{"id":"https://openalex.org/W7204789699","doi":"https://doi.org/10.1088/1742-6596/3291/1/012024","title":"A Tip Tracking Method Based on CNN-Mamba Temporal Fusion and Kalman Filtering Prediction","display_name":"A Tip Tracking Method Based on CNN-Mamba Temporal Fusion and Kalman Filtering Prediction","publication_year":2026,"publication_date":"2026-08-01","ids":{"openalex":"https://openalex.org/W7204789699","doi":"https://doi.org/10.1088/1742-6596/3291/1/012024"},"language":"en","primary_location":{"id":"doi:10.1088/1742-6596/3291/1/012024","doi":"https://doi.org/10.1088/1742-6596/3291/1/012024","is_oa":true,"landing_page_url":"https://doi.org/10.1088/1742-6596/3291/1/012024","pdf_url":"https://iopscience.iop.org/article/10.1088/1742-6596/3291/1/012024/pdf","source":{"id":"https://openalex.org/S4210187594","display_name":"Journal of Physics Conference Series","issn_l":"1742-6588","issn":["1742-6588","1742-6596"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","jufo-1","norway-1","poland-40","vabb-shw"],"host_organization":"https://openalex.org/P4310320083","host_organization_name":"IOP Publishing","host_organization_lineage":["https://openalex.org/P4310320083","https://openalex.org/P4310311669"],"host_organization_lineage_names":["IOP Publishing","Institute of Physics"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Physics: Conference Series","raw_type":"journal-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://iopscience.iop.org/article/10.1088/1742-6596/3291/1/012024/pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102837042","display_name":"Yu Shi","orcid":"https://orcid.org/0000-0002-9410-5959","observed_orcids":["https://orcid.org/0000-0002-9410-5959"]},"institutions":[{"id":"https://openalex.org/I49835588","display_name":"Macao Polytechnic University","ror":"https://ror.org/02sf5td35","country_code":"MO","type":"education","lineage":["https://openalex.org/I49835588"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Yangning Shi","raw_affiliation_strings":["Macao Polytechnic University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Macao Polytechnic University","institution_ids":["https://openalex.org/I49835588"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100612564","display_name":"Yuan Xu","orcid":"https://orcid.org/0000-0003-1828-8244","observed_orcids":["https://orcid.org/0000-0003-1828-8244"]},"institutions":[{"id":"https://openalex.org/I49835588","display_name":"Macao Polytechnic University","ror":"https://ror.org/02sf5td35","country_code":"MO","type":"education","lineage":["https://openalex.org/I49835588"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Yuan Xu","raw_affiliation_strings":["Macao Polytechnic University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Macao Polytechnic University","institution_ids":["https://openalex.org/I49835588"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024505736","display_name":"Erli Lyu","orcid":"https://orcid.org/0000-0002-4449-5426","observed_orcids":["https://orcid.org/0000-0002-4449-5426"]},"institutions":[{"id":"https://openalex.org/I49835588","display_name":"Macao Polytechnic University","ror":"https://ror.org/02sf5td35","country_code":"MO","type":"education","lineage":["https://openalex.org/I49835588"]}],"countries":["MO"],"is_corresponding":true,"raw_author_name":"Erli Lyu","raw_affiliation_strings":["Macao Polytechnic University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Macao Polytechnic University","institution_ids":["https://openalex.org/I49835588"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5024505736"],"corresponding_institution_ids":["https://openalex.org/I49835588"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3291","issue":"1","first_page":"012024","last_page":"012024"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.6348000168800354,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.6348000168800354,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10727","display_name":"Ultrasound Imaging and Elastography","score":0.04050000011920929,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.01940000057220459,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/needle-tip-tracking","display_name":"needle tip