{"id":"https://openalex.org/W2737391162","doi":"https://doi.org/10.1109/icra.2017.7989484","title":"Preoperative planning for the multi-arm surgical robot using PSO-GP-based performance optimization","display_name":"Preoperative planning for the multi-arm surgical robot using PSO-GP-based performance optimization","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2737391162","doi":"https://doi.org/10.1109/icra.2017.7989484","mag":"2737391162"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989484","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989484","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5100403470","display_name":"Fan Zhang","orcid":"https://orcid.org/0000-0002-4913-2464"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Fan Zhang","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Imperial College London, United Kingdom","State Key Laboratory of Robotics and System, Harbin Institute of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Imperial College London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101582857","display_name":"Zhiyuan Yan","orcid":"https://orcid.org/0000-0001-8981-6863"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Yan","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091883161","display_name":"Zhijiang Du","orcid":"https://orcid.org/0000-0003-3044-9733"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijiang Du","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4208","last_page":"4214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10868","display_name":"Soft Robotics and Applications","score":0.9973000288009644,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9972000122070312,"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/workspace","display_name":"Workspace","score":0.8818504810333252},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6826266050338745},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.602636992931366},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.5815068483352661},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5360965728759766},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42035070061683655},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.41625383496284485},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34471869468688965},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08554381132125854}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8818504810333252},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6826266050338745},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.602636992931366},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.5815068483352661},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5360965728759766},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42035070061683655},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.41625383496284485},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34471869468688965},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08554381132125854},{"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.2017.7989484","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989484","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1487857694","https://openalex.org/W1570594216","https://openalex.org/W1593364519","https://openalex.org/W1891615552","https://openalex.org/W1990157946","https://openalex.org/W2048411590","https://openalex.org/W2070917084","https://openalex.org/W2102479575","https://openalex.org/W2103461551","https://openalex.org/W2109364787","https://openalex.org/W2117832730","https://openalex.org/W2203037249","https://openalex.org/W2217174275","https://openalex.org/W6634398233","https://openalex.org/W6635500267"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"For":[0],"the":[1,15,20,24,36,40,43,52,55,72,78,87,91,100,103,113,126,129,138,142,161,195,212],"robotically-assisted":[2],"minimally":[3],"invasive":[4],"surgery,":[5],"preoperative":[6,31],"planning":[7,32],"is":[8,75,173,202],"essential":[9],"towards":[10],"assisting":[11],"surgeons":[12,206],"to":[13,18,23,85,98,111,124,136,159,187,207],"prepare":[14],"intervention":[16,210],"and":[17,42,77,155,164],"decide":[19],"best":[21],"access":[22],"surgical":[25,67,73,92,105,178,214],"site.":[26],"Many":[27],"recent":[28],"studies":[29],"in":[30,62],"have":[33],"focused":[34],"on":[35,175,200],"pose":[37],"selection":[38],"of":[39,54,102,115,128,141,150,182,204],"robot":[41,118,165],"port":[44,162],"placement.":[45],"However,":[46],"as":[47],"such":[48],"techniques":[49],"cannot":[50],"evaluate":[51,99],"performance":[53,101,127,196],"multi-arm":[56,66,104,130,213],"cooperation,":[57],"their":[58],"applications":[59],"are":[60,80,184],"constrained":[61],"real":[63],"practise":[64],"with":[65,82,211],"robots.":[68],"In":[69],"this":[70],"paper,":[71],"workspace":[74],"divided":[76],"subspaces":[79],"assigned":[81],"different":[83],"weights":[84],"reflect":[86,125],"internal":[88],"differences":[89],"within":[90],"workspace.":[93],"We":[94,145],"propose":[95,147],"three":[96],"metrics":[97],"robot:":[106],"Global":[107],"Isotropy":[108],"Index":[109,122,134],"(GII)":[110],"measure":[112],"dexterity":[114],"one":[116],"single":[117],"arm;":[119],"Cooperation":[120],"Capability":[121],"(CCI)":[123],"cooperation;":[131],"Minimum":[132],"Distance":[133],"(MDI)":[135],"describe":[137],"collision":[139],"avoidance":[140],"robotic":[143],"arms.":[144],"also":[146],"a":[148,176],"combination":[149],"Particle":[151],"Swarm":[152],"Optimization":[153],"(PSO)":[154],"Gaussian":[156],"Process":[157],"(GP)":[158],"locate":[160],"placement":[163],"positioning.":[166],"The":[167,191],"proposed":[168],"integrated":[169],"PSO-GP-based":[170],"optimization":[171,197],"strategy":[172,198],"implemented":[174],"three-arm":[177],"robot.":[179,215],"Two":[180],"sets":[181],"experiments":[183],"carried":[185],"out":[186],"validate":[188],"our":[189],"method.":[190],"results":[192],"demonstrate":[193],"that":[194],"based":[199],"PSO-GP":[201],"capable":[203],"guiding":[205],"plan":[208],"an":[209]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"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}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}