谢叻，博士，博士后，现任欧宝app官方网站下载国家数字化制造技术中心教授，医疗机器人研究院教授，博士生导师，欧宝app官方网站下载医疗机器人研究院副院长，欧宝app官方网站下载康复工程研究所副所长。
1985获得华东师范大学数学专业学士，1995获得南京航空航天大学计算数学专业硕士，1999获得南京航空航天大学航空宇航制造专业博士，2001年欧宝app官方网站下载材料科学与工程学院博士后出站。
2014年6-8月瑞士Bern大学高级访问学者，2015年6-8月美国西北大学高级访问学者，2019年6-8月瑞士苏黎世联邦理工大学高级访问学者，2024年6-8月德国慕尼黑工大高级访问学者。
开展医疗机器人（包括手术机器人和康复机器人）研究二十多年，研发了血管介入手术机器人、肾内介入手术机器人、整形微创手术机器人、支气管内镜介入手术机器人、鼻咽喉微创手术机器人、穿刺手术机器人、腹腔微创手术机器人；上肢康复机器人、下肢康复机器人、上下肢协同康复机器人、碗部康复机器人等。
先后主持国家级纵向科研项目包括：国家自然科学基金重点项目1项，国家自然科学基金重大项目课题1项，国家重点研发计划政府间重点专项项目1项，国家重点研发计划课题1项，国家自然科学基金面上项目5项，国家自然科学基金国际合作与交流项目4项；国家科技支撑计划重点项目课题1项；国家高技术研究发展计划（863计划）课题1项。国家科技型中小企业技术创新基金项目1项。
兼任中华医学会数字医学分会副主任委员，中国仿真学会医疗仿真分会副主任委员，中国仪器仪表学会力触觉感知与交互专业委员会副主任委员，中国机械工程学会生物制造工程分会理事，中国医药生物技术协会生物医学信息技术分会常务理事，中国康复辅具产业技术创新战略联盟副秘书长，上海生物医学工程学会医用机器人专委会主任委员，上海康复辅具与老年福祉产业技术创新战略联盟常务副理事长。
以通讯作者在国内外期刊等发表学术论文二百余篇。作为第一发明人申请国家发明专利五十余项，其中四十余项获得授权。作为第一完成人获得软件著作权十余项。
作为会议共同主席组办2届东方科技论坛：“医用机器人基础理论与关键技术”、“虚拟手术仿真与评价的基础理论和关键技术”。作为会议共同主席组办13届“国际康复与医学工程大会”、3届“中国瑞士医工交叉技术双边研讨会”。

手术机器人，康复机器人，虚拟手术，虚拟现实／增强现实，数字化医学，数字化制造

1.国家重点研发计划课题，软组织操作实时力交互建模与力反馈技术，2025-2027，主持

2.国家重点研发计划政府间重点专项项目，高龄老人认知与运动机能协同闭环康复机器人系统的研发和临床转化，2024-2027，主持

3.国家自然科学基金面上项目，鼻腔鼻窦微创手术柔性机器人关键技术研究，2025-2028，主持

4.国家自然科学基金重点项目，动态环境下狭窄腔道手术机器人感知与控制， 2022-2026，主持

5.国家自然科学基金面上项目，经输尿管肾内介入手术机器人关键技术研究，2020-2023，主持

6.国家自然科学基金面上项目，肝胆胰微创外科手术力觉感知与力觉反馈关键技术研究，2017-2020，主持

7.国家自然科学基金重大项目课题，手术虚拟仿真与手术评价的基础理论和关键技术研究，2012-2016，主持

8.国家科技型中小企业技术创新基金，汽车数字风洞虚拟现实仿真系统， 2010-2012, 主持

9.国家科技支撑计划重点项目课题，下肢残障者平衡功能分析训练系统的研制及临床应用，2009-2012，主持

10.国家自然科学基金面上项目，完全胸腔镜下心脏微创虚拟手术力觉反馈关键技术研究，2009-2011，主持

11.国家高技术研究发展计划（863计划）课题，多自由度虚拟手术力反馈人机交互装置研究，2009-2010，第二负责人

12.国家高技术研究发展计划（863计划）课题，基于中国数字人的人体运动系统虚拟现实研究，2006-2008，主持

13.国家自然科学基金面上项目，虚拟耳显微手术关键技术研究与实现， 2005-2007，主持

[1] Wentuo Yang, Yongfeng Cao, Shuang Wang, Zefeng Liu, Hongyu Cheng, Le Xie*, Development of a continuum manipulator with variable bending length and piecewise stiffness for transoral laryngeal surgery, International Journal of Computer Assisted Radiology and Surgery, Vol.19, Page(s): 1809–1820, May, 2024 https://doi.org/10.1007/s11548-024-03194-z

