{"id":"https://openalex.org/W4288691787","doi":"https://doi.org/10.1007/s10514-022-10055-8","title":"Calibration method for a breast intervention robot based on four-dimensional ultrasound image guidance","display_name":"Calibration method for a breast intervention robot based on four-dimensional ultrasound image guidance","publication_year":2022,"publication_date":"2022-07-29","ids":{"openalex":"https://openalex.org/W4288691787","doi":"https://doi.org/10.1007/s10514-022-10055-8"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-022-10055-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-022-10055-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10055-8.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10055-8.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100363333","display_name":"Yanjun Guo","orcid":"https://orcid.org/0000-0002-5541-8290"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210161752","display_name":"Beijing Haidian Hospital","ror":"https://ror.org/058x5eq06","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210161752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guo Yanjun","raw_affiliation_strings":["Beijing Institute of Technology, Haidian District, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5541-8290","affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Haidian District, Beijing, China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210161752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064672242","display_name":"Xingguang Duan","orcid":"https://orcid.org/0000-0002-9640-4928"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210161752","display_name":"Beijing Haidian Hospital","ror":"https://ror.org/058x5eq06","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210161752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Duan Xingguang","raw_affiliation_strings":["Beijing Institute of Technology, Haidian District, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Haidian District, Beijing, China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210161752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101863385","display_name":"Chengyi Wang","orcid":"https://orcid.org/0000-0002-6780-9299"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128053","display_name":"Institute of Remote Sensing and Digital Earth","ror":"https://ror.org/02cjszf03","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128053"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Chengyi","raw_affiliation_strings":["Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, Haidian District, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, Haidian District, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210128053"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103869360","display_name":"Zhang Hai-cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210124809","display_name":"Peking University People's Hospital","ror":"https://ror.org/035adwg89","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210124809"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhang Haicheng","raw_affiliation_strings":["Peking University People\u2019s Hospital, Xicheng District, Beijing, China","Peking University People's Hospital, Xicheng District, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University People\u2019s Hospital, Xicheng District, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210124809"]},{"raw_affiliation_string":"Peking University People's Hospital, Xicheng District, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210124809"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101605101","display_name":"Huiqin Guo","orcid":"https://orcid.org/0000-0002-6498-4497"},"institutions":[{"id":"https://openalex.org/I4210131116","display_name":"Weinan Central Hospital","ror":"https://ror.org/02jkgv284","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210131116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guo Huiqin","raw_affiliation_strings":["Chengcheng County Hospital, Weinan City, Shanxi Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chengcheng County Hospital, Weinan City, Shanxi Province, China","institution_ids":["https://openalex.org/I4210131116"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100363333"],"corresponding_institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210161752"],"apc_list":{"value":3390,"currency":"USD","value_usd":3390},"apc_paid":{"value":3390,"currency":"USD","value_usd":3390},"fwci":0.5637,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.82518722,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"46","issue":"7","first_page":"851","last_page":"859"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9858999848365784,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9717000126838684,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8311856389045715},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7119919061660767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6953029036521912},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6615144610404968},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5283375978469849},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5125329494476318},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.4857366681098938},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.47597306966781616},{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.4564620554447174},{"id":"https://openalex.org/keywords/breast-ultrasound","display_name":"Breast