{"id":"https://openalex.org/W3022031724","doi":"https://doi.org/10.1109/access.2020.2992457","title":"UKF-Based Motion Estimation of Cable-Driven Forceps for Robot-Assisted Surgical System","display_name":"UKF-Based Motion Estimation of Cable-Driven Forceps for Robot-Assisted Surgical System","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3022031724","doi":"https://doi.org/10.1109/access.2020.2992457","mag":"3022031724"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2992457","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2992457","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09086436.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/ielx7/6287639/8948470/09086436.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068849424","display_name":"Yusheng Yan","orcid":"https://orcid.org/0000-0003-0644-7009"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]},{"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":["CN","SG"],"is_corresponding":false,"raw_author_name":"Yusheng Yan","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China","National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-0644-7009","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100539574","display_name":"Lingtao Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingtao Yu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100330888","display_name":"Changsheng Li","orcid":"https://orcid.org/0000-0003-2469-4222"},"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":"Changsheng Li","raw_affiliation_strings":["National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080883308","display_name":"Xiaoyi Gu","orcid":"https://orcid.org/0000-0003-4257-3555"},"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"]},{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Xiaoyi Gu","raw_affiliation_strings":["NUS Suzhou Research Institute (NUSRI), Suzhou, China","National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NUS Suzhou Research Institute (NUSRI), Suzhou, China","institution_ids":["https://openalex.org/I4210125878"]},{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"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"]},{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["NUS Suzhou Research Institute (NUSRI), Suzhou, China","National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-6488-1551","affiliations":[{"raw_affiliation_string":"NUS Suzhou Research Institute (NUSRI), Suzhou, China","institution_ids":["https://openalex.org/I4210125878"]},{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"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":0.3414,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.5352911,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"8","issue":null,"first_page":"94912","last_page":"94922"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/forceps","display_name":"Forceps","score":0.6593316793441772},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5604385137557983},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.5579050183296204},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5409191250801086},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.44670945405960083},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32354289293289185},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3100159168243408},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.12720650434494019},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1039605438709259}],"concepts":[{"id":"https://openalex.org/C2776914593","wikidata":"https://www.wikidata.org/wiki/Q1378235","display_name":"Forceps","level":2,"score":0.6593316793441772},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5604385137557983},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.5579050183296204},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5409191250801086},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.44670945405960083},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32354289293289185},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3100159168243408},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.12720650434494019},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1039605438709259}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2020.2992457","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2992457","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09086436.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/197813","is_oa":false,"landing_page_url":"https://scholarbank.nus.edu.sg/handle/10635/197813","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus OA2020","raw_type":"Article"},{"id":"pmh:oai:doaj.org/article:fec303ab10be4f218bba8217b787dd6e","is_oa":true,"landing_page_url":"https://doaj.org/article/fec303ab10be4f218bba8217b787dd6e","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 8, Pp 94912-94922 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2992457","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2992457","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09086436.