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About

Zhi Qi is a pioneering researcher in robotic-assisted minimally invasive surgery, with a primary focus on flexible needle insertion and path planning. His work addresses one of the most critical challenges in medical robotics: enabling flexible needles to navigate complex, three-dimensional anatomical environments while avoiding vital structures such as blood vessels and organs. Qi’s major contributions include the development of improved RRT* (Rapidly-exploring Random Tree) algorithms that integrate motion constraints and artificial potential fields, significantly enhancing path planning efficiency and safety in multilayer tissues. His most cited paper, "3-D Path Planning Using Improved RRT* Algorithm for Robot-Assisted Flexible Needle Insertion in Multilayer Tissues" (2021), has garnered 33 citations, underscoring its impact on the field. Qi has also advanced needle control with his Koopman-based 3-dimensional path following control approach (2024), which addresses the complex, non-holonomic dynamics of flexible needles. His work is instrumental in pushing the boundaries of autonomous surgical systems, offering safer, more precise solutions for minimally invasive procedures.