{"id":"https://openalex.org/W4385488448","doi":"https://doi.org/10.1109/aim46323.2023.10196252","title":"Biplane Transrectal Ultrasound Probe Calibration using Dual-arm Robotic System with Multi-DOF End-effectors","display_name":"Biplane Transrectal Ultrasound Probe Calibration using Dual-arm Robotic System with Multi-DOF End-effectors","publication_year":2023,"publication_date":"2023-06-28","ids":{"openalex":"https://openalex.org/W4385488448","doi":"https://doi.org/10.1109/aim46323.2023.10196252"},"language":"en","primary_location":{"id":"doi:10.1109/aim46323.2023.10196252","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim46323.2023.10196252","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5046927687","display_name":"Jing Xiong","orcid":"https://orcid.org/0000-0001-8872-5564"},"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/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"],"is_corresponding":false,"raw_author_name":"Jing Xiong","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Medical Robotics and Minimally Invasive Surgical Devices,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Medical Robotics and Minimally Invasive Surgical Devices,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062681186","display_name":"Qiangyun Li","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Qiangyun Li","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology,Soft Robotics Research Center","Soft Robotics Research Center, Shenzhen Institute of Advanced Technology","University of Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology,Soft Robotics Research Center","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Soft Robotics Research Center, Shenzhen Institute of Advanced Technology","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039046694","display_name":"Faizan Ahmad","orcid":"https://orcid.org/0000-0003-0595-5343"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Faizan Ahmad","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology,Soft Robotics Research Center","Soft Robotics Research Center, Shenzhen Institute of Advanced Technology","University of Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology,Soft Robotics Research Center","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Soft Robotics Research Center, Shenzhen Institute of Advanced Technology","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013682607","display_name":"Changfu Xu","orcid":"https://orcid.org/0000-0002-8664-8873"},"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/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"],"is_corresponding":false,"raw_author_name":"Changfu Xu","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Soft Robotics Research Center,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Soft Robotics Research Center,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101724638","display_name":"Hao Deng","orcid":"https://orcid.org/0000-0003-3226-8696"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Hao Deng","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology,Soft Robotics Research Center","University of Chinese Academy of Sciences, Shenzhen, China","Soft Robotics Research Center, Shenzhen Institute of Advanced Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology,Soft Robotics Research Center","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Soft Robotics Research Center, Shenzhen Institute of Advanced Technology","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059713741","display_name":"Zeyang Xia","orcid":"https://orcid.org/0000-0002-0075-7949"},"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/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"],"is_corresponding":false,"raw_author_name":"Zeyang Xia","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Soft Robotics Research Center,Shenzhen,China,518055","Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, CAS, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences,Soft Robotics Research Center,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, CAS, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09399442,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"187","last_page":"193"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9958999752998352,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9934999942779541,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/biplane","display_name":"Biplane","score":0.7955601215362549},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6570690274238586},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5948537588119507},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5914932489395142},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.5009989738464355},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4904482066631317},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.4328978657722473},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3214523196220398},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27165019512176514},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.250885009765625},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.2096371352672577},