[2] Zefeng Liu, Ru Li,Yongfeng Cao, Le Xie*, Design and navigation method of a soft robot for single-port transvesical radical prostatectomy, International Journal of Computer Assisted Radiology and Surgery,,2024, https://doi.org/10.1007/s11548-024-03122-1

[3] Zheng Liu, Shuang Wang, Yongfeng Cao, Zhenggang Cao, Li Lin*, Le Xie*. An Autonomous Guidewire Delivery Method With Distal Position-Based Impedance Control. IEEE Transactions on Automation Science and Engineering, Vol.22,2025,1658-1672, doi:10.1109/TASE.2024.3368764, 2024:1-15

[4] Yongfeng Cao, Wentuo Yang, Shuang Wang, Shaoying He, Zheng Liu, Le Xie*, Improved Trajectory Tracking Control for a Continuum Robot Using Error-Driven ADRC With Input Mapping Method,IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,Vol.71,No.10,Page(s): 12696 – 12706,October,2024 https://doi.org/10.1109/TIE.2023.3344834

[5] Shuang Wang, Hao Shen, Zheng Liu and Le Xie*, TCN-based Distal Force Feedback Strategy of a Vascular Interventional Surgery Robot, IEEE SENSORS JOURNAL,VOL.24,NO.3,4120-4130,FEBRUARY 2024,DOI 10.1109/JSEN.2023.3345028

[6] Shuang Wang, Zheng Liu, Yongfeng Cao, Ling Zhang, Le Xie*, Improved precise guidewire delivery of a cardiovascular interventional surgery robot based on admittance control, International Journal of Computer Assisted Radiology and Surgery, 2023.09, https://doi.org/10.1007/s11548-023-03017-7

[7] Shuang Wang, Zheng Liu, Wentuo Yang, Yongfeng Cao, Liang Zhao, and Le Xie*, Learning-Based Multimodal Information Fusion and Behavior Recognition of Vascular Interventionists’ Operating Skills, IEEE JOURNAL OF BIOMEDICAL AND HEALTH INFORMATICS, 2023.09, VOL. 27, NO. 9, 4536-4547

[8] Yongfeng Cao, Zhenggang Cao, Fan Feng, Le Xie*, ADRC-Based Trajectory Tracking Control for a Planar Continuum Robot, Journal of Intelligent & Robotic Systems, 2023, https://doi.org/10.1007/s10846-023-01852-z

[9] Yongfeng Cao, Zefeng Liu, Hailong Yu, Wuzhou Hong, Le Xie*, Spatial Shape Sensing of a Multisection Continuum Robot With Integrated DTG Sensor for Maxillary Sinus Surgery, IEEE/ASME TRANSACTIONS ON MECHATRONICS, 2023, VOL. 28, NO. 2, 715-725

[10] Yongfeng Cao, Zefeng Liu, Zheng Liu, Shuang Wang, Le Xie*, Design and Path Tracking Control of a Continuum Robot for Maxillary Sinus Surgery, International Journal of Computer Assisted Radiology and Surgery, 2022, https://doi.org/10.1007/s11548-022-02820-y

[11] Yongfeng Cao, Yuxuan Shi, Wuzhou Hong, Peidong Dai, Xicai Sun, Hongmeng Yu, Le Xie*, Continuum Robots for Endoscopic Sinus Surgery: Recent Advances, Challenges, and Prospects, International Journal of Medical Robotics and Computer Assisted Surgery, 2022, https://doi.org/10.1002/rcs.2471

[12] Yongfeng Cao, Fan Feng, Zefeng Liu, Le Xie*, Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback, Journal of Mechanisms and Robotics, DECEMBER 2022, Vol. 14 / 061012, https://doi.org/10.1115/1.4054997

