Y,Zhao Y, Yin J, Li R, Zhang J. Path Planning in Curved Pipes with Curvature andBoundary Distance Constraints. Journal of Tianjin University (Science andTechnology), 2024, 57(10): 1010-1021. (in Chinese)

2023

[1] Chen G, LiL, Dai Y, Zhang J, Yap M. H. AAU-Net: An Adaptive Attention U-Net for BreastLesions Segmentation in Ultrasound Images. IEEE Transactions on MedicalImaging, 2023, 42(05): 1289-1300.

[2] Chen G P,Zhao Y, Dai Y, Zhang J X, Yin X T, Cui L, Qian J. Asymmetric U-shaped networkwith hybrid attention mechanism for kidney ultrasound images segmentation.Expert Systems with Applications, 2023, 212: 118847.

[3] Chen G, LiuY, Qian J, Zhang J, Yin X, Cui L, Dai Y. DSEU-net: A novel deep supervisionSEU-net for medical ultrasound image segmentation. Expert Systems withApplications, 2023, 223: 119939.

[4] Yao B, DaiY, Xia G, Zhang Z, Zhang J. High-Sensitivity and Wide Range ResistanceMeasurement Based on Self-Balancing Wheatstone Bridge and Gated RecurrentNeural Network. IEEE Transactions on Industrial Electronics, 2023, 70(5): 5326-5335.

[5] Wang R, BaiH, Xia G, Zhou J, Dai Y, Xue Y. Identification of milling status based onvibration signals using artificial intelligence in robot assisted cervicallaminectomy. EUROPEAN JOURNAL OF MEDICAL RESEARCH, 2023, 28(1): 203.

[6] Li R, ChenG, Dai Y, Zhao Y, Xia G, Zhang J, Cui L, Yin X. Object dimension measurementbased on monocular endoscope and 5-DOF sensor. Measurement, 2023, 206: 112293.

[7] Chen G, LiL, Zhang J, Dai Y. Rethinking the unpretentious U-net for medical ultrasoundimage segmentation. Pattern Recognition, 2023, 142: 109728.

[8] Chen G, DaiY, Zhang J. RRCNet: Refinement residual convolutional network for breastultrasound images segmentation. ENGINEERING APPLICATIONS OF ARTIFICIALINTELLIGENCE, 2023, 117: 105601.

[9] Dai Y, XueY, Zhang J, Li J. Vibration Feedback Control for Robotic Bone Milling. IEEETransactions on Industrial Electronics, 2023, 70(10): 10312-10322.

[10] Zhang Z,Dai Y, Yao B, Zhang J. A Method for Eliminating Direct Current Drift Based onPiecewise Empirical Mode Decomposition. Journal of Harbin Institute ofTechnology, 2023, 55(04): 72-80. (in Chinese)

[11] Yao B,Zhang Z, Dai Y, Zhang J. Research on Dynamic Characteristics of Force SensorBased on VFF-RLS. Journal of South China University of Technology (NaturalScience Edition), 2023, 51(05): 86-94. (in Chinese)

[12] Xia G,Jiang Z, Dai Yu, Wang J, Xue Y, Zhang J. Bone Drilling Force Control ofSurgical Robot Based on Rigid-Soft Coupling Model and Particle SwarmOptimization. Robot, 2023, 45(1): 28-37. (in Chinese)

2022

[1] Chen G, YinJ, Dai Y, Zhang J, Yin X, Cui L. A novel convolutional neural network forkidney ultrasound images segmentation. Computer Methods and Programs inBiomedicine, 2022, 218: 106712.

[2] Chen G P,Zhao Y, Dai Y, Zhang J X, Yin X T, Cui L, Qian J. Asymmetric U-shaped networkwith hybrid attention mechanism for kidney ultrasound images segmentation.Expert Systems with Applications, 2023, 212: 118847.

[3] Chen G, DaiY, Zhang J. C-Net: Cascaded convolutional neural network with global guidanceand refinement residuals for breast ultra sound images segmentation. ComputerMethods and Programs in Biomedicine, 2022, 225: 107086.

[4] Chen G, DaiY, Zhang J, Yin X, Cui L. MBANet: Multi-branch aware network for kidneyultrasound images segmentation. Computers in Biology and Medicine, 2022, 141: 105140.

[5] Chen G, DaiY, Zhang J, Yin X, Cui L. MBDSNet: Automatic segmentation of kidney ultrasoundimages using a multi-branch and deep supervision network. Digital SignalProcessing, 2022, 130: 103742.

[6] Xia G,Jiang Z, Zhang J, Wang R, Dai Y. Sound Pressure Signal-Based Bone Cutting DepthControl in Robotic Vertebral Lamina Milling. IEEE Sensors Journal, 2022,22(11): 10708-10718.

[7] Xia G, Liu W,Bai H, Xue Y, Dai Y, Lei P, Zhang J. Surgical Tool Handle Vibration-BasedDrilling State Recognition During Hip Fracture Fixation. ORTHOPAEDIC SURGERY,2022, 14(11): 2964-2978.

