| 2025 | Principal Investigator . National Natural Science Foundation of China (82472115) , RMB ¥ 480,000 Research on Control and Execution System of Abdominal Complex Imaging Operations for Ultrasound Robots | NSFC |
| 2023 | Principal Investigator . Scholar of Young Talent Promoting Project (青年人才托举), RMB ¥ 300,000 | CPSF |
| 2023 | Principal Investigator . National Natural Science Foundation of China (62201315), RMB ¥ 300,000 Research on autonomous information perception and decision-making methods for robotic ultrasound imaging. | NSFC |
| 2022 | Investigator . The National Key Research and Development Program of China (2022YFC2405200), RMB ¥ 51,200,000 Trans-respiratory multimodal intelligent precision diagnosis and treatment robot system development | MOST |
| 2021 | Principal Investigator . ‘Tsinghua Huiyan’ Talent Foundation of Tsinghua University , RMB ¥ 600,000 | THU |
| 2021 | Principal Investigator . China Postdoctoral Science Foundation (2021M701928), RMB ¥ 80,000 Research on the control method and system of a fully autonomous ultrasonic diagnostic robot. | CPSF |
| 2020 | Investigator . National Natural Science Foundation of China (82027807)，RMB ¥ 7,310,000 Integrated Minimally Invasive Diagnosis and Treatment Device for Intelligent Precision Hepatobiliary Pancreas Surgery | NSFC |
| 2017 | Investigator . The National Key Research and Development Program of China (2017YFC0108000), RMB ¥ 5,980,000 Frontier Research on Integrated Minimally Invasive Precision Diagnosis and Treatment for Orthopedic Surgery based on Augmented Reality | MOST |
| 2015 | Investigator . National Natural Science Foundation of China (81427803)，RMB ¥ 7,000,000 High-precision Three-dimensional Spatial See-through Devices for Fusion of Medical Information | NSFC |