[13] Zheng Liu, Shuang Wang, Yongfeng Cao, Hongyu Cheng, Le Xie*, Optimal Control for a Modified Bouc-Wen Model in a Magnetorheological Fluid Master Robot, IEEE Robotics and Automation Letters, VOL. 7, NO. 4, OCTOBER 2022, 11609-11616, DOI 10.1109/LRA.2022.3204877

[14] Zheng Liu, Shuang Wang, Fan Feng, Le Xie*, A Magnetorheological Fluid Based Force Feedback Master Robot for Vascular Interventional Surgery, Journal of Intelligent & Robotic Systems, (2022) 106:20, https://doi.org/10.1007/s10846-022-01716-y

[15] Li Lin,Yuan Gao,Zin Mar Aung,Haisong Xu, Bingshun Wang, XianxianYang∗, Gang Chai∗, Le Xie∗. Preliminary reports of augmented-reality assisted craniofacial bone fracture reduction[J]. Journal of Plastic, Reconstructive & Aesthetic Surgery,October 7,2022;15:23 https://doi.org/10.1016/j.bjps.2022.06.105

[16] Wuzhou Hong, Fan Feng, Le Xie*, Guang-Zhong Yang*, A Two-Segment Continuum Robot With Piecewise Stiffness for Maxillary Sinus Surgery and Its Decoupling Method, IEEE-ASME Transactions on Mechatronics, 24 March 2022, DOI: 10.1109/TMECH.2022.3157041 (P1 - 11)

[17] Zhongliang Jiang, Yuan Gao, Le Xie*, Nassir Navab. Towards Autonomous Atlas-based Ultrasound Acquisitions in Presence of Articulated Motion. IEEE Robotics and Automation Letters, July, 2022. Vol.7, Issue: 3, PP:7423-7430. 10.1109/LRA.2022.3180440

[18] Xiongpeng Shu，Peng Hua，Shuang Wang，Ling Zhang，Le Xie*，Safety enhanced surgical robot for flexible ureteroscopy based on force feedback，International Journal of Medical Robotics and Computer Assisted Surgery, 2022; https://doi.org/10.1002/rcs.2410

[19] Shuang Wang，Zheng Liu，Xiongpeng Shu，Le Xie*，Mechanism design and force sensing of a novelcardiovascular interventional surgery robot，International Journal of Medical Robotics and Computer Assisted Surgery, 2022，18(4):1-13; https://doi.org/10.1002/rcs.2406

[20] Fan Feng, Yuan Zhou, Wuzhou Hong, KeYong Li, Le Xie*, Development and experiments of a continuum robotic system for transoral laryngeal surgery, International Journal of Computer Assisted Radiology and Surgery, https://doi.org/10.1007/s11548-022-02558-7, 2022

[21] Wuzhou Hong, Yuan Zhou, Yongfeng Cao, Fan Feng, Zefeng Liu, Keyong Li, Le Xie*, Development and validation of a two-segment continuum robot for maxillary sinus surgery, International Journal of Medical Robotics and Computer Assisted Surgery, 2022;18(1) https://doi.org/10.1002/rcs.2340 (1-13)

[22] Fan Feng, Wuzhou Hong, Le Xie*, A learning-based tip contact force estimation method for tendon-driven continuum manipulator, Scientific Reports，P17482, Sep, 2021, (2021) 11:17482, https://doi.org/10.1038/s41598-021-97003-1（1-11）

[23] Yuan Gao, Kai Liu, Li Lin, Xudong Wang*, Le Xie*, The Use of Augmented Reality Navigation to Optimize the Surgical Management of Craniofacial Fibrous Dysplasia, British Journal of Oral and Maxillofacial Surgery, 2021. https://doi.org/10.1016/j.bjoms.2021.03.011

[24] Kai Liu, Yuan Gao, Ahmed Abdelrehem, Lei Zhang, Xi Chen, Le Xie*, Xudong Wang*. Augmented reality navigation method for recontouring surgery of craniofacial fibrous dysplasia. Scientific Reports, (2021) 11:10043, https://doi.org/10.1038/s41598-021-88860-x

