I received my B.E. degree in Process Equipment and Control Engineering from the East China University of Science and Technology, Shanghai, China, in 2020. I am currently a 5th year Ph.D. student at Medical Mechatronics Lab of the Department of Electronic Engineering, The Chinese University of Hong Kong, supervised by Prof. Hongliang Ren.

My research interests include medical robot systems, robot perception, and autonomous control.

Here is my detailed CV.

🔥 News

• 11/2025: A paper accepted by Scientific Data.
• 10/2025: A paper accepted by TIE.
• 06/2025: A paper accepted by IROS 2025.
• 01/2025: Two papers accepted by ICRA 2025.
• 12/2023: Our Project was presented at Collaborative Research Fund cum Research Impact Fund Symposium 2023.
• 09/2023: A paper accepted by IEEE TIE.
• 07/2023: Pass PhD thesis proposal defense.
• 07/2023: A 3-minute special interview on our project was broadcast on TVB Jade on July 12, 2023.
• 05/2023: Our Project won the Silver Award in The International Exhibition of Inventions Geneva 2023.
• 05/2023: Awarded the Solomon Systech Scholarship.
• 06/2022: A paper accepted by IROS 2022.
• 11/2021: Our project “Skull-mounted robot for needle intervention” won the Silver Award and Best Presentation Award in EMedIC Global 2021.

📝 Selected Publications

Sci. Data

Upper Airway Anatomical Landmark Dataset for Automated Bronchoscopy and Intubation

Scientific Data, 2026

Ruoyi Hao†, Yang Zhang†, Zhiqing Tang, Yang Zhou, Lalithkumar Seenivasan, Catherine Po Ling Chan, Jason Ying Kuen Chan, Shuhui Xu, Neville Wei Yang Teo, Kaijun Tay, Vanessa Yee Jueen Tan, Jiun Fong Thong, Kimberley Liqin Kiong, Shaun Loh, Song Tar Toh, Chwee Ming Lim, and Hongliang Ren

Open-sourced dataset on Figshare

IROS2025

Learning to Perform Low-Contact Autonomous Nasotracheal Tube Intubation by Recurrent Action-Confidence Chunking with Transformer

2025 IEEE International Conference on Intelligent Robots and Systems (IROS), 2025

Yu Tian†, Ruoyi Hao†, Yiming Huang, Dihong Xie, Catherine Po Ling Chan, Jason Ying Kuen Chan, and Hongliang Ren

Video Paper

ICRA2025

Variable-Stiffness Nasotracheal Intubation Robot with Passive Buffering: A Modular Platform in Mannequin Studies

2025 IEEE International Conference on Robotics and Automation (ICRA), 2025

Ruoyi Hao, Jiewen Lai, Wenqi Zhong, Dihong Xie, Yu Tian, Tao Zhang, Zhang Yang, Catherine P. L. Chan, Jason Y. K. Chan, and Hongliang Ren

Video Paper

TIE

Modeling and compensation of stiffness-dependent hysteresis for stiffness-tunable tendon-sheath mechanism in flexible endoscopic robots

IEEE Transactions on Industrial Electronics (TIE), 2023

Huxin Gao, Ruoyi Hao, Xiaoxiao Yang, Changsheng Li, Zedong Zhang, Xiuli Zuo, Yanqing Li, and Hongliang Ren

Video

US Patent 2022

A vision-guided fiberoptic nasotracheal intubation robot.

U.S. Provisional Patent application No. 63,303,270. Washington, DC: U.S. Patent and Trademark Office, 2022

Hongliang Ren, Ruoyi Hao

IROS 2022

GESRsim: gastrointestinal endoscopic surgical robot simulator

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

Huxin Gao, Zedong Zhang, Changsheng Li, Xiao Xiao, Liang Qiu, Xiaoxiao Yang, Ruoyi Hao, Xiuli Zuo, Yanqing Li and Hongliang Ren

Video

💻 Selected Project

2021 - now: Nasotracheal Intubation Robot (Hong Kong RGC CRF)

Our work was presented at IROS 2025.

Our work was presented at ICRA 2025.

Our Project “A Vision-Guided Fiberoptic Nasotracheal Intubation Robot” won the Silver Award at The International Exhibition of Inventions Geneva 2023. And we received a letter of congratulations from the Vice-Chancellor of CUHK.

Then, this project was reported by “身體最誠實” with an interview talk given by Prof Hongliang Ren, which was aired on TVB Jade (12 July 2023).

video.

Our CRF project “Minimally Contiguous Intubation and Tracheostomy for Severe COVID-19 Patients with Teleoperated Endotracheal cum Percutaneous Dual Robotic Modules and Multi-Modality Guidance” was presented at the Collaborative Research Fund cum Research Impact Fund Symposium 2023.

📖 Educations

• 08/2021 - now, Ph.D. in Electronic Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
• 09/2016 - 06/2020, B.Eng. in Process Equipment and Control Engineering, East China University of Science and Technology, Shanghai, China

🎖 Honors and Awards

• 05/2023 Solomon Systech Scholarship
• 04/2023 Silver Award in 2023 Inventions Geneva
• 11/2021 Silver Award in EMEDIC GLOBAL 2021
• 11/2021 Best presentation in EMEDIC GLOBAL 2021
• 05/2020 Excellent Graduate of Shanghai
• 11/2019 Baosteel Outstanding Student Special Prize
• 12/2017 - 12/2019 National Scholarship of China

• 💬 Teaching Assistant

• ENGG 2760: Probability for Engineers, 2021 Fall, 2022 Fall, 2023 Fall
• ELEG 3103: Robotic Perception and Intelligence, 2022 Spring, 2023 Spring, 2024 Spring, 2025 Spring