北京市自然科学基金面上项目手术导航系统中术前与术中低重叠率点云配准研究,4232002，2023/01-2025/12,18.00万元,在研，主持。

1.  Xingqiang Jian#, Yibin Song#, Dongdong Liu, Yu Wang, Xueqian Guo, Bo Wu*(共同通讯作者), Nan Zhang*, Motion Planning and Control of Active Robot in Orthopedic Surgery by CDMP-based Imitation Learning and Constrained Optimization[J]. IEEE Transactions on Automation Science and Engineering, Open Access: 13 February 2025. DOI:10.1109/TASE.2025. 3541594.

2. 刘天宝，郭家慧，宋伊彬，王玮，武博*，张楠. 基于注意力机制增强的术前-术中非同源点云配准 [J/OL]. 中国激光, 1-19[2025-02-27]. http://kns.cnki.net/kcms/detail/31.1339.TN.20241118.1323.056.html.

3. 张立静，王斌斌，王玮，武博*，张楠. 一种椎弓根螺钉内固定术中非同源低重叠率点云的配准方法. 中国激光. 2023(09): 90-98

4. 严文磬，张立静，王玮，武博*. 基于SHOT与目标函数对称ICP的低重叠率术前术中点云配准算法[J].北京生物医学工程, 2023,42(02):111-116.

5. Can Ye#, Yu Wang#, Yibin Song, Linjia Hao, Bo Wu*(共同通讯作者), Nan Zhang*, Multi-viewpoint optical positioning algorithm based on minimizing reconstruction error. MEASUREMENT [J], 218(2023), AUG 15 2023, DOI : 10.1016/j.measurement.2023.113206.

6. 杨巧玲，叶灿，梁楠，武博*，张楠光学定位技术辅助的手术场景全景拼接算法. 北京生物医学工程. 2022,41-3:242-248.

7. Linjia Hao#, Dongdong Liu#, Shuxian Du, Yu Wang, Bo Wu*, Qian Wang*, NanZhang*. An improved path planning algorithm based on artificial potential fieldand primal-dual neural network for surgical robot. Computer Methods and Programsin Biomedicine. 2022,2022:DOl:10.1016/j.cmpb.2022.107202. SCI(IF=7.027)

8. Jia Boqi(#), Zhang Nan(#), Liang Nan, Wang Shiqi, Wu Bo(*), Virtualview synthesis for the nonuniform illuminated between views in surgical video, MULTIMEDIATOOLS AND APPLICATIONS [J], 80(13): 20619-20639, 2021/5/27.SCI

9. Mengshi Zhang(#), BoWu(#), Can Ye, Yu Wang, Juan Duan, Xu Zhang(*), Nan Zhang(*). Multipleinstruments motion trajectory tracking in optical surgical navigation [J], OpticsExpress 27(11) :15827-15845, 2019. SCI