REN, Hongliang





Ph. D., CUHK, 2008

Professional Work Experience

Research Fellow, CNMC, USA
Research Fellow, CHB & Harvard, USA
Postdoctoral Fellow, JHU, USA


Appointment Status


Assistant Professor




Department of Biomedical Engineering




Office: EA-05-30


Phone: +65-6601 2802

Fax:       +65-6872 3069

Lab website:



Research Interests

Biomedical Mechatronics
Computer Integrated Interventional Systems
Surgical Navigation and Planning systems
Robotic and Sensing in Medicine
Wireless Biomedical Sensor Network


Selected Publications


  1. Guo, J.; Li, M.; Ho, P. & Ren, H. (2016), 'Design and Performance Evaluation of a Force/Torque Sensor for Tele-operated Catheterization Procedures', IEEE Sensors Journal PP(99), 1-8.
  2. Li, Z.; Du, R.; Chiu, P.; Yu, H. & Ren, H. (2016), 'A Novel Constrained Wire-driven Flexible Mechanism and Its Kinematic Analysis', Mechanism and Machine Theory 95, 59--75.
  3. Wu, L. & Ren, H. (2016), 'Finding the Kinematic Base Frame of a Robot by Hand-Eye Calibration Using 3D Position Data', IEEE Transactions on Automation Science and Engineering, 1-11.
  4. Zheng, S.; Wang, Y. & Ren, H. (2016), 'Simultaneous Temperature Compensation and Synchronous Error Elimination for Axial Displacement Sensors Using an Auxiliary Probe (in press)', IEEE Transactions on Industrial Electronics.
  5. Mien, V. & Ren, H. (2016), 'Finite Time Fault Tolerant Control for Robot Manipulators Using Time Delay Estimation and Continuous Nonsingular Fast Terminal Sliding Mode Control', IEEE Transactions on Cybernetics, in press , -.
  6. Mien, V. & Ren, H. (2016), 'Robust Fault Tolerant Control for A Class Second-Order Nonlinear Systems Using an Adaptive Third-order Sliding Mode Control', IEEE Transactions on Systems, Man and Cybernetics: Systems, -.
  7. Wang, H.; Chen, J.; Lau, H. Y. & Ren, H. (2016), 'Motion Planning of IPMC Flexible Manipulators by Learning from Human Expert Demonstrations', IEEE Robotics and Automation Letters, -.
  8. Wu, L.; Song, S.; Wu, K. & Ren, H. (2016), 'Development of a compact continuum tubular robotic system for nasopharyngeal biopsy', Medical and Biological Engineering and Computing.
  9. Xu, W.; Chen, J. & Ren, H. (2016), 'Learning Inverse Kinematics by Extreme Learning Machine for a Tendon-Driven Serpentine Manipulator in Reaching Tasks ', IEEE Robotics and Automation Letters (CASE), -.
  10. Yu, H.; Wu, L.; Wu, K.; Lim, C. M. & Ren, H. (2016), 'Development of a Multi-Channel Concentric Tube Robotic System With Active Vision for Transnasal Nasopharyngeal Carcinoma Procedures', IEEE Robotics and Automation Letters, -.
  11. Wu, K.; Wong, F. K. L.; Ng, S. J. K.; Quek, S. T.; Zhou, B.; Murphy, D.; Daruwalla, Z. J. & Ren, H. (2015), 'Statistical atlas-based morphological variation analysis of the asian humerus: Towards consistent allometric implant positioning', International Journal of Computer Assisted Radiology and Surgery 10(3), 317--327.
  12. Wu, K.; Daruwalla, Z. J.; Wong, F. K. L.; Murphyand, D. & Ren, H. (2015), 'Development and Selection of Asian-specific Humeral Implants based on Statistical Atlas: Towards Planning Minimally Invasive Surgery', International Journal of Computer Assisted Radiology and Surgery 10(8), 1333-1345.
