{"id":"https://openalex.org/W4403677577","doi":"https://doi.org/10.1109/biorob60516.2024.10719733","title":"A Hybrid Position/Force Control for Robot-Aided Pedicle Tapping in Spinal Surgery","display_name":"A Hybrid Position/Force Control for Robot-Aided Pedicle Tapping in Spinal Surgery","publication_year":2024,"publication_date":"2024-09-01","ids":{"openalex":"https://openalex.org/W4403677577","doi":"https://doi.org/10.1109/biorob60516.2024.10719733"},"language":"en","primary_location":{"id":"doi:10.1109/biorob60516.2024.10719733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob60516.2024.10719733","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","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/A5057881045","display_name":"Rosaura Morfino","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Rosaura Morfino","raw_affiliation_strings":["Universit&#x00E0; Campus Bio-Medico,Unit of Advanced Robotics and Human-Centred Technologies (CREO lab),Rome,Italy,00128"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; Campus Bio-Medico,Unit of Advanced Robotics and Human-Centred Technologies (CREO lab),Rome,Italy,00128","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006168628","display_name":"Clemente Lauretti","orcid":"https://orcid.org/0000-0003-0760-642X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Clemente Lauretti","raw_affiliation_strings":["Universit&#x00E0; Campus Bio-Medico,Unit of Advanced Robotics and Human-Centred Technologies (CREO lab),Rome,Italy,00128"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; Campus Bio-Medico,Unit of Advanced Robotics and Human-Centred Technologies (CREO lab),Rome,Italy,00128","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084737497","display_name":"Francesca Cordella","orcid":"https://orcid.org/0000-0002-6946-0377"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Francesca Cordella","raw_affiliation_strings":["Universit&#x00E0; Campus Bio-Medico,Unit of Advanced Robotics and Human-Centred Technologies (CREO lab),Rome,Italy,00128"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; Campus Bio-Medico,Unit of Advanced Robotics and Human-Centred Technologies (CREO lab),Rome,Italy,00128","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024560524","display_name":"Loredana Zollo","orcid":"https://orcid.org/0000-0002-8015-010X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Loredana Zollo","raw_affiliation_strings":["Universit&#x00E0; Campus Bio-Medico,Unit of Advanced Robotics and Human-Centred Technologies (CREO lab),Rome,Italy,00128"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; Campus Bio-Medico,Unit of Advanced Robotics and Human-Centred Technologies (CREO lab),Rome,Italy,00128","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057881045"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5935,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.72139977,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1004","last_page":"1010"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10776","display_name":"Spinal Fractures and Fixation Techniques","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10776","display_name":"Spinal Fractures and Fixation Techniques","score":0.9991999864578247,"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":0.994700014591217,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9930999875068665,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tapping","display_name":"Tapping","score":0.8766583204269409},{"id":"https://openalex.org/keywords/spinal-surgery","display_name":"Spinal surgery","score":0.68577641248703},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5319680571556091},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5294271111488342},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.444247841835022},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.32347485423088074},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2801540195941925},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2219240367412567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14299127459526062},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11840417981147766},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.0724937915802002}],"concepts":[{"id":"https://openalex.org/C2777644245","wikidata":"https://www.wikidata.org/wiki/Q203598","display_name":"Tapping","level":2,"score":0.8766583204269409},{"id":"https://openalex.org/C2994406423","wikidata":"https://www.wikidata.org/wiki/Q188449","display_name":"Spinal