[8] Xia G,Zhang L, Dai Y, Xue Y, Zhang J. Vertebral Lamina State Estimation in RoboticBone Milling Process via Vibration Signals Fusion. IEEE Transactions onInstrumentation and Measurement, 2022, 71: 1-11.

[9] Xia G, WangJ, Dai Y, Xue Y, Zhang J. Vibration-Based Cutting Depth Control and AngleAdjustment of Robotic Curved Bone Milling. IEEE Transactions on Instrumentationand Measurement, 2022, 71: 1-10.

[10] Xia G,Wang J, Zhang J, Wang R, Bai H, Dai Y. Bone Milling State Perception and MotionControl in Robot-Assisted Laminectomy. Control Theory & Applications, 2022,39(02): 285-298. (in Chinese)

[11] Xia G,Wang R, Zhang L, Zhang J, Dai Y. Thickness Recognition of Surgical Robot LaminaMilling Based on Vibration Signal Fusion. Journal of Tianjin University(Science and Technology), 2022, 55(10): 1016-1025. (in Chinese)

[12] Dai Y,Wang J, Cao G, Zhang J, Jia B. Vibration Signal Processing and StateClassification for Drilling Process Monitoring. Journal of Vibration,Measurement & Diagnosis, 2022, 42(01): 89-95. (in Chinese)

[13] Li R, DaiY, Zhang J, Xia G. Object Dimension Measurement Using the 5-DOF ElectromagneticTracked Endoscope. Chinese Journal of Scientific Instrument, 2022, 43(06):230-238. (in Chinese)

[14] Dai Y,Chen T, Wang G, Zhang C. Temperature Field Analysis of Vertebral RadiofrequencyAblation. Journal of Engineering Thermophysics, 2022, 43(10): 2798-2803. (in Chinese)

2021

[1] Wang J, Xia G, Dai Y, Zhang J. Robot-assisted Milling on the Bone Curved Surface Based on Vibrotactile Feedback. Robot, 2021, 43(4): 484-492. (in Chinese)

[2] Xia G, Dai Y, Zhang J. Milling depth control of lamina for orthopedic robot based on acoustic signals. Chinese Journal of Scientific Instrument, 2021, 42(2): 144-154. (in Chinese)

[3] Xia G, Dai Y, Zhang J, Jia B. A Method of Bone Cutting Depth Control for Surgical Robot Based on Acoustic Signals. Robot, 2021, 43(1): 101-111. (in Chinese)

[4] Zhang J, Yao B, Dai Y, Xia G. A Review of Force Sensing Technology in Robot-assisted Laparoscopic Surgery. China Mechanical Engineering, 2021, 32(21): 2521-2531. (in Chinese)

[4] Dai Y, Xue Y, Zhang J. Human-inspired haptic perception and control in robot-assisted milling surgery [J]. IEEE Transactions on Haptics, 2021, 14(2): 359-370.

2020

[1] Yao X-T, Dai Y, Zhang J-X, Ge J-T, Chen T, Yang H. ECG filtering and QRS extraction under steep pulse interference QRS. Chinese Journal of Engineering, 2020, 42(5): 654-662. (in Chinese)

[2] Zhang J-X, Han M-H, Dai Y. Three-dimensional porous structure reconstruction for low-resolution monocular endoscopic images. Optics and Precision Engineering, 2020, 28(9): 2085-2095. (in Chinese)

[3] Dai Y, Jia B, Zhang J, Cao G, Xia G. Motion Control of Milling Robot Based on Vibration Feedback. Journal of Tianjin University Science and Technology, 2020, 53(10): 1093-1100. (in Chinese)

[4] Yao B, Zhang J, Dai Y, Sun H. Research on decoupling method of multi-dimensional force sensor used in minimally invasive surgical robot . Chinese Journal of Scientific Instrument, 2020, 41(1): 147-153. (in Chinese)     

2019                        

[1] Z. Jiang, Y. Dai, J. Zhang, and H. Sun, "Tremor reduction of the master arm for master-slave surgical robot," Robot, vol. 41, no. 3, pp. 327-333, 2019. (in Chinese)                        

[2] J. Zhang, J. Ge, Y. Dai, and X. Yao, "A level set evolution method for ultrasound image sequence segmentation," Journal of Tianjin University Science and Technology, vol. 52, no. 6, pp. 568-575, 2019. (in Chinese)                        

[3] F. Q. Shao, M. Y. Tang, H. Bai, Y. Xue, Y. Dai, and J. X. Zhang, "Drilling condition identification based on sound pressure signal in anterior cervical discectomy surgery," Medical Science Monitor, vol. 25, pp. 6574-6580, Sep 2019.                                      

2018                        

[1] C. Zhang, X. Han, P. Douglas, Y. Dai, and G. Wang, Bipolar radiofrequency ablation of spinal tumors: The effect of the posterior vertebral cortex defect on temperature distribution in the spinal canal, American Journal of Neuroradiology, 2018, 39(1): E1-E2.                 [2] Y. Dai, Y. Xue, and J. Zhang, Bio-inspired integration of auditory and haptic perception in bone milling surgery, IEEE/ASME Transactions on Mechatronics, 2018, 23(2): 614-623.                        

