Mengyu Fu

I received my PhD degree in Computer Science from University of North Carolina at Chapel Hill. Here is a link to my PhD dissertation. As a member of Computational Robotics Research Group led by Prof. Ron Alterovitz, I worked on inspection/motion planning for medical/surgical robots (e.g. steerable needles, concentric tube robots, and parallel surgical robots). I earned my bachelor and master degree from Harbin Institute of Technology (HIT).

More about me: [GitHub: UNC-Robotics] [LinkedIn] [Google Scholar] [Resume]

Email: mfu [at] cs.unc.edu

Mengyu Fu

News

Preliminary Ideas

3D Dubins Path for Close-Range Cases: In the Application of Steerable Needles
Mengyu Fu

Publications

Autonomous medical needle steering in vivo
Alan Kuntz, Maxwell Emerson*, Tayfun Efe Ertop*, Inbar Fried*, Mengyu Fu*, Janine Hoelscher*, Margaret Rox*, Jason Akulian, Erin A Gillaspie, Yueh Z Lee, Fabien Maldonado, Robert J Webster III, and Ron Alterovitz.
Science Robotics, doi:10.1126/scirobotics.adf7614, September 2023.
Asymptotically optimal inspection planning via efficient near-optimal search on sampled roadmaps
Mengyu Fu, Alan Kuntz, Oren Salzman, and Ron Alterovitz.
The International Journal of Robotics Research (IJRR), doi:10.1177/02783649231171646, June 2023.
Toward certifiable optimal motion planning for medical steerable needles
Mengyu Fu, Kiril Solovey, Oren Salzman, and Ron Alterovitz.
The International Journal of Robotics Research (IJRR), doi:10.1177/02783649231165818, May 2023.
A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation
Janine Hoelscher, Inbar Fried, Mengyu Fu, Mihir Patwardhan, Max Christman, Jason Akulian, Robert James Webster III, and Ron Alterovitz.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 9526-9533, Kyoto, Japan, October 2022.
Resolution-Optimal Motion Planning for Steerable Needles
Mengyu Fu, Kiril Solovey, Oren Salzman, and Ron Alterovitz.
IEEE International Conference on Robotics and Automation (ICRA), pp. 9652-9659, Philadelphia, US, May 2022.
[PDF] [arXiv] [Code]

Toward Certifiable Motion Planning for Medical Steerable Needles
Mengyu Fu, Oren Salzman, and Ron Alterovitz.
Robotics: Science and Systems (RSS), held virtually, July 2021.
[Best paper finalist] [PDF] [arXiv] [Code]

Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search
Mengyu Fu, Oren Salzman, and Ron Alterovitz.
IEEE International Conference on Robotics and Automation (ICRA), pp. 7449-7456, Xian, CN, May 2021.
[PDF] [arXiv] [Code]

Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume
Inbar Fried, Janine Hoelscher, Mengyu Fu, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Alan Kuntz, Jason A. Akulian, Robert J Webster III, and Ron Alterovitz.
IEEE International Conference on Robotics and Automation (ICRA), pp. 1418-1425, Xian, CN, May 2021.
[PDF]

Backward Planning for a Multi-Stage Steerable Needle Lung Robot
Janine Hoelscher, Mengyu Fu, Inbar Fried, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Alan Kuntz, Jason A. Akulian, Robert J Webster III, and Ron Alterovitz.
IEEE Robotics and Automation Letters (RAL), vol. 6, no. 2, pp. 3987-3994, April 2021.

Decoupling Steerability from Diameter: Helical Dovetail Laser Patterning for Steerable Needles
Margaret Rox, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Alan Kuntz, Josephine Granna, Jason Mitchell, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Jason Akulian, Ron Alterovitz, and Robert J Webster III.
IEEE Access 8 (2020): 181411-181419.

Steerable Needle Trajectory Following In The Lung: Torsional Deadband Compensation And Full Pose Estimation With 5DOF Feedback For Needles Passing Through Flexible Endoscopes
Tayfun Efe Ertop, Maxwell Emerson, Margaret Rox, Josephine Granna, Fabien Maldonado, Erin Gillaspie, Michael Lester, Alan Kuntz, Caleb Rucker, Mengyu Fu, Janine Hoelscher, Inbar Fried, Ron Alterovitz, and Robert J Webster III.
ASME Dynamic Systems and Control Conference (DSCC 2020), October 2020.
[Best student paper finalist] [PDF]

Planning High-Quality Motions for Concentric Tube Robots in Point Clouds via Parallel Sampling and Optimization
Alan Kuntz, Mengyu Fu, and Ron Alterovitz.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2205-2212, Macau, CN, November 2019.
[PDF]

Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search
Mengyu Fu, Alan Kuntz, Oren Salzman, and Ron Alterovitz.
Robotics: Science and Systems (RSS), Freiburg im Breisgau, DE, June 2019.
[PDF] [arXiv] [Code]

Safe Motion Planning for Steerable Needles using Cost Maps Automatically Extracted from Pulmonary Images
Mengyu Fu, Alan Kuntz, Robert J.Webster III, and Ron Alterovitz.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4942-4949, Madrid, ES, October 2018.
[PDF] [Code]

(Before joining UNC)

Motion Background Modeling Based on Context-Encoder
Zhenshen Qu, Shimeng Yu, and Mengyu Fu.
International Conference on Artificial Intelligence and Pattern Recognition (AIPR), pp. 32-36, Lodz, PL, September 2016.
[PDF]

Design of Real-Time Measurement System with Vision/IMU for Close-Range Semi-Physical Rendezvous and Docking Simulation
Zhenshen Qu, Xiangyu Chu, Mengyu Fu, Xiaokai Liu, Weinan Xie, and Changhong Wang.
IEEE Chinese Guidance, Navigation and Control Conference (CGNCC), pp. 2292-2298, Nanjing, CN, August 2016.
[PDF]

Step-Wise Support Vector Machines for Classification of Overlapping Samples
Mengyu Fu, Yang Tian, and Fang Wu.
Neurocomputing Volume 155, May 2015: pp. 159-166.

Steel Plates Fault Diagnosis on The Basis of Support Vector Machines
Yang Tian, Mengyu Fu, and Fang Wu.
Neurocomputing Volume 151, March 2015: pp. 296-303.

Fun facts