{"id":"https://openalex.org/W2909634898","doi":"https://doi.org/10.1109/access.2019.2891952","title":"Safety-Enhanced Model-Free Visual Servoing for Continuum Tubular Robots Through Singularity Avoidance in Confined Environments","display_name":"Safety-Enhanced Model-Free Visual Servoing for Continuum Tubular Robots Through Singularity Avoidance in Confined Environments","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2909634898","doi":"https://doi.org/10.1109/access.2019.2891952","mag":"2909634898"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2891952","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2891952","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08607974.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08607974.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038637903","display_name":"Keyu Wu","orcid":"https://orcid.org/0000-0001-8493-0712"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Keyu Wu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050027236","display_name":"Guo\u2010Niu Zhu","orcid":"https://orcid.org/0000-0003-2421-740X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guoniu Zhu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-2421-740X","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001051207","display_name":"Liao Wu","orcid":"https://orcid.org/0000-0002-4554-7638"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Liao Wu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101716728","display_name":"WenChao Gao","orcid":"https://orcid.org/0000-0002-2429-6745"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wenchao Gao","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100731554","display_name":"Shuang Song","orcid":"https://orcid.org/0000-0002-3490-9752"},"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":"Shuang Song","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052645908","display_name":"Chwee Ming Lim","orcid":"https://orcid.org/0000-0001-9528-4365"},"institutions":[{"id":"https://openalex.org/I4210150261","display_name":"National University Health System","ror":"https://ror.org/05tjjsh18","country_code":"SG","type":"education","lineage":["https://openalex.org/I4210150261"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chwee Ming Lim","raw_affiliation_strings":["Department of Otolaryngology, Head and Neck Surgery, National University Health System, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Otolaryngology, Head and Neck Surgery, National University Health System, Singapore","institution_ids":["https://openalex.org/I4210150261"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032340829","display_name":"Hongliang Ren","orcid":"https://orcid.org/0000-0002-6488-1551"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-6488-1551","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.7916,"has_fulltext":true,"cited_by_count":44,"citation_normalized_percentile":{"value":0.90261841,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"21539","last_page":"21558"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T11569","display_name":"Optical Coherence Tomography Applications","score":0.9987000226974487,"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/T11377","display_name":"Retinal and Macular Surgery","score":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.9333205223083496},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6930951476097107},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6808785796165466},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6641870737075806},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5922645330429077},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5543076395988464},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.5219844579696655},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5135629177093506},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.44256216287612915},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32840996980667114},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18846029043197632},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10590896010398865},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08453279733657837}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9333205223083496},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6930951476097107},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6808785796165466},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6641870737075806},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5922645330429077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5543076395988464},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5219844579696655},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5135629177093506},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.44256216287612915},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32840996980667114},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18846029043197632},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10590896010398865},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08453279733657837},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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":3,"locations":[{"id":"doi:10.1109/access.2019.2891952","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2891952","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08607974.