tracking","score":0.996999979019165},{"id":"https://openalex.org/keywords/ultrasound-guided-biopsy","display_name":"ultrasound-guided biopsy","score":0.9100000262260437},{"id":"https://openalex.org/keywords/mamba","display_name":"Mamba","score":0.7839999794960022},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6830000281333923},{"id":"https://openalex.org/keywords/adaptive-kalman-filter","display_name":"adaptive Kalman filter","score":0.7379999756813049},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"extended Kalman filter","score":0.8330000042915344},{"id":"https://openalex.org/keywords/unscented-kalman-filter","display_name":"unscented Kalman filter","score":0.9990000128746033},{"id":"https://openalex.org/keywords/efficientnetv2","display_name":"EfficientNetV2","score":0.7319999933242798}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6654000282287598},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.600600004196167},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.599399983882904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5957000255584717},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5095000267028809},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5072000026702881},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48510000109672546},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4235999882221222},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4097000062465668},{"id":"https://openalex.org/C134652429","wikidata":"https://www.wikidata.org/wiki/Q1052698","display_name":"Jitter","level":2,"score":0.4002000093460083},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.39160001277923584},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.3598000109195709},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.35830000042915344},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3479999899864197},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.3449999988079071},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.3208000063896179},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.3140000104904175},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.29330000281333923},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.2856000065803528},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.2840000092983246},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.2732999920845032},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.26489999890327454},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.2646999955177307},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.2556999921798706},{"id":"https://openalex.org/C119666444","wikidata":"https://www.wikidata.org/wiki/Q5977280","display_name":"Temporal resolution","level":2,"score":0.2551000118255615},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.25290000438690186},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1088/1742-6596/3291/1/012024","doi":"https://doi.org/10.1088/1742-6596/3291/1/012024","is_oa":true,"landing_page_url":"https://doi.org/10.1088/1742-6596/3291/1/012024","pdf_url":"https://iopscience.iop.org/article/10.1088/1742-6596/3291/1/012024/pdf","source":{"id":"https://openalex.org/S4210187594","display_name":"Journal of Physics Conference Series","issn_l":"1742-6588","issn":["1742-6588","1742-6596"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","jufo-1","norway-1","poland-40","vabb-shw"],"host_organization":"https://openalex.org/P4310320083","host_organization_name":"IOP Publishing","host_organization_lineage":["https://openalex.org/P4310320083","https://openalex.org/P4310311669"],"host_organization_lineage_names":["IOP Publishing","Institute of Physics"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Physics: Conference Series","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1088/1742-6596/3291/1/012024","doi":"https://doi.org/10.1088/1742-6596/3291/1/012024","is_oa":true,"landing_page_url":"https://doi.org/10.1088/1742-6596/3291/1/012024","pdf_url":"https://iopscience.iop.org/article/10.1088/1742-6596/3291/1/012024/pdf","source":{"id":"https://openalex.org/S4210187594","display_name":"Journal of Physics Conference Series","issn_l":"1742-6588","issn":["1742-6588","1742-6596"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","jufo-1","norway-1","poland-40","vabb-shw"],"host_organization":"https://openalex.org/P4310320083","host_organization_name":"IOP Publishing","host_organization_lineage":["https://openalex.org/P4310320083","https://openalex.org/P4310311669"],"host_organization_lineage_names":["IOP Publishing","Institute of Physics"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Physics: Conference Series","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7204789699.pdf","grobid_xml":"https://content.openalex.org/works/W7204789699.