[25] Xiongpeng Shu, Peng Hua, Le Xie*, An irrigation system for noninvasively estimating intrarenal pressure during flexible ureteroscopy, International Journal of Medical Robotics and Computer Assisted Surgery, 2021,17(5),1-11, e2306,DOI：https://doi.org/10.1002/rcs.2306, 2021

[26] Yuan Gao, Yuyun Zhao, Le Xie*, Guoyan Zheng*, A Projector-based Augmented Reality Navigation System for Computer Assisted Surgery. Sensors, 2021, 21, 2931. https://doi.org/10.3390/s21092931

[27] Li Lin, Cheng Xu, Yunyong Shi, Chaozheng Zhou, Ming Zhu, Gang Chai*, Le Xie*. Preliminary clinical experience of robot-assisted surgery in treatment with genioplasty. Scientific Reports 11,6365(2021). DOI:https://doi.org/10.1038/s41598-021-85889-w

[28]Cheng Xu,Yang Wang,Chaozheng Zhou,Zhenfeng Zhang,Le Xie*, Kjell Andersson*, Lei Feng,Application research of master-slave craniofacial surgery robot based on force feedback, PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE (P I MECH ENG H), 2021, Vol. 235(5) 583–596

[29]Cheng Xu,Li Lin,ZIN MAR AUNG,Xiaojun Chen, Mengzhe Sun,Gang Chai,Le Xie*,,A preliminary study on animal experiments of robot-assisted craniotomy,World Neurosurgery,2021,149:e748-e757,DOI: 10.1016/j.wneu.2021.01.108

[30] Cheng Xu, Li Lin, Zin Mar Aung, Gang Chai, Le Xie*, Research on spatial motion safety constraints and cooperative control of robot‐assisted craniotomy: Beagle model experiment verification, The International Journal of Medical Robotics and Computer Assisted Surgery, 2021, 17(2): e2231, DOI:10.1002/rcs.2231 (1-13)

[31]Cheng Xu,Li Lin,Chaozheng Zhou,Le Xie*,A Compact Surgical Robot System for Cranio-maxillofacial Surgery and Its Preliminary Study, The Journal of Craniofacial Surgery,32（1）,101-107, January/February，2021, DOI: 10.1097/SCS.0000000000007022

[32] Xiongpeng Shu, Qi Chen, and Le Xie*, A Novel Robotic System for Flexible Ureteroscopy, The International Journal of Medical Robotics and Computer Assisted Surgery, 2021, 17(1): 1-11, DOI: 10.1002/rcs.2191

[33] Fan Feng, Wuzhou Hong, Le Xie*, Design of 3D-Printed Flexible Joints with Presettable Stiffness for Surgical Robots, IEEE Access, April 2020，P79573~79585, Vol.8, May, 2020

[34] Li Lin, Yuan Gao, Gang Chai, Haisong Xu*, Le Xie*. Electromagnetic Navigation in Craniofacial Surgery Based on Automatic Registration of Dental Splints. . Journal of Craniofacial Surgery. 2020.31(2)：393-396

[35] Li Lin, Mengzhe Sun, Yuan Gao, Gang Chai, Haisong Xu, Xianxian Yang*, Le Xie*. Modeling and Clinical Application of Incision Space in Facial Contour Surgery. Journal of Craniofacial Surgery. 2020.31(2)：377-380

[36] Yuan Gao, Li Lin, Gang Chai*, Le Xie*. A feasibility study of a new method to enhance the augmented reality navigation effect in mandibular angle split osteotomy. Journal of Cranio-Maxillofacial Surgery. 47 (2019) 1242-1248, https://doi.org/10.1016/j.jcms 2019.04.005

[37] Hao Shen, Cheng Wang, Le Xie*, Shoujun Zhou*, Lixu Gu, and Hongzhi Xie. A novel robotic system for vascular intervention: principles, performances, and applications, The International Journal of Computer Assisted Radiology and Surgery. 2019, DOI10.1007/s11548-018-01906-w

[38] Wuzhou Hong, Le Xie*, Jiahui Liu, Yajing Sun, Keyong Li, and Hesheng Wang*, Development of A Novel Continuum Robotic System for Maxillary Sinus Surgery, IEEE-ASME Transactions on Mechatronics, Volume: 23, Issue: 3, June 2018, Page(s): 1226 – 1237