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5299999713897705}],"awards":[{"id":"https://openalex.org/G2076603201","display_name":null,"funder_award_id":"201906680046","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G2847747291","display_name":null,"funder_award_id":"61773007","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5085912426","display_name":null,"funder_award_id":"LH2019F016","funder_id":"https://openalex.org/F4320323085","funder_display_name":"Natural Science Foundation of Heilongjiang Province"},{"id":"https://openalex.org/G6430793676","display_name":null,"funder_award_id":"2018YFB1307703","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320323085","display_name":"Natural Science Foundation of Heilongjiang Province","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3022031724.pdf","grobid_xml":"https://content.openalex.org/works/W3022031724.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1607240223","https://openalex.org/W1628967874","https://openalex.org/W1972716133","https://openalex.org/W1978129878","https://openalex.org/W1980663843","https://openalex.org/W2007644921","https://openalex.org/W2009842698","https://openalex.org/W2011963952","https://openalex.org/W2040457694","https://openalex.org/W2052890916","https://openalex.org/W2076698573","https://openalex.org/W2092999801","https://openalex.org/W2100927926","https://openalex.org/W2109287591","https://openalex.org/W2113351044","https://openalex.org/W2144401864","https://openalex.org/W2146481048","https://openalex.org/W2189050031","https://openalex.org/W2196712401","https://openalex.org/W2290315638","https://openalex.org/W2409304865","https://openalex.org/W2429020069","https://openalex.org/W2527408187","https://openalex.org/W2752671352","https://openalex.org/W2756924539","https://openalex.org/W2804905260","https://openalex.org/W2806185962","https://openalex.org/W2884324731","https://openalex.org/W2889343662","https://openalex.org/W2921666079","https://openalex.org/W3007737076","https://openalex.org/W3008991766","https://openalex.org/W4239957716","https://openalex.org/W6636214449","https://openalex.org/W6643441599","https://openalex.org/W6687344527"],"related_works":["https://openalex.org/W2008739476","https://openalex.org/W2004937500","https://openalex.org/W2347613431","https://openalex.org/W2740306673","https://openalex.org/W4362698282","https://openalex.org/W2050720229","https://openalex.org/W2769674350","https://openalex.org/W2151851664","https://openalex.org/W1979551339","https://openalex.org/W3006612807"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"Unscented":[4],"Kalman":[5],"Filter":[6],"(UKF)-based":[7],"method":[8],"to":[9,147],"achieve":[10],"high-precision":[11],"motion":[12,91,194],"estimation":[13,92,100,164,195],"of":[14,27,30,70,79,86,108,113,133,150,166,175,185,197,211],"cable-driven":[15,34,53,198],"forceps":[16],"for":[17,171],"a":[18,31,38,44,51,56],"robot-assisted":[19],"surgical":[20,35,212],"system.":[21],"We":[22],"analyze":[23],"the":[24,64,75,83,90,106,125,130,139,151,154,162,172,183,186,193,204],"operational/working":[25],"principle":[26],"revolute":[28],"joints":[29,206],"3-degree-of-freedom":[32],"(3-DOF)":[33],"manipulator.":[36],"Then":[37],"gripper":[39,187],"jaw":[40],"is":[41,48,97,102,142,145],"selected":[42],"as":[43,88],"representative":[45],"joint,":[46],"which":[47,144],"actuated":[49],"by":[50],"single-motor":[52],"mechanism":[54],"with":[55,105,124,161],"reset":[57,80,140],"spring.":[58],"The":[59,99],"corresponding":[60],"system":[61],"dynamics":[62],"comprehend":[63],"mass,":[65],"elasticity,":[66],"damping,":[67],"and":[68,77,82,110,118],"friction":[69],"steel":[71],"cables.":[72],"By":[73,122],"using":[74],"displacement":[76,136],"velocity":[78],"cable":[81,141],"rotation":[84],"angle":[85],"motor":[87],"observations,":[89],"model":[93],"based":[94],"on":[95,138,182,203],"UKF":[96],"derived.":[98],"accuracy":[101,196],"verified":[103],"experimentally,":[104],"errors":[107],"absolute":[109],"root-mean-square":[111],"(RMS)":[112],"less":[114,167],"than":[115,168,178],"0.5":[116,169],"deg":[117,120,170],"0.2":[119],"respectively.":[121],"comparisons":[123],"least":[126],"square":[127],"methods":[128],"(LSMs),":[129],"installation":[131],"strategy":[132],"only":[134],"one":[135],"sensor":[137],"determined,":[143],"conducive":[146],"further":[148],"refinements":[149],"mechanism.":[152],"Furthermore,":[153],"external":[155,173],"force":[156,174],"loading":[157],"experiments":[158],"are":[159],"performed,":[160],"RMS":[163],"error":[165],"no":[176],"more":[177],"250":[179],"g":[180],"applied":[181],"tip":[184],"jaw.":[188],"These":[189],"experimental":[190],"results":[191],"validate":[192],"forceps,":[199],"without":[200],"requiring":[201],"sensors":[202],"end":[205],"or":[207],"slender":[208],"tool":[209],"shaft":[210],"instruments.":[213]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
