Gang Li

Contact Information


Research Interests



  1. Li G, PhD Dissertation, Dept. of Mechanical Engineering, Robotic System Development for Precision MRI-Guided Needle-Based Interventions, June 2016. WPI ETD Link

Refereed Journal Publications

  1. Moreira P, Patel N, Wartenberg Marek, Li G, Tuncali K, Heffter T, Burdette EC, Iordachita I, Fischer GS, Hata N, Tempany CM, Tokuda J, Evaluation of Robot-Assisted MRI-Guided Prostate Biopsy: Needle Path Analysis During Clinical Trials, Physics in Medicine and Biology, Vol 63, No 20, Oct 2018. IOP, PubMed
  2. Patel NA, Li G, Shang W, Wartenberg M, Heffter T, Burdette EC, Iordachita I, Tokuda J, Hata N, Tempany CM, Fischer GS, System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy, Journal of Medical Robotics Research (JMRR), May 2018. WorldSci
  3. Su H, Shang W, Li G, Patek L, Fischer GS, An MRI-Guided Telesurgery System Using a Fabry-Perot Interferometry Force Sensor and a Pneumatic Haptic Device, Annals of Biomedical Engineering (ABME), April 2017. Springer, PubMed, PDF
  4. Su H, Li G, Rucker C, Webster III RJ, Fischer GS, A Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-loop Targeting, Annals of Biomedical Engineering (ABME) - Journal of the Biomedical Engineering Society, Vol 44, No 10, pp 2863-2873, Oct 2016. Springer, PubMed
  5. Eslami S, Shang W, Li G, Patel N, Fischer GS, Tokuda J, Hata N, Tempany CM, Iordachita I,, In-Bore Prostate Transperineal Interventions with an MRI-guided Parallel Manipulator: System Development and Preliminary Evaluation, Int. Journal of Medical Robotics and Computer Assisted Surgery, Vol 12, No 2, pp 199-213, June 2016. Wiley
  6. Su H, Shang W, Cole GA, Li G, Harrington K, Camilo A, Tokuda J, Tempany CM, Hata N, Fischer GS, Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy, IEEE/ASME Transactions on Mechatronics, Vol 20, No 4, Aug 2015. IEEE, PDF
  7. Li G, Su H, Cole GA, Shang W, Harrington K, Camilo A, Pilitsis JG, Fischer GS, Robotic System for MRI-Guided Stereotactic Neurosurgery, IEEE Transactions on Biomedical Engineering, Vol 64, No 4, pp 1088-1088, April 2015. IEEE, PDF

Refereed Conference Proceedings

  1. Wartenberg M, Patel N, Li G, Fischer GS, Towards Synergistic Control of Hands-on Needle Insertion with Automated Needle Steering for MRI-Guided Prostate Interventions, IEEE EMBC 2016, Orlando, FL, USA, pp 5116-5119, Aug. 2016. IEEE
  2. Patel N, van KatwijK T, Li G, Moreira P, Shang W, Misra S, Fischer GS, Closed-loop Asymmetric-tip Needle Steering Under Continuous Intraoperative MRI Guidance, IEEE EMBC 2015, Milan, Italy, Aug. 2015. IEEE, PubMed
  3. Li M, Gonenc B, Kim K, Shang W, Iordachita I, Development of an MRI-Compatible Needle driver for In-bore Prostate Biopsy, International Conference on Advanced Robotics (ICAR 2015), Istanbul, Turkey, July 2015. IEEE
  4. Shang W, Su H, Li G, Furlong C, Fischer GS , A Fabry-Perot Interferometry Based MRI-Compatible Miniature Uniaxial Force Sensor for Percutaneous Needle, IEEE SENSORS 2013, Baltimore, MD, Nov. 2013. IEEE, PDF
  5. Shang W, Su H, Li G, Fischer GS , Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback, IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2013, Tokyo, Japan, Nov. 2013. IEEE, PDF
  6. Ji W, Matte JD, Li G, Ma Y, Su H, Shang W, Fischer GS, Reconfigurable Fiducial-Integrated Modular Needle Driver for MRI-Guided Percutaneous Interventions, Design of Medical Devices Conferences (DMD), Minneapolis, MN, April 2013. ASME, DMD
  7. Li G, Su H, Shang W, Tokuda J, Hata N, Tempany CM, Fischer GS, A Fully Actuated Robotic Assistant for MRI-Guided Prostate Biopsy and Brachytherapy, SPIE Medical Imaging (Image-Guided Procedures, Robotic Interventions, and Modeling Conference), Orlando, USA, Feb. 2013. PubMed, SPIE

Conference Abstracts, Workshops and Non Peer-Reviewed Papers

  1. Moreira P, Patel N, Wartenberg M, Li G, Heffter T, Burdette EC, Iordachita I, Fischer GS, Hata N, Tempany CM, Tokuda J, Transperineal MR-Guided Prostate Biopsy: The Contribution of Needle Deflection to the Targeting Error, International Symposium on Biomedical Imaging - ISBI'18, Washington, DC, April 2018.
  2. Tokuda J, Tuncali K, Li G, Patel N, Heffter T, Fischer GS, Iordachita I, Burdette EC, Hata N, Tempany CM, In-Bore MRI-Guided Transperineal Prostate Biopsy using 4-DOF Needle-Guide Manipulator, 24th Scientific Meeting and Exhibition of the International Society of Magnetic Resonance in Medicine - ISMRM 2016, Singapore, May 2016.
  3. Tokuda J, Tuncali K, Shang W, Patel N, Li G, Heffter T, Fischer GS, Iordachita I, Burdette EC, Hata N, Tempany CM, Clinical Application of Needle Guiding Manipulator for MRI-Guided Transperineal Prostate Biopsy, IEEE EMBC 2015, Milan, Italy, Aug. 2015.
  4. Li G, Patel N, Shang W, Fischer GS, Introducing a Gaussian-Based Continuous Rotation Approach to Underactuated Control of Asymmetric Tip Needle Steering, International Conference on Robotics and Automation - ICRA 2015, Seattle, WA, USA, May 2015. ICRA
  5. Fischer GS, Su H, Shang W, Li G, Hata N, Tempany C, Teleoperated Needle Placement for Real-time MRI-guided Prostate Interventions, 9th Interventional MRI Symposium (iMRI), Boston, MA, USA, Sept. 2012.

Lab Members