[3] J. Liu, J. Zhang, Y. Dai and H. Su, Dense Stereo Matching Based on Cross-Scale Guided Image Filtering. Acta Optica Sinica,  2018, 38(1): 0115004. (in Chinese)                          

2017                        

[1] J. Liu, J. Zhang, and Y. Dai, Dense stereo matching based on region growing. Robot. 2017, 39(2): 182-188. (in Chinese)                    

[2] Xue Y., Bai H., Tang M., Dai Y., and Zhang J., Possibility of tissue discrimination in the anterior approach of the cervical spine by Electrical impedance. Chinese Journal of Orthopaedics.  2017, 37(12): 1-10. (in Chinese)              

2016                        

[1] Dai, Y., X. Yuan, and J. Zhang, Milling state identification based on vibration sense of a robotic surgical system. IEEE Transactions on Industrial Electronics, 2016, 23(10): 6184-6193.                        

[2] D. Lv, J. Zhang, and Y. Dai, Analysis and compensation of stray parameters in high-voltage pulse generator circuits. Chinese Journal of Engineering. 2016. 38(5): 734-744. (in Chinese)                        

[3] Dai, Y, Y Xue, and J Zhang, A continuous wavelet transform approach for harmonic parameters estimation in the presence of impulsive noise. Journal of Sound and Vibration. 2016, 360: 300-314.        

2015              

[1] Dai, Y., Y. Xue, and J.-X. Zhang, Bone milling condition monitoring based on sound signal processing. Journal of Vibration and Shock, 2015. 34(22): 19-23. (in Chinese)                        

[2] Feng, C., J. Zhang, R. Liang, Y. Dai, and L. Cui, A lung region segmentation method based on the fractal theory and the minimal convex hull method. Journal of Tianjin University Science and Technology, 2015. 48(10): 937-946. (in Chinese)                        

[3] Dai Y, Du J, Yang Q, Zhang J X. Development of a noninvasive electrical impedance probe for minimally invasive tumor localization. Physiological Measurement. 2015, 36(9): 1785-1799.                   

[4] Dai Y, Xue Y, Zhang J. Vibration-Based Milling Condition Monitoring in Robot-Assisted Spine Surgery.IEEE/ASME Transactions on Mechatronics. 2015, 20(6): 3028-3039.              

2014            

[1] Dai Y, Xue Y, Zhang J X. Drilling Electrode for Real-Time Measurement of Electrical Impedance in Bone Tissues. Annals of Biomedical Engineering, 2014, 42(3): 579-588.                        

[2] Dai Y, Xue Y, Zhang J X. Noncontact Vibration Measurement Based Thoracic Spine Condition Monitoring During Pedicle Drilling. IEEE/ASME Transactions on Mechatronics, 2014, 19(5): 1532-1540.                        

[3] Dai Y, Du J, Yang Q, Zhang J X. Noninvasive Electrical Impedance Sensor for In Vivo Tissue Discrimination at Radio Frequencies. Bioelectromagnetics, 2014, 35(6): 385-395.                        

[4] Feng C, Zhang J X, Dai Y, A relay active contour model for image segmentation based on edge and region information. Chinese High Technology Letters, 2013. 23(4): 421-429. (in Chinese)                

2013              

[1] Dai Y, Zhang J X, Xue Y. Use of wavelet energy for spinal cord vibration analysis during spinal surgery. International Journal of Medical Robotics and Computer Assisted Surgery, 2013, 9(4): 433-440.                        

[2] Dai Y, Yang Q, Zhang J X, Du J. An Artificial Neural Network Approach to the Predictive Modeling of Tensile Force during Renal Suturing. Annals of Biomedical Engineering, 2013, 41(4): 786-794.  

2012            

[1] Dai Y, Zhang J X. Dispersion compensation for an ultrathin metal film using LCD-CCD system. Chinese Physics B, 2012, 21(10): 104203.                

[2] Dai Y, Zhang J-X. Identification of modal parameters based on wavelet transform and back propagation network. Journal of Vibration and Shock, 2012, 31(3): 55-59. (in Chinese)                

2011                

[1] Dai Y, Zhang J X. Stereoscopic visualization based on splitting of two-way polarized image beams. Acta Physica Sinica, 2011, 60(8): 084205.  (in Chinese)             

[2] Dai Y, Zhang J X. Reduction of 1/f noise in semiconductor devices based on wavelet transform and Wiener filter. Acta Physica Sinica, 2011, 60(11): 110516.  (in Chinese)                

2009                

[1] Dai Y, Sun H-Y, Li H-P, Tang W-Y. Identification of weak nonlinearities in damping and stiffness based on wavelet transform. Journal of Vibration and Shock, 2009, 28(2): 51-55. (in Chinese)              

2008                

[1] Dai Y, Sun H-Y, Li H-P, Tang W-Y. Natural frequencies and damping estimation based on continuous wavelet transform. Journal of Harbin Institute of Technology (New Series), 2008, 15(6): 794-800. (in Chinese)               

[2] Dai Y, Ma Q, Tang W Y. Efficient wavelet ridge extraction method for asymptotic signal analysis. Review of Scientific Instruments, 2008, 79(12): 124703.