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/209626","is_oa":true,"landing_page_url":"https://scholarbank.nus.edu.sg/handle/10635/209626","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus OA2019","raw_type":"Article"},{"id":"pmh:oai:doaj.org/article:2bb1c2c2c894407cba2cb4173f6794eb","is_oa":true,"landing_page_url":"https://doaj.org/article/2bb1c2c2c894407cba2cb4173f6794eb","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 21539-21558 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2891952","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2891952","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08607974.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3565159594","display_name":null,"funder_award_id":"R-397-000-245-511","funder_id":"https://openalex.org/F4320334737","funder_display_name":"National Medical Research Council"}],"funders":[{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"},{"id":"https://openalex.org/F4320320983","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752"},{"id":"https://openalex.org/F4320331724","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82"},{"id":"https://openalex.org/F4320334737","display_name":"National Medical Research Council","ror":"https://ror.org/04x3cxs03"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2909634898.pdf","grobid_xml":"https://content.openalex.org/works/W2909634898.grobid-xml"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W1503317857","https://openalex.org/W1514444483","https://openalex.org/W1670643203","https://openalex.org/W1964102168","https://openalex.org/W1970414604","https://openalex.org/W1972716133","https://openalex.org/W1980172851","https://openalex.org/W1988003703","https://openalex.org/W2000691728","https://openalex.org/W2010363308","https://openalex.org/W2033483688","https://openalex.org/W2036915629","https://openalex.org/W2039313011","https://openalex.org/W2042162637","https://openalex.org/W2042913147","https://openalex.org/W2047670868","https://openalex.org/W2049410986","https://openalex.org/W2050268494","https://openalex.org/W2059569291","https://openalex.org/W2059727927","https://openalex.org/W2063706473","https://openalex.org/W2065693146","https://openalex.org/W2065891876","https://openalex.org/W2069715493","https://openalex.org/W2071932864","https://openalex.org/W2074805944","https://openalex.org/W2078106140","https://openalex.org/W2091048732","https://openalex.org/W2098373580","https://openalex.org/W2114660269","https://openalex.org/W2116144804","https://openalex.org/W2127895884","https://openalex.org/W2128461920","https://openalex.org/W2129935047","https://openalex.org/W2131150943","https://openalex.org/W2139121338","https://openalex.org/W2148570124","https://openalex.org/W2152195021","https://openalex.org/W2170357357","https://openalex.org/W2184628757","https://openalex.org/W2318352171","https://openalex.org/W2322626836","https://openalex.org/W2329035258","https://openalex.org/W2406634771","https://openalex.org/W2515913918","https://openalex.org/W4251420516","https://openalex.org/W6643095383","https://openalex.org/W6643441599","https://openalex.org/W6668202574","https://openalex.org/W6686496303"],"related_works":["https://openalex.org/W2171817899","https://openalex.org/W2376367950","https://openalex.org/W213797040","https://openalex.org/W2620386921","https://openalex.org/W571470105","https://openalex.org/W1851410152","https://openalex.org/W4240233348","https://openalex.org/W2379794025","https://openalex.org/W2091554547","https://openalex.org/W2166615337"],"abstract_inverted_index":{"Minimally":[0],"invasive":[1,49],"procedures":[2],"have":[3,41,177],"gained":[4],"ever-increasing":[5],"popularity":[6],"due":[7],"to":[8,21,44,70,76,105,182],"their":[9,33],"advantages":[10],"of":[11,125,146,186],"smaller":[12],"incisions,":[13],"faster":[14],"recoveries,":[15],"fewer":[16],"complications,":[17],"and":[18,29,54,63,81,108,134,158,174,180],"reduced":[19],"scarring":[20],"name":[22],"a":[23,93,171],"few.":[24],"With":[25],"the":[26,37,42,66,77,122,132,135,137,148,153,184,187],"force":[27],"exertion":[28],"curvilinear":[30],"flexibility":[31],"at":[32],"distal":[34],"end":[35],"effectors,":[36],"continuum":[38,67,110],"tubular":[39,68,111],"robots":[40,112],"potential":[43],"perform":[45],"robot-assisted":[46],"trans-orifice":[47],"minimally":[48],"surgery,":[50],"such":[51,86],"as":[52,87],"transnasal":[53],"transoral":[55],"operations.":[56],"During":[57],"these":[58],"procedures,":[59],"it":[60],"is":[61,144],"important":[62],"challenging":[64],"for":[65,83],"robot":[69,126,133],"automatically":[71],"adjust":[72],"its":[73],"pose":[74],"according":[75],"target":[78],"surgical":[79],"sites":[80],"compensate":[82],"undesired":[84],"disturbance,":[85],"respiratory":[88],"motions.":[89],"In":[90],"this":[91],"paper,":[92],"singularity-avoidance":[94,189],"visual":[95,116,141,190],"servoing":[96,142,191],"algorithm":[97],"based":[98,113],"on":[99,114],"Jacobian":[100],"Optimization":[101],"has":[102],"been":[103,178],"proposed":[104,138,188],"improve":[106],"safety":[107],"control":[109],"intra-operative":[115],"feedback":[117],"in":[118,170],"confined":[119,172],"environments.":[120],"Without":[121],"prior":[123],"knowledge":[124],"kinematics":[127],"or":[128],"hand-eye":[129],"calibration":[130],"between":[131],"endoscope,":[136],"model-free":[139],"eye-in-hand":[140],"technique":[143],"capable":[145],"accomplishing":[147],"targeting":[149],"tasks":[150],"by":[151],"adopting":[152],"safety-enhanced":[154],"singularity":[155],"avoidance":[156],"mechanism":[157],"an":[159],"efficient":[160],"image-processing":[161],"algorithm.":[162],"The":[163],"multiple":[164],"experiments,":[165],"including":[166],"simulations,":[167],"experiments":[168],"conducted":[169],"environment,":[173],"cadaveric":[175],"studies,":[176],"implemented":[179],"demonstrated":[181],"illustrate":[183],"superiority":[185],"method.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}