{"id":"https://openalex.org/W2099032975","doi":"https://doi.org/10.1017/s0263574714001283","title":"Kinematics and cooperative control of a robotic spinal surgery system","display_name":"Kinematics and cooperative control of a robotic spinal surgery system","publication_year":2014,"publication_date":"2014-06-18","ids":{"openalex":"https://openalex.org/W2099032975","doi":"https://doi.org/10.1017/s0263574714001283","mag":"2099032975"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714001283","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001283","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103167938","display_name":"Haiyang Jin","orcid":"https://orcid.org/0000-0002-0363-2666"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiyang Jin","raw_affiliation_strings":["Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100668236","display_name":"Ying Hu","orcid":"https://orcid.org/0000-0002-3807-3649"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Ying Hu","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of sciences, Shenzhen, China","The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108547148","display_name":"Wei Tian","orcid":"https://orcid.org/0000-0002-1067-600X"},"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/I2802957242","display_name":"Beijing Jishuitan Hospital","ror":"https://ror.org/035t17984","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I2802957242"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wei Tian","raw_affiliation_strings":["Department of Spine Surgery, Beijing Jishuitan Hospital, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Spine Surgery, Beijing Jishuitan Hospital, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I2802957242","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101822072","display_name":"Peng Zhang","orcid":"https://orcid.org/0000-0002-0924-9174"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Peng Zhang","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of sciences, Shenzhen, China","The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101745473","display_name":"Zhangjun Song","orcid":"https://orcid.org/0000-0002-1809-6122"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Zhangjun Song","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of sciences, Shenzhen, China","The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100326970","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-7856-5760"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["Department of Informatics, University of Hamburg, Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100451269","display_name":"Bing Li","orcid":"https://orcid.org/0000-0002-5055-8921"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bing Li","raw_affiliation_strings":["Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100451269","https://openalex.org/A5108547148"],"corresponding_institution_ids":["https://openalex.org/I20231570","https://openalex.org/I204983213","https://openalex.org/I2802957242","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.3287,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.61224141,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"34","issue":"1","first_page":"226","last_page":"242"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/T10776","display_name":"Spinal Fractures and Fixation Techniques","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"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/T10238","display_name":"Spine and Intervertebral Disc Pathology","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.712636411190033},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5709430575370789},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5135879516601562},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4817052483558655},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4784831404685974},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45164039731025696},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.44501930475234985},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44198912382125854},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.4406864643096924},{"id":"https://openalex.org/keywords/spinal-surgery","display_name":"Spinal surgery","score":0.41958922147750854},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39926186203956604},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3829350471496582},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37509647011756897},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35059183835983276},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.22057566046714783},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17743709683418274},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.098611980676651}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.712636411190033},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5709430575370789},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5135879516601562},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4817052483558655},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4784831404685974},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45164039731025696},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.44501930475234985},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44198912382125854},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.4406864643096924},{"id":"https://openalex.org/C2994406423","wikidata":"https://www.wikidata.org/wiki/Q188449","display_name":"Spinal surgery","level":2,"score":0.41958922147750854},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39926186203956604},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3829350471496582},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37509647011756897},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35059183835983276},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.22057566046714783},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17743709683418274},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.098611980676651},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574714001283","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001283","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W67222916","https://openalex.org/W1552949708","https://openalex.org/W1905449820","https://openalex.org/W1968629446","https://openalex.org/W2021203202","https://openalex.org/W2022197757","https://openalex.org/W2028890806","https://openalex.org/W2031410643","https://openalex.org/W2043041871","https://openalex.org/W2055062818","https://openalex.org/W2070959693","https://openalex.org/W2072274545","https://openalex.org/W2073728642","https://openalex.org/W2100269120","https://openalex.org/W2116940456","https://openalex.org/W2121020903","https://openalex.org/W2122281070","https://openalex.org/W2143751762","https://openalex.org/W2145744986","https://openalex.org/W2150718503","https://openalex.org/W2162189406","https://openalex.org/W2166851428","https://openalex.org/W2304412636","https://openalex.org/W2328107573","https://openalex.org/W3148444946","https://openalex.org/W4206386758","https://openalex.org/W4285719527","https://openalex.org/W6674888543"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W1970280380","https://openalex.org/W2295071091","https://openalex.org/W2952364160","https://openalex.org/W2391000165","https://openalex.org/W2801692647"],"abstract_inverted_index":{"SUMMARY":[0],"Spinal":[1,27],"surgery":[2],"is":[3,59,62,107,138,188],"considered":[4],"a":[5,23,87,183,191],"high-risk":[6],"surgery.":[7],"To":[8],"improve":[9],"the":[10,20,40,52,57,67,83,93,99,105,114,119,126,142,165,169,175,196],"accuracy,":[11,167],"stability,":[12],"and":[13,61,73,95,116,128,135,152,168],"safety":[14],"of":[15,22,39,56,82,118,133,144,177,198],"such":[16],"operations,":[17],"we":[18],"report":[19],"development":[21],"novel":[24],"six-degrees-of-freedom":[25],"Robotic":[26],"Surgical":[28],"System":[29],"that":[30],"can":[31],"assist":[32],"surgeons":[33],"in":[34,109,131,147],"performing":[35],"transpedicular":[36],"surgery,":[37],"one":[38],"most":[41],"common":[42],"spinal":[43],"surgeries.":[44],"After":[45],"optimization":[46],"performed":[47,189],"using":[48],"Response":[49],"Surface":[50],"Methodology,":[51],"largest":[53],"available":[54],"workspace":[55],"robot":[58,106],"determined":[60],"found":[63,172],"to":[64,140,163,173],"easily":[65],"cover":[66],"entire":[68],"operation":[69,136],"area.":[70],"Cooperative":[71],"control":[72,76,89,146,154],"navigation-based":[74],"active":[75],"are":[77,160,171],"implemented":[78],"for":[79],"different":[80],"processes":[81],"operation.":[84,120,178],"We":[85],"propose":[86],"hybrid":[88,153],"approach":[90],"based":[91],"on":[92,190],"speed":[94,148],"torque":[96,150],"interface":[97],"at":[98],"joint":[100],"level.":[101],"In":[102],"this":[103],"mode,":[104,149,151],"compliant":[108],"Cartesian":[110],"space,":[111],"benefitting":[112],"both":[113],"accuracy":[115],"efficiency":[117],"A":[121],"comprehensive":[122],"assessment":[123],"index,":[124],"combining":[125],"subjective":[127],"objective":[129],"criteria":[130],"terms":[132],"positioning":[134,166],"efficiency,":[137],"proposed":[139],"compare":[141],"performance":[143],"cooperative":[145],"mode.":[155],"Active":[156],"fine":[157],"adjustment":[158],"experiments":[159],"carried":[161],"out":[162],"verify":[164],"results":[170],"satisfy":[174],"requirements":[176],"As":[179],"an":[180],"application":[181],"example,":[182],"pedicle":[184],"screw":[185],"insertion":[186],"experiment":[187],"pig":[192],"vertebral":[193],"bone,":[194],"demonstrating":[195],"effectiveness":[197],"our":[199],"system.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