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12757211923599243},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07011264562606812}],"concepts":[{"id":"https://openalex.org/C91158637","wikidata":"https://www.wikidata.org/wiki/Q223818","display_name":"Biplane","level":2,"score":0.7955601215362549},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6570690274238586},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5948537588119507},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5914932489395142},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.5009989738464355},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4904482066631317},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.4328978657722473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3214523196220398},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27165019512176514},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.250885009765625},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2096371352672577},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12757211923599243},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07011264562606812},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim46323.2023.10196252","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim46323.2023.10196252","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5799999833106995,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1970894228","https://openalex.org/W1977240978","https://openalex.org/W1986706016","https://openalex.org/W1987591016","https://openalex.org/W2016313169","https://openalex.org/W2033481362","https://openalex.org/W2046641306","https://openalex.org/W2066860967","https://openalex.org/W2069715493","https://openalex.org/W2089919971","https://openalex.org/W2093220968","https://openalex.org/W2098259685","https://openalex.org/W2134470795","https://openalex.org/W2172221059","https://openalex.org/W2184993170","https://openalex.org/W2293181427","https://openalex.org/W2296072290","https://openalex.org/W2326047893","https://openalex.org/W2336652059","https://openalex.org/W2536076454","https://openalex.org/W2757789151","https://openalex.org/W2899119838","https://openalex.org/W2903143635","https://openalex.org/W2910789091","https://openalex.org/W2922995303","https://openalex.org/W2942427538","https://openalex.org/W3005735396","https://openalex.org/W3018632141","https://openalex.org/W3084974172","https://openalex.org/W3095009617","https://openalex.org/W3121789984","https://openalex.org/W3127056872","https://openalex.org/W6673698954"],"related_works":["https://openalex.org/W2658949566","https://openalex.org/W129737916","https://openalex.org/W4226385867","https://openalex.org/W2966461000","https://openalex.org/W4223569781","https://openalex.org/W841410736","https://openalex.org/W2167648512","https://openalex.org/W2612781909","https://openalex.org/W2065660108","https://openalex.org/W3004667746"],"abstract_inverted_index":{"Transrectal":[0],"Ultrasound":[1],"(TRUS)-guided":[2],"dual-arm":[3,72,109,127,194],"robotic":[4,73,110,128,195],"needle":[5,37,56,63,74,111,129,146,158,196],"insertion":[6,75,112,130,197],"system":[7,76,91,113,131,209],"has":[8],"improved":[9],"clinical":[10,216],"diagnosis":[11],"treatment":[12],"for":[13,25],"biopsy":[14],"and":[15,22,36,49,55,61,145,159,181,189],"brachytherapy.":[16],"It":[17],"provides":[18],"a":[19,71,121],"highly":[20],"precise":[21],"flexible":[23,62],"method":[24],"inserting":[26],"surgical":[27],"needles.":[28],"In":[29,65,135],"the":[30,34,41,47,52,83,90,94,105,108,136,139,142,152,156,164,174,179,184,192,203,207,215],"existing":[31,98],"system,":[32],"both":[33],"probe":[35,54,124,144,160,180],"are":[38,101,147,161,187],"fixed":[39],"to":[40,81,103,150,172],"robot\u2019s":[42],"end":[43],"flange,":[44],"which":[45,168,213],"prevents":[46],"rotation":[48],"translation":[50],"of":[51,89,107,141,178,206],"TRUS":[53,123,166],"from":[57],"enabling":[58],"multi-angle":[59],"scanning":[60],"insertion.":[64],"our":[66],"previous":[67],"work,":[68],"we":[69],"developed":[70],"with":[77,114,132],"multi-degree-of-freedom":[78],"(DOF)":[79],"end-effectors":[80],"address":[82],"aforementioned":[84],"issues.":[85],"The":[86,199],"calibration":[87,99,106,125,153,204],"accuracy":[88,205],"directly":[92],"determines":[93],"system\u2019s":[95],"effectiveness.":[96],"However,":[97],"schemes":[100],"challenging":[102],"complete":[104],"multi-DOF":[115,133,143,157],"end-effectors.":[116,134],"Therefore,":[117],"this":[118],"paper":[119],"presents":[120],"biplane":[122,165],"using":[126],"proposed":[137],"approach,":[138],"kinematic":[140],"first":[148],"modeled":[149],"obtain":[151],"parameters.":[154],"Then":[155],"calibrated":[162],"as":[163],"image,":[167],"can":[169],"be":[170],"used":[171],"track":[173],"different":[175],"motion":[176],"states":[177],"needle.":[182],"Finally,":[183],"experimental":[185],"results":[186,200],"obtained":[188],"validated":[190],"on":[191],"TRUS-guided":[193],"system.":[198],"showed":[201],"that":[202],"overall":[208],"is":[210],"0.80\u00b10.23":[211],"mm,":[212],"meets":[214],"requirements.":[217]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