[39] Hao Shen,Cheng Wang, Le Xie*, Shoujun Zhou*, Lixu Gu, Hongzhi Xie, A novel remote-controlled robotic system for cerebrovascular intervention, The international Journal of medical robotics and computer assisted surgery, Volume:14, Issue:6, December 2018, Page(s): e1943(1-9)

[40] Chaozheng Zhou, Ming Zhu, Yunyong Shi, Li Lin, Gang Chai*, Le Xie*. Robot assisted surgery for mandibular angle split osteotomy using augmented reality: preliminary results on clinical animal experiment [J]. Aesthetic Plastic Surgery, DOI: 10.1007/s00266-017-0900-5，2017, (3):1-9

[41] Yunyong Shi, Chaozheng Zhou, Le Xie*, Yongjun Chen*, Jun Jiang, Zhenfeng Zhang, Ze Deng. Research of the master–slave robot surgical system with the function of force feedback. International Journal Medical Robotics Comput Assist Surgery, 13 March 2017, DOI: 10.1002/rcs.1826. 2017; e1826

[42] Juan Fang, Guoyuan Yang, Le Xie*, Qing Xie ,Development and Feasibility Assessment of a Rotational Orthosis for Walking with Arm Swing，Frontiers in Neuroscience, section Neural Technology, 01February2017. DOI: 10.3389/fnins.2017.00032

[43] Lin Liu, Le Xie*, Yunyong Shi and Bingchen An. GENERATION OF A MOVEMENT SCHEME FOR POSITIVE TRAINING. Frontiers in Neuroscience, Vol.11, 01 March 2017, DOI: 10.3389/fnins.2017.00096

[44] Lin Liu, Yun-Yong Shi, Le Xie*, A Novel Multi-DOF Exoskeleton Robot for Upper Limb Rehabilitation. Journal of Mechanics in Medicine and Biology, Vol. 16, No. 8 (2016) 1640023 (11 pages), DOI: 10.1142/S0219519416400236

[45] Yunyong Shi, Li Lin, Chaozheng Zhou, Ming Zhu, Le Xie*, Gang Chai*, A Study of Assisting Robot for Mandible Plastic Surgery Based on Augmented Reality, Minimally Invasive Therapy & Allied Technologies. 2016, DOI: 10.1080/13645706.2016.1216864

[46] Chaozheng Zhou, Lukas Anschuetz, Stefan Weder, Le Xie*, Marco Caversaccio, Stefan Weber, Tom Williamson*，Surface Matching for High Accuracy Registration of the Lateral Skull Base, International Journal of Computer Assisted Radiology and Surgery, 11:2097–2103 2016

[47] Li Lin, Yunyong Shi, Andy Tan, Melia Bogari, Ming Zhu, Yu Xin, Haisong Xu,Yan Zhang*, Le Xie*, Gang Chai*, Mandibular angle split osteotomy based on a novel augmented reality navigation using specialized robot-assisted arms - A feasibility study, Journal of Cranio-Maxillo-Facial Surgery, 44 (2016) 215-223

[48] Chaozheng Zhou, Le Xie*, Xianglong Shen, Maisheng Luo, Zhaoli Wu, Lixu Gu. Cardiovascular interventional surgery virtual training platform and its preliminary evaluation. The International Journal of Medical Robotics and Computer Assisted Surgery. 2015; 11（3）: 375–387, DOI: 10.1002/rcs

[49] Hailong Yu, Le Xie* , Chao Lv, Wei Shao, Yuan Wang, Jinwu Wang and WenweiI Yu. A System for Upper Lime Rehabilitation and Motor Function Evaluation. Journal of Mechanics in Medicine and Biology (Vol. 15, No. 1 (2015) 1550010 (19 pages)

[50] Hailong Yu, Jun Jiang, Le Xie*, Lin Liu, Yunyong Shi, Ping Cai. Design and static calibration of a six-dimensional force/torque sensor for minimally invasive surgery. MMIT Minimally Invasive Therapy and Allied Technologies（2014;23（3-4）:136–143）

[51] Jun Jiang, Le Xie*, Hailong Yu, Wenwei Yu, Bo wu, Development of a six-dimensional sensor for minimally invisive robotic surgery, Journal of Mechanics in Medicine and Biology，14（5），1450074-1～1450074-18，2014