ultrasound","score":0.43000173568725586},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.4129161834716797},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.16651785373687744},{"id":"https://openalex.org/keywords/mammography","display_name":"Mammography","score":0.1660185158252716},{"id":"https://openalex.org/keywords/breast-cancer","display_name":"Breast cancer","score":0.15125587582588196},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11918696761131287},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09327024221420288}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8311856389045715},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7119919061660767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6953029036521912},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6615144610404968},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5283375978469849},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5125329494476318},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.4857366681098938},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.47597306966781616},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.4564620554447174},{"id":"https://openalex.org/C2777423100","wikidata":"https://www.wikidata.org/wiki/Q1888238","display_name":"Breast ultrasound","level":5,"score":0.43000173568725586},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.4129161834716797},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.16651785373687744},{"id":"https://openalex.org/C2780472235","wikidata":"https://www.wikidata.org/wiki/Q324634","display_name":"Mammography","level":4,"score":0.1660185158252716},{"id":"https://openalex.org/C530470458","wikidata":"https://www.wikidata.org/wiki/Q128581","display_name":"Breast cancer","level":3,"score":0.15125587582588196},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11918696761131287},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09327024221420288},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C121608353","wikidata":"https://www.wikidata.org/wiki/Q12078","display_name":"Cancer","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10514-022-10055-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-022-10055-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10055-8.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10514-022-10055-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-022-10055-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10055-8.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Good health and well-being","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/3"}],"awards":[{"id":"https://openalex.org/G5293378633","display_name":null,"funder_award_id":"61603043","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4288691787.pdf","grobid_xml":"https://content.openalex.org/works/W4288691787.grobid-xml"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W964560050","https://openalex.org/W1970894228","https://openalex.org/W1975994302","https://openalex.org/W2000360595","https://openalex.org/W2031004117","https://openalex.org/W2066860967","https://openalex.org/W2069715493","https://openalex.org/W2092111004","https://openalex.org/W2117228865","https://openalex.org/W2264537532","https://openalex.org/W2783678945","https://openalex.org/W2793224505","https://openalex.org/W2980684393","https://openalex.org/W3103158440","https://openalex.org/W3127056872"],"related_works":["https://openalex.org/W2337415362","https://openalex.org/W4312857205","https://openalex.org/W121273120","https://openalex.org/W2740820121","https://openalex.org/W317572212","https://openalex.org/W2002009170","https://openalex.org/W2034462085","https://openalex.org/W2141888456","https://openalex.org/W2164918837","https://openalex.org/W1504288058"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"breast":[2,32],"interventional":[3],"ultrasound":[4,19,30],"therapy,":[5],"it":[6,71],"is":[7,35,47,58],"difficult":[8],"to":[9,83,140],"directly":[10],"diagnose":[11],"the":[12,41,45,50,54,61,73,87,94,98,112,115,132,143,146],"location":[13],"of":[14,40,49,53,63,97,114,131,145],"a":[15,28,64,105],"tumor":[16],"in":[17,24,120],"2-D":[18],"images.":[20],"To":[21],"assist":[22],"surgeons":[23],"treatment":[25],"more":[26],"intuitively,":[27],"four-dimensional":[29],"image-guided":[31],"intervention":[33],"robot":[34,46],"proposed.":[36],"The":[37],"calibration":[38,107,116],"approach":[39,117],"ultrasonic":[42],"image":[43,89],"for":[44],"one":[48],"main":[51],"contents":[52],"research.":[55],"This":[56,109],"method":[57,82,134],"based":[59],"on":[60],"establishment":[62],"complete":[65,106],"coordinate":[66,99],"system":[67,100],"conversion":[68,101],"model,":[69],"and":[70,77,85,103,128],"uses":[72],"ORB":[74],"(oriented":[75],"FAST":[76],"rotated":[78],"BRIEF)":[79],"feature":[80],"extraction":[81],"obtain":[84],"record":[86],"real-time":[88],"marker":[90],"pixel":[91],"positions,":[92],"calculate":[93],"unknown":[95],"parameters":[96],"matrix,":[102],"establish":[104],"system.":[108,125],"article":[110],"demonstrates":[111],"feasibility":[113],"through":[118],"experiments":[119],"our":[121],"developed":[122],"US-guided":[123],"robotic":[124],"Additional":[126],"experimental":[127],"parametrical":[129],"comparisons":[130],"proposed":[133,147],"with":[135],"state-of-the-art":[136],"methods":[137],"were":[138],"conducted":[139],"thoroughly":[141],"evaluate":[142],"outperformance":[144],"method.":[148]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}