{"id":"https://openalex.org/W2079226775","doi":"https://doi.org/10.1109/icra.2014.6907369","title":"Model-based state recognition of bone drilling with robotic orthopedic surgery system","display_name":"Model-based state recognition of bone drilling with robotic orthopedic surgery system","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2079226775","doi":"https://doi.org/10.1109/icra.2014.6907369","mag":"2079226775"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907369","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907369","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5103167938","display_name":"Haiyang Jin","orcid":"https://orcid.org/0000-0002-0363-2666"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Haiyang Jin","raw_affiliation_strings":["Harbin Institutes of Technology Shenzhen Graduate School, The Chinese University of Hong Kong","Harbin Institutes of Technology Shenzhen Graduate School. Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institutes of Technology Shenzhen Graduate School, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Harbin Institutes of Technology Shenzhen Graduate School. Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100668236","display_name":"Ying Hu","orcid":"https://orcid.org/0000-0002-3807-3649"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Ying Hu","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, The Chinese University of Hong Kong","Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005971230","display_name":"Zhen Deng","orcid":"https://orcid.org/0000-0002-0240-0919"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Zhen Deng","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, The Chinese University of Hong Kong","Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100364032","display_name":"Peng Zhang","orcid":"https://orcid.org/0000-0001-7277-9429"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Peng Zhang","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, The Chinese University of Hong Kong","Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101745473","display_name":"Zhangjun Song","orcid":"https://orcid.org/0000-0002-1809-6122"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Zhangjun Song","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, The Chinese University of Hong Kong","Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100326970","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-7856-5760"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["Jianwei Zhang is with University of Hamburg, Germany","University of Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jianwei Zhang is with University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]},{"raw_affiliation_string":"University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3538","last_page":"3543"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10512","display_name":"Orthopaedic implants and arthroplasty","score":0.9977999925613403,"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/T10512","display_name":"Orthopaedic implants and arthroplasty","score":0.9977999925613403,"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/T10359","display_name":"Dental Implant Techniques and Outcomes","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/3504","display_name":"Oral Surgery"},"field":{"id":"https://openalex.org/fields/35","display_name":"Dentistry"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9879999756813049,"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/correctness","display_name":"Correctness","score":0.6102735996246338},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.5974422693252563},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5507916212081909},{"id":"https://openalex.org/keywords/drilling","display_name":"Drilling","score":0.4802296757698059},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.45752108097076416},{"id":"https://openalex.org/keywords/cancellous-bone","display_name":"Cancellous bone","score":0.45329707860946655},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4424917995929718},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43535006046295166},{"id":"https://openalex.org/keywords/elasticity","display_name":"Elasticity (physics)","score":0.42894247174263},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3960437774658203},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35142213106155396},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3259897828102112},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.31316477060317993},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2977891266345978},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18213766813278198},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.15165972709655762},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.14614459872245789}],"concepts":[{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.6102735996246338},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.5974422693252563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5507916212081909},{"id":"https://openalex.org/C25197100","wikidata":"https://www.wikidata.org/wiki/Q890886","display_name":"Drilling","level":2,"score":0.4802296757698059},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.45752108097076416},{"id":"https://openalex.org/C2776350087","wikidata":"https://www.wikidata.org/wiki/Q265868","display_name":"Cancellous bone","level":2,"score":0.45329707860946655},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4424917995929718},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43535006046295166},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.42894247174263},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3960437774658203},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35142213106155396},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3259897828102112},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.31316477060317993},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2977891266345978},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18213766813278198},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.15165972709655762},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.14614459872245789},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907369","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907369","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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":17,"referenced_works":["https://openalex.org/W1546190058","https://openalex.org/W1847784692","https://openalex.org/W1969429883","https://openalex.org/W1971635768","https://openalex.org/W1992537119","https://openalex.org/W2028481299","https://openalex.org/W2057296376","https://openalex.org/W2057793398","https://openalex.org/W2072231003","https://openalex.org/W2089963199","https://openalex.org/W2093175968","https://openalex.org/W2122727834","https://openalex.org/W2126083145","https://openalex.org/W2142346507","https://openalex.org/W2153345520","https://openalex.org/W2161247859","https://openalex.org/W2169145371"],"related_works":["https://openalex.org/W1667647204","https://openalex.org/W2404647514","https://openalex.org/W2060407818","https://openalex.org/W2341298063","https://openalex.org/W2079292054","https://openalex.org/W2031189455","https://openalex.org/W2061098333","https://openalex.org/W2032499193","https://openalex.org/W1992793235","https://openalex.org/W2968010300"],"abstract_inverted_index":{"Screw":[0],"path":[1],"drilling":[2,22,36],"is":[3,26,38,147],"an":[4,42],"important":[5],"process":[6,37],"among":[7],"many":[8],"orthopedic":[9,144],"surgeries.":[10],"To":[11],"guarantee":[12],"the":[13,35,57,60,63,66,80,84,102,105,109,112,116,120,124,135,151,162,165,169],"safety":[14],"and":[15,62,74,111,123,168],"correctness":[16],"of":[17,50,56,65,126,154,164],"this":[18,29],"process,":[19],"a":[20,91,137,142],"model-based":[21],"state":[23,103,138,170],"recognition":[24,139,171],"method":[25],"proposed":[27,99,148],"in":[28,34,83,108,119,134],"paper.":[30],"The":[31,71],"thrust":[32,58],"force":[33,118],"modeled":[39],"based":[40],"on":[41,130],"accurate":[43],"3D":[44],"bone":[45,67],"model":[46],"restructured":[47],"by":[48],"means":[49],"Micro-CT":[51],"images.":[52],"In":[53],"theoretical":[54,85],"modeling":[55,166],"force,":[59],"resistance":[61],"elasticity":[64],"tissues":[68],"are":[69,77,88,98,158],"considered.":[70],"cutting":[72],"energy":[73],"elastic":[75],"modulus":[76],"defined":[78],"as":[79],"material":[81],"parameters":[82,97,133],"model,":[86,136],"which":[87],"identified":[89],"via":[90],"least":[92],"square":[93],"method.":[94,172],"Some":[95],"key":[96,132],"to":[100,149,160],"support":[101],"recognition:":[104],"peak":[106],"forces":[107],"first":[110],"second":[113],"cortical":[114],"layers,":[115],"average":[117],"cancellous":[121],"layer":[122],"thickness":[125],"each":[127,155],"layer.":[128,156],"Based":[129],"these":[131],"strategy":[140],"with":[141],"robotic":[143],"surgery":[145],"system":[146],"recognize":[150],"switch":[152],"position":[153],"Experiments":[157],"performed":[159],"demonstrate":[161],"effectiveness":[163],"approach":[167]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}