surgery","level":2,"score":0.68577641248703},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5319680571556091},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5294271111488342},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.444247841835022},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.32347485423088074},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2801540195941925},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2219240367412567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14299127459526062},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11840417981147766},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0724937915802002},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob60516.2024.10719733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob60516.2024.10719733","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2024097232","https://openalex.org/W2031311823","https://openalex.org/W2053741803","https://openalex.org/W2065883524","https://openalex.org/W2068088498","https://openalex.org/W2093175968","https://openalex.org/W2287532183","https://openalex.org/W2326975808","https://openalex.org/W2588955127","https://openalex.org/W2605516211","https://openalex.org/W2611429911","https://openalex.org/W2743243568","https://openalex.org/W2751664307","https://openalex.org/W3005930993","https://openalex.org/W3009232704","https://openalex.org/W3023315798","https://openalex.org/W3032207303","https://openalex.org/W3038798588","https://openalex.org/W3092723422","https://openalex.org/W3119077469","https://openalex.org/W3161551447","https://openalex.org/W3211796555","https://openalex.org/W4205608711","https://openalex.org/W4385191301"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W3031052312","https://openalex.org/W4389568370","https://openalex.org/W3032375762","https://openalex.org/W1995515455","https://openalex.org/W2080531066","https://openalex.org/W3108674512","https://openalex.org/W1506200166","https://openalex.org/W4401657753"],"abstract_inverted_index":{"Pedicle":[0],"screw":[1],"fixation":[2],"is":[3,112],"a":[4,21,101,108,150],"widely":[5],"adopted":[6],"surgical":[7],"technique":[8],"to":[9,23,68,89,126,188,226],"enhance":[10,76],"column":[11],"stability":[12],"and":[13,38,73,75,85,93,132,139,145,185,193,234],"promote":[14],"spinal":[15,18],"fusion.":[16],"Robot-assisted":[17],"surgery":[19],"represents":[20],"solution":[22],"the":[24,28,45,70,78,81,127,153,156,176,214,221,224,229],"challenges":[25],"associated":[26],"with":[27],"tapping":[29,157,178],"phase":[30],"of":[31,48],"this":[32,65],"procedure,":[33],"which":[34,52],"requires":[35],"high":[36],"precision":[37],"can":[39,122],"cause":[40],"surgeon":[41],"fatigue.":[42],"Based":[43],"on":[44,107,159],"promising":[46],"results":[47],"Authors'":[49],"previous":[50],"study,":[51],"achieved":[53],"an":[54,140,160],"improvement":[55],"in":[56],"surgeons'":[57],"overall":[58],"physical":[59],"comfort":[60],"for":[61,220],"robot-aided":[62],"pedicle":[63,191],"tapping,":[64,192],"study":[66,165],"seeks":[67],"improve":[69,195],"intervention":[71],"effectiveness":[72],"efficiency,":[74],"at":[77],"same":[79],"time":[80],"robotic":[82],"system":[83,232],"usability":[84,233],"acceptability,":[86],"thereby":[87],"contributing":[88],"increased":[90],"patient":[91],"safety":[92],"enhanced":[94],"surgeon's":[95,128],"comfort.":[96],"To":[97],"accomplish":[98],"these":[99],"goals,":[100],"new":[102],"semi-autonomous":[103],"control":[104,111,115],"strategy":[105,116],"based":[106],"hybrid":[109],"position/force":[110],"proposed.":[113],"This":[114],"offers":[117],"two":[118,230],"operation":[119,169],"modes":[120,170],"that":[121,167],"be":[123],"selected":[124],"according":[125],"preference:":[129],"pushing":[130,215],"mode":[131,208],"torquing":[133,207,222],"mode.":[134,216],"Eleven":[135],"subjects":[136,154],"were":[137,147],"recruited,":[138],"ad":[141],"hoc":[142],"experimental":[143],"setup":[144],"protocol":[146],"implemented.":[148],"After":[149],"training":[151],"phase,":[152],"performed":[155],"procedure":[158],"anthropomorphic":[161],"spine":[162],"phantom.":[163],"The":[164,206],"reveals":[166],"both":[168],"are":[171],"equally":[172],"effective":[173],"(error":[174],"from":[175],"optimal":[177],"depth:":[179],"<tex":[180,202],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[181,203],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$0.8\\pm":[182],"0.4$</tex>":[183],"[mm])":[184],"efficient,":[186],"comparable":[187],"traditional":[189],"robot-assisted":[190],"significantly":[194],"ergonomics":[196],"(rapid":[197],"upper":[198],"limb":[199],"assessment":[200],"score:":[201],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$2.65\\pm":[204],"0.75$</tex>).":[205],"reduces":[209],"muscular":[210],"fatigue":[211],"more":[212],"than":[213],"Despite":[217],"subjects'":[218],"preference":[219],"mode,":[223],"possibility":[225],"choose":[227],"between":[228],"maximizes":[231],"human-robot":[235],"interaction":[236],"acceptability":[237],"by":[238],"18.8%.":[239]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}