{"id":"https://openalex.org/W3081532918","doi":"https://doi.org/10.1109/embc44109.2020.9176127","title":"Palpation-Based Multi-Tumor Detection Method Considering Moving Distance for Robot-assisted Minimally Invasive Surgery","display_name":"Palpation-Based Multi-Tumor Detection Method Considering Moving Distance for Robot-assisted Minimally Invasive Surgery","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3081532918","doi":"https://doi.org/10.1109/embc44109.2020.9176127","mag":"3081532918","pmid":"https://pubmed.ncbi.nlm.nih.gov/33019087"},"language":"en","primary_location":{"id":"doi:10.1109/embc44109.2020.9176127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc44109.2020.9176127","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","pubmed"],"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/A5082431162","display_name":"Yahui Yun","orcid":"https://orcid.org/0000-0002-0592-8137"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yahui Yun","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011526530","display_name":"Feng Ju","orcid":"https://orcid.org/0000-0002-9261-1372"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Ju","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101997395","display_name":"Yingxuan Zhang","orcid":"https://orcid.org/0000-0001-6403-3838"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingxuan Zhang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101869884","display_name":"Chengjun Zhu","orcid":"https://orcid.org/0000-0002-2867-562X"},"institutions":[{"id":"https://openalex.org/I4210152119","display_name":"Jiangsu Province Hospital","ror":"https://ror.org/04py1g812","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210152119"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengjun Zhu","raw_affiliation_strings":["Department of Oncology, Jiangsu Province Hospital, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Oncology, Jiangsu Province Hospital, Nanjing, China","institution_ids":["https://openalex.org/I4210152119"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063342415","display_name":"Yaoyao Wang","orcid":"https://orcid.org/0000-0001-5237-378X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaoyao Wang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020941796","display_name":"Hao Guo","orcid":"https://orcid.org/0000-0002-7108-864X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Guo","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081078025","display_name":"Xiaoyong Wei","orcid":"https://orcid.org/0000-0003-4236-223X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyong Wei","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100662674","display_name":"Bai Chen","orcid":"https://orcid.org/0000-0001-8290-8626"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bai Chen","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2020","issue":null,"first_page":"4899","last_page":"4902"},"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9900000095367432,"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/T11190","display_name":"3D Printing in Biomedical Research","score":0.9815999865531921,"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/palpation","display_name":"Palpation","score":0.9716687202453613},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.6221712827682495},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.545214056968689},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5328928232192993},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4213525652885437},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3427870273590088},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.34195002913475037},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.28147926926612854},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.26941365003585815},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.21723079681396484}],"concepts":[{"id":"https://openalex.org/C2781167935","wikidata":"https://www.wikidata.org/wiki/Q795090","display_name":"Palpation","level":2,"score":0.9716687202453613},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.6221712827682495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.545214056968689},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5328928232192993},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4213525652885437},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3427870273590088},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.34195002913475037},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.28147926926612854},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.26941365003585815},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.21723079681396484}],"mesh":[{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009369","descriptor_name":"Neoplasms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009369","descriptor_name":"Neoplasms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009369","descriptor_name":"Neoplasms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D010173","descriptor_name":"Palpation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010173","descriptor_name":"Palpation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010173","descriptor_name":"Palpation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014110","descriptor_name":"Touch","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014110","descriptor_name":"Touch","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014110","descriptor_name":"Touch","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc44109.2020.9176127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc44109.2020.9176127","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:33019087","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33019087","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W2160636558","https://openalex.org/W2276112427","https://openalex.org/W2416176951","https://openalex.org/W2556348820","https://openalex.org/W2743100880","https://openalex.org/W2909070199","https://openalex.org/W2963114184"],"related_works":["https://openalex.org/W2396260350","https://openalex.org/W1481335984","https://openalex.org/W2323625407","https://openalex.org/W1503243521","https://openalex.org/W2627174696","https://openalex.org/W2417898593","https://openalex.org/W4404388673","https://openalex.org/W2068356387","https://openalex.org/W2683098030","https://openalex.org/W3002123865"],"abstract_inverted_index":{"A":[0,17,42],"novel":[1,43],"palpation-based":[2],"tumor":[3,55,100,117],"detection":[4,45,56,156],"method":[5,46,112,124],"for":[6],"robot-assisted":[7],"minimally":[8],"invasive":[9],"surgery":[10],"(RMIS)":[11],"is":[12,25,47,74,147],"proposed":[13,48,123],"in":[14,116,154],"this":[15],"paper.":[16],"tactile":[18],"stiffness":[19,30],"sensor":[20,71,92],"based":[21],"on":[22],"piezoelectric":[23],"vibration":[24],"designed":[26],"to":[27,49,108],"detect":[28,60],"tissue":[29],"just":[31],"by":[32,149],"gentle":[33],"contacting,":[34],"without":[35,151],"the":[36,40,51,66,70,77,87,99,110,122,133,141,155],"risk":[37],"of":[38,69,91],"injuring":[39],"organ.":[41],"multi-tumor":[44],"solve":[50],"problem":[52],"that":[53,86,121],"existing":[54,114],"methods":[57,115],"can":[58,93,125],"only":[59],"a":[61,82],"single":[62],"tumor.":[63],"In":[64],"addition,":[65],"moving":[67,89,143],"distance":[68,90,144],"during":[72,98,145],"palpation":[73,101,146],"introduced":[75],"into":[76],"sampling":[78],"strategy":[79],"function":[80],"as":[81],"new":[83,111],"factor,":[84],"so":[85],"total":[88,142],"be":[94],"considered":[95],"and":[96,127,140],"optimized":[97],"process.":[102],"Simulation":[103],"studies":[104],"are":[105],"carried":[106],"out":[107],"compare":[109],"with":[113,132],"detection.":[118],"It":[119],"shows":[120],"identify":[126],"locate":[128],"multiple":[129],"tumors":[130],"successfully":[131],"highest":[134],"performance":[135],"(F1":[136],"score":[137],">":[138],"0.99),":[139],"reduced":[148],"43%":[150],"any":[152],"compromise":[153],"accuracy.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}