Zhiyang Ju

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About

Zhiyang Ju is a leading researcher in medical robotics and autonomous surgical systems, with a primary focus on motion planning for minimally invasive interventions. His most cited work, "3-D Path Planning Using Improved RRT* Algorithm for Robot-Assisted Flexible Needle Insertion in Multilayer Tissues" (2021, 33 citations), addresses a critical challenge in robotic surgery: enabling flexible needles to navigate complex, heterogeneous tissue environments while avoiding critical anatomical structures like blood vessels and organs. Ju’s key contribution lies in adapting the RRT* algorithm to handle the non-holonomic constraints of flexible needles, which cannot move sideways and must follow curved trajectories. By incorporating tissue layer properties and obstacle avoidance into the planning framework, his work significantly enhances the safety and precision of percutaneous procedures. This research has direct implications for prostate brachytherapy, liver biopsies, and deep brain stimulation, where needle placement accuracy is paramount. Ju’s approach bridges the gap between theoretical path planning and clinical application, offering a robust solution for real-time, 3-D trajectory generation in deformable tissues. His work continues to influence the development of autonomous surgical robots, making him a notable figure in the intersection of robotics, control theory, and interventional medicine.