{"id":"https://openalex.org/W4386160032","doi":"https://doi.org/10.1109/icarm58088.2023.10218793","title":"An Adaptive Unscented Kalman Filter for Needle Steering with Missing Measurements","display_name":"An Adaptive Unscented Kalman Filter for Needle Steering with Missing Measurements","publication_year":2023,"publication_date":"2023-07-08","ids":{"openalex":"https://openalex.org/W4386160032","doi":"https://doi.org/10.1109/icarm58088.2023.10218793"},"language":"en","primary_location":{"id":"doi:10.1109/icarm58088.2023.10218793","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icarm58088.2023.10218793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5002109776","display_name":"Di-Kai Lou","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dikai Lou","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology,Hangzhou,Zhejiang,China,310023"],"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology,Hangzhou,Zhejiang,China,310023","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450901","display_name":"Lihong Liu","orcid":"https://orcid.org/0000-0003-3631-2148"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lihong Liu","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology,Hangzhou,Zhejiang,China,310023"],"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology,Hangzhou,Zhejiang,China,310023","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080455749","display_name":"Sheng Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Fang","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology,Hangzhou,Zhejiang,China,310023"],"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology,Hangzhou,Zhejiang,China,310023","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055779568","display_name":"Jiabin Hu","orcid":"https://orcid.org/0000-0003-4061-064X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiabin Hu","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology,Hangzhou,Zhejiang,China,310023"],"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology,Hangzhou,Zhejiang,China,310023","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100456014","display_name":"Dan Zhang","orcid":"https://orcid.org/0000-0002-1183-2166"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Zhang","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology,Hangzhou,Zhejiang,China,310023"],"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology,Hangzhou,Zhejiang,China,310023","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038410066","display_name":"Huageng Liang","orcid":"https://orcid.org/0000-0001-7838-8701"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huageng Liang","raw_affiliation_strings":["Medical College, Huazhong University of Science and Technology,Wuhan,Hubei,China,430030"],"affiliations":[{"raw_affiliation_string":"Medical College, Huazhong University of Science and Technology,Wuhan,Hubei,China,430030","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5002109776"],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":0.1125,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.40044541,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1089","last_page":"1095"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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":0.9987999796867371,"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9937999844551086,"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"}},{"id":"https://openalex.org/T12537","display_name":"Flow Measurement and Analysis","score":0.9839000105857849,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/kalman-filter","display_name":"Kalman filter","score":0.7447087168693542},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6414715051651001},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5983908176422119},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5932936072349548},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5602409243583679},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5214325785636902},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4026627540588379},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2919461131095886}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7447087168693542},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6414715051651001},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5983908176422119},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5932936072349548},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5602409243583679},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5214325785636902},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4026627540588379},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2919461131095886},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm58088.2023.10218793","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icarm58088.2023.10218793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2589646217","display_name":null,"funder_award_id":"2018YFE0206900","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1516448465","https://openalex.org/W1904210368","https://openalex.org/W1986728338","https://openalex.org/W2017756316","https://openalex.org/W2027983097","https://openalex.org/W2097202674","https://openalex.org/W2100593987","https://openalex.org/W2107550832","https://openalex.org/W2121358567","https://openalex.org/W2124471068","https://openalex.org/W2129742200","https://openalex.org/W2132929497","https://openalex.org/W2146761577","https://openalex.org/W2316658738","https://openalex.org/W2335457044","https://openalex.org/W2403278459","https://openalex.org/W2583897778","https://openalex.org/W2913109297","https://openalex.org/W2945351550","https://openalex.org/W2946153601","https://openalex.org/W2965761372","https://openalex.org/W2982163099","https://openalex.org/W2986773206","https://openalex.org/W3034206270","https://openalex.org/W3043438200","https://openalex.org/W3080675538","https://openalex.org/W3135579950","https://openalex.org/W3205327436","https://openalex.org/W4285177585"],"related_works":["https://openalex.org/W1580685205","https://openalex.org/W1982160337","https://openalex.org/W2760382975","https://openalex.org/W1971380437","https://openalex.org/W1983548084","https://openalex.org/W2141691317","https://openalex.org/W2110846987","https://openalex.org/W3191856393","https://openalex.org/W2349716249","https://openalex.org/W2160609742"],"abstract_inverted_index":{"In":[0],"the":[1,5,8,16,28,32,35,38,47,53,56,78,81,103,106,115,121,127,140,143,146,150,153,160,163,167,170],"robot-assisted":[2],"puncture":[3,122,164],"surgery,":[4],"measurements":[6,119],"from":[7],"ultrasound":[9],"image":[10,20,24],"may":[11],"be":[12,42],"lost":[13],"due":[14,45],"to":[15,46,76,113,126,138,145,158],"uneven":[17],"distribution":[18],"of":[19,31,37,49,55,80,105,117,142,149,162,169],"grayscale":[21],"and":[22,52,166],"blurred":[23],"which":[25,97],"could":[26],"affect":[27],"estimation":[29],"accuracy":[30],"filter.":[33],"Furthermore,":[34,124],"probability":[36],"missing":[39,88,118],"measurement":[40,72,89,95],"cannot":[41],"precisely":[43],"known":[44],"heterogeneity":[48],"biological":[50],"tissue":[51],"complexity":[54],"surgery":[57],"environment.":[58],"Aiming":[59],"at":[60],"these":[61],"problems,":[62],"an":[63,99,132],"adaptive":[64,133],"unscented":[65],"Kalman":[66],"filter":[67,144,155],"algorithm":[68],"based":[69],"on":[70],"virtual":[71,94,107],"noise":[73,96,108],"is":[74,90,109,136,156,173],"proposed":[75,154,171],"estimate":[77,159],"pose":[79,161],"needle":[82,165],"tip":[83],"in":[84,111],"this":[85],"paper.":[86],"The":[87],"converted":[91],"into":[92],"a":[93],"has":[98],"indefinite":[100],"variance.":[101],"Then":[102],"variance":[104],"estimated":[110],"real-time":[112],"suppress":[114],"influence":[116],"during":[120],"process.":[123],"according":[125],"strong":[128],"tracking":[129],"filtering":[130],"algorithm,":[131],"fading":[134],"factor":[135],"constructed":[137],"reduce":[139],"sensitivity":[141],"statistical":[147],"characteristics":[148],"noise.":[151],"Finally,":[152],"applied":[157],"effectiveness":[168],"method":[172],"verified":[174],"via":[175],"simulation":[176],"experiments.":[177]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-12-24T23:09:58.560324","created_date":"2025-10-10T00:00:00"}