{"id":"https://openalex.org/W4415524482","doi":"https://doi.org/10.1109/humanoids65713.2025.11203178","title":"VAISI: Vision-Based Adaptive Impedance-Control for Surgical Incisions","display_name":"VAISI: Vision-Based Adaptive Impedance-Control for Surgical Incisions","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524482","doi":"https://doi.org/10.1109/humanoids65713.2025.11203178"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203178","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203178","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","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/A5024580934","display_name":"Jeffrey A. Lee","orcid":"https://orcid.org/0000-0002-2265-385X"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Jeffrey Lee","raw_affiliation_strings":["University of Waterloo,Department of Mechanical and Mechatronics Engineering,Canada"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Department of Mechanical and Mechatronics Engineering,Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114854206","display_name":"Teresa Marotta","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Teresa Marotta","raw_affiliation_strings":["University of Waterloo,Department of Mechanical and Mechatronics Engineering,Canada"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Department of Mechanical and Mechatronics Engineering,Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059912982","display_name":"Stewart McLachlin","orcid":"https://orcid.org/0000-0002-8464-3032"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Stewart McLachlin","raw_affiliation_strings":["University of Waterloo,Department of Mechanical and Mechatronics Engineering,Canada"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Department of Mechanical and Mechatronics Engineering,Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042055103","display_name":"Alexander Wong","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Alexander Wong","raw_affiliation_strings":["University of Waterloo,Department of Systems Design Engineering,Canada"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Department of Systems Design Engineering,Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100755023","display_name":"Yue Hu","orcid":"https://orcid.org/0000-0002-3846-9096"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yue Hu","raw_affiliation_strings":["University of Waterloo,Department of Mechanical and Mechatronics Engineering,Canada"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Department of Mechanical and Mechatronics Engineering,Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5024580934"],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.49531852,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9947999715805054,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9947999715805054,"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/T10888","display_name":"Augmented Reality Applications","score":0.9240999817848206,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/surgical-instrument","display_name":"Surgical instrument","score":0.5149999856948853},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.453900009393692},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.4278999865055084},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.4108000099658966},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.3928000032901764},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.38769999146461487},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.3824000060558319},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.3813999891281128},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.36059999465942383}],"concepts":[{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.5149999856948853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47850000858306885},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.453900009393692},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.4278999865055084},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.4108000099658966},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.3928000032901764},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.38769999146461487},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.3824000060558319},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.3813999891281128},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3752000033855438},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.36059999465942383},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3603000044822693},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35659998655319214},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.35109999775886536},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.33730000257492065},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32820001244544983},{"id":"https://openalex.org/C2779231336","wikidata":"https://www.wikidata.org/wiki/Q7534724","display_name":"Sketch","level":2,"score":0.3165999948978424},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.30979999899864197},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.29490000009536743},{"id":"https://openalex.org/C136948725","wikidata":"https://www.wikidata.org/wiki/Q1458306","display_name":"Soft tissue","level":2,"score":0.2937999963760376},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2912999987602234},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.2897000014781952},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.28870001435279846},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2727000117301941},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.26930001378059387},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.26190000772476196},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.26190000772476196}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203178","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203178","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W973533200","https://openalex.org/W1984514301","https://openalex.org/W2007924064","https://openalex.org/W2029648690","https://openalex.org/W2049552732","https://openalex.org/W2085988546","https://openalex.org/W2102425682","https://openalex.org/W2114078951","https://openalex.org/W2125511732","https://openalex.org/W2143256576","https://openalex.org/W2145744986","https://openalex.org/W2152864241","https://openalex.org/W2346178339","https://openalex.org/W2542865828","https://openalex.org/W2585410372","https://openalex.org/W2789411136","https://openalex.org/W2803257834","https://openalex.org/W2889123452","https://openalex.org/W2963265239","https://openalex.org/W2972836290","https://openalex.org/W3115157241","https://openalex.org/W3205146762","https://openalex.org/W4366290855","https://openalex.org/W4388430528","https://openalex.org/W4389638904","https://openalex.org/W4399800630"],"related_works":[],"abstract_inverted_index":{"Robot-assisted":[0],"surgery":[1],"requires":[2],"precise":[3,76,186],"control":[4,67,182],"of":[5,26,100,162,168,179],"both":[6],"position":[7],"and":[8,21,40,79,98,115,135,185],"interaction":[9],"forces":[10],"during":[11,82],"soft":[12,27,50,103,187],"tissue":[13,188],"manipulation,":[14],"a":[15,32,45,63,90,140,158],"task":[16],"challenged":[17],"by":[18],"the":[19,96,101,166,177],"non-linear":[20],"highly":[22],"variable":[23],"mechanical":[24],"properties":[25],"tissues.":[28],"Skin":[29],"incisions":[30,189],"are":[31],"critical":[33],"first":[34],"step":[35],"in":[36,49,171,190],"many":[37],"surgical":[38,193],"procedures,":[39],"performing":[41],"them":[42],"accurately":[43],"presents":[44],"fundamental":[46],"robotic":[47,66],"challenge":[48],"material":[51],"manipulation.":[52],"This":[53,85],"paper":[54],"introduces":[55],"VAISI":[56,106,152],"(Vision-Based":[57],"Adaptive":[58],"Impedance-Control":[59],"for":[60,75,183],"Surgical":[61],"Incisions),":[62],"novel":[64],"model-free":[65],"framework":[68,107],"that":[69,139],"leverages":[70],"real-time":[71],"stereo":[72],"vision":[73],"feedback":[74,110],"depth":[77],"regulation":[78],"force":[80,123,147,169],"modulation":[81],"skin":[83,137],"incisions.":[84,127],"approach":[86,142],"is":[87],"coupled":[88],"with":[89,157],"compact":[91],"scalpel-camera":[92],"end-effector":[93,113],"to":[94,111,144,148],"measure":[95],"state":[97],"deformations":[99],"targeted":[102],"tissue.":[104],"The":[105],"uses":[108],"vision-based":[109],"adapt":[112],"stiffness":[114],"trajectory":[116],"via":[117],"Cartesian":[118],"impedance":[119],"control,":[120],"minimizing":[121],"excess":[122],"while":[124],"achieving":[125],"accurate":[126],"Experimental":[128],"validation":[129],"on":[130],"ex":[131],"vivo":[132],"porcine":[133],"belly":[134],"hock":[136],"demonstrates":[138],"low-constant-stiffness":[141],"fails":[143],"apply":[145],"enough":[146],"create":[149],"incisions,":[150],"whereas":[151],"enables":[153],"sub-millimeter":[154],"depth-accurate":[155],"cuts":[156],"maximum":[159],"standard":[160],"deviation":[161],"1.23":[163],"mm,":[164],"emphasizing":[165],"necessity":[167],"adaptation":[170],"unknown":[172],"situations.":[173],"These":[174],"results":[175],"highlight":[176],"ability":[178],"vision-guided":[180],"adaptive":[181],"safe":[184],"future":[191],"autonomous":[192],"systems.":[194]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-24T00:00:00"}