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W2773101728","https://openalex.org/W2806388016","https://openalex.org/W2885500297","https://openalex.org/W2889121128","https://openalex.org/W3023603755","https://openalex.org/W3090318113","https://openalex.org/W3135579950","https://openalex.org/W3156931243","https://openalex.org/W4235519195","https://openalex.org/W4297491425","https://openalex.org/W4307032958","https://openalex.org/W4323058710","https://openalex.org/W4390822339","https://openalex.org/W4394743988","https://openalex.org/W4401188905","https://openalex.org/W4402299910","https://openalex.org/W4403261884","https://openalex.org/W4409233607","https://openalex.org/W4410288325","https://openalex.org/W4411600296","https://openalex.org/W4413374330"],"related_works":["https://openalex.org/W4409233607","https://openalex.org/W1516448465","https://openalex.org/W7124177703","https://openalex.org/W4377695248","https://openalex.org/W3135579950","https://openalex.org/W2511508505","https://openalex.org/W3109596981","https://openalex.org/W2007817489","https://openalex.org/W2979771373","https://openalex.org/W3156931243"],"abstract_inverted_index":{"Abstract":[0],"Ultrasound-guided":[1],"minimally":[2],"invasive":[3],"puncture":[4],"is":[5,68,87,106,189],"widely":[6],"applied":[7],"in":[8],"clinical":[9],"biopsy":[10,203],"and":[11,32,57,94,118,133,168,176,184,195],"interventional":[12],"therapy.":[13],"However,":[14],"it":[15],"still":[16],"suffers":[17],"from":[18],"low":[19],"needle":[20,49,77],"tip":[21,50,78],"positioning":[22,42],"accuracy,":[23],"severe":[24],"inter-frame":[25],"trajectory":[26],"jitter,":[27],"weak":[28],"dynamic":[29,185],"anti-interference":[30],"capability,":[31],"poor":[33],"adaptability":[34],"to":[35,73,89,109,192],"nonlinear":[36,139],"physiological":[37],"motion.":[38],"To":[39],"address":[40],"the":[41,71,113,152,159,163],"issues,":[43],"this":[44],"paper":[45],"proposes":[46],"a":[47],"high-precision":[48],"tracking":[51,182],"framework":[52],"combining":[53],"Convolutional":[54],"Neural":[55],"Network":[56],"Mamba":[58,82],"(CNN-Mamba)":[59],"temporal":[60,91],"fusion":[61],"with":[62,141,151],"adaptive":[63,103,142],"Kalman":[64,127,135],"filtering":[65,104],"(KF).":[66],"EfficientNetV2-B0":[67],"adopted":[69],"as":[70],"backbone":[72],"achieve":[74],"robust":[75,191],"single-frame":[76],"coordinate":[79],"regression.":[80],"The":[81],"selective":[83],"state":[84],"space":[85],"model":[86],"introduced":[88],"enforce":[90],"sequence":[92],"smoothing":[93],"jitter":[95],"suppression":[96],"while":[97,179],"retaining":[98],"subtle":[99],"motion":[100,123,132,140],"characteristics.":[101],"An":[102],"strategy":[105],"further":[107],"designed":[108],"switch":[110],"dynamically":[111],"between":[112],"4D":[114],"Constant":[115,120],"Velocity":[116],"(CV4)":[117],"6D":[119],"Acceleration":[121],"(CA6)":[122],"models,":[124],"employing":[125],"Extended":[126],"Filter":[128,136],"(EKF)":[129],"for":[130,138],"linear":[131],"Unscented":[134],"(UKF)":[137],"observation":[143],"noise":[144,194],"adjustment.":[145],"Experimental":[146],"results":[147],"show":[148],"that,":[149],"compared":[150],"traditional":[153],"CNN":[154],"+":[155],"KF":[156],"baseline":[157],"method,":[158],"proposed":[160],"method":[161,188],"reduces":[162],"mean":[164,170],"absolute":[165],"error":[166,172],"(MAE)":[167],"root":[169],"square":[171],"(RMSE)":[173],"by":[174],"0.12%":[175],"24.61%,":[177],"respectively,":[178],"achieving":[180],"superior":[181],"stability":[183],"adaptability.":[186],"This":[187],"highly":[190],"ultrasonic":[193],"artifacts,":[196],"enabling":[197],"real-time":[198],"visual":[199],"navigation":[200],"of":[201],"ultrasound-guided":[202],"robots.":[204]},"counts_by_year":[],"updated_date":"2026-10-28T10:33:24.094632","created_date":"2026-09-01T00:00:00"}