  13. Song, S.; Ren, H. & Yu, H. (2015), 'Shape reconstruction for wire-driven flexible robots based on Bézier curve and electromagnetic positioning', Mechatronics 29(99), 28 - 35.
  14. Song, S.; Li, Z.; Yu, H. & Ren, H. (2015), 'Electromagnetic Positioning for Tip Tracking and Shape Sensing of Flexible Robots', IEEE Sensors Journal 15(8), 4565-4575.
  15. Song, S.; Li, Z.; Meng, M.; Yu, H. & Ren, H. (2015), 'Real-Time Shape Estimation for Wire-Driven Flexible Robots With Multiple Bending Sections Based on Quadratic Bezier Curves', IEEE Sensors Journal 15(11), 6326-6334.
  16. Wang, J.; Ren, H. & Meng, M. (2015), 'Towards Occlusion-Free Surgical Instrument Tracking: A Modular Monocular Approach and an Agile Calibration Method', IEEE Transactions on Automation Science and Engineering 12(2), 588-595.
  17. Wu, L.; Yang, X.; Chen, K. & Ren, H. (2015), 'A Minimal POE-Based Model for Robotic Kinematic Calibration With Only Position Measurements', IEEE Transactions on Automation Science and Engineering 12(2), 758--763.
  18. Wu, L.; Wang, J.; Qi, L.; Wu, K.; Meng, M. Q.-H. & Ren, H. (2015), 'Simultaneous Hand-Eye, Tool-Flange, and Robot-Robot Calibration for Co-manipulation by Solving AXB = YCZ Problem', IEEE Transactions on Robotics.
  19. Ren, H.; Guo, W.; Ge, S. S. & Lim, W. (2014), 'Coverage Planning in Computer-Assisted Ablation Based On Genetic Algorithm', Computers in Biology and Medicine 49(0), 36 - 45.
  20. Nadeau, C.; Ren, H.; Krupa, A. & Dupont, P. E. (2014), 'Intensity-Based Visual Servoing for Instrument and Tissue Tracking in 3D Ultrasound Volumes', IEEE Transactions on Automation Science and Engineering PP(99), 1-5.
  21. Fisher, T.; Hamed, A.; Vartholomeos, P.; Masamune, K.; Tang, G.; Ren, H. & Tse, Z. T. H. (2014), 'Intraoperative magnetic resonance imaging–conditional robotic devices for therapy and diagnosis', Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 228(3), 303-318.
  22. Ren, H.; Campos-Nanez, E.; Yaniv, Z.; Banovac, F.; Hata, N. & Cleary, K. (2014), 'Treatment Planning and Image Guidance for Radiofrequency Ablation of Large Tumors', IEEE Transactions on Information Technology in Biomedicine (IEEE Journal of Biomedical and Health Informatics) 18(3), 920-928.
  23. Ren, H.; Liu, W. & Lim, A. (2014), 'Marker-Based Instrument Tracking Using Dual Kinect Sensors for Navigated Surgery', IEEE Transactions on Automation Science and Engineering 11(3), 921-924.
  24. Ren, H.; Lim, C. M.; Wang, J.; Liu, W.; Song, S.; Li, Z.; Herbert, G.; Tse, Z. T. H. & Tan, Z. (2013), 'Computer-Assisted Transoral Surgery with Flexible Robotics and Navigation Technologies: A Review of Recent Progress and Research Challenges', Critical Reviews in Biomedical Engineering 41(4-5), 365--391.
  25. Ren, H. & Kazanzides, P. (2012), 'Investigation of Attitude Tracking Using an Integrated Inertial and Magnetic Navigation System for Hand-Held Surgical Instruments', IEEE/ASME Transactions on Mechatronics 17(2), 210 -217.
  26. Ren, H.; Rank, D.; Merdes, M.; Stallkamp, J. & Kazanzides, P. (2012), 'Multi-Sensor Data Fusion in An Integrated Tracking System for Endoscopic Surgery', IEEE Transactions on Information Technology in Biomedicine 16(1), 106 -- 111.
  27. Stoll, J.; Ren, H. & Dupont, P. E. (2012), 'Passive Markers for Tracking Surgical Instruments in Real-time 3D Ultrasound Imaging', IEEE Transactions on Medical Imaging 31(3), 563-575.