{"id":"https://openalex.org/W3091136449","doi":"https://doi.org/10.1109/icra40945.2020.9196915","title":"Real-time Data Driven Precision Estimator for RAVEN-II Surgical Robot End Effector Position","display_name":"Real-time Data Driven Precision Estimator for RAVEN-II Surgical Robot End Effector Position","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091136449","doi":"https://doi.org/10.1109/icra40945.2020.9196915","mag":"3091136449"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196915","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196915","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","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/A5080890753","display_name":"Haonan Peng","orcid":"https://orcid.org/0000-0001-8909-3343"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Haonan Peng","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062836864","display_name":"Xingjian Yang","orcid":"https://orcid.org/0000-0003-1809-719X"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xingjian Yang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030494145","display_name":"Yun-Hsuan Su","orcid":"https://orcid.org/0000-0002-9122-7264"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yun-Hsuan Su","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074967911","display_name":"Blake Hannaford","orcid":"https://orcid.org/0000-0001-7370-4920"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Blake Hannaford","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5080890753"],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":1.2875,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.78223227,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9965000152587891,"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":0.9965000152587891,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T12549","display_name":"Image and Object Detection Techniques","score":0.9930999875068665,"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/robot-end-effector","display_name":"Robot end effector","score":0.7622779011726379},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6439850330352783},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6275043487548828},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5875888466835022},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5430687069892883},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5290818810462952},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5100460648536682},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4747600853443146},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44961023330688477},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4491085410118103},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.44348910450935364},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.20038723945617676},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1254674792289734},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09088292717933655}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.7622779011726379},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6439850330352783},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6275043487548828},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5875888466835022},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5430687069892883},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5290818810462952},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5100460648536682},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4747600853443146},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44961023330688477},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4491085410118103},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.44348910450935364},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.20038723945617676},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1254674792289734},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09088292717933655},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/icra40945.2020.9196915","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196915","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","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":30,"referenced_works":["https://openalex.org/W1503004767","https://openalex.org/W1522301498","https://openalex.org/W1588269491","https://openalex.org/W1665214252","https://openalex.org/W1749494163","https://openalex.org/W1836465849","https://openalex.org/W1963716360","https://openalex.org/W1964047266","https://openalex.org/W1980663843","https://openalex.org/W1988707210","https://openalex.org/W2024991751","https://openalex.org/W2061417916","https://openalex.org/W2088392499","https://openalex.org/W2098408745","https://openalex.org/W2100552848","https://openalex.org/W2110371667","https://openalex.org/W2164944168","https://openalex.org/W2196712401","https://openalex.org/W2236623899","https://openalex.org/W2785447965","https://openalex.org/W2798221358","https://openalex.org/W2963285578","https://openalex.org/W2963553847","https://openalex.org/W2964121744","https://openalex.org/W3157685993","https://openalex.org/W4250533120","https://openalex.org/W6631190155","https://openalex.org/W6637242042","https://openalex.org/W6638667902","https://openalex.org/W6685562342"],"related_works":["https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2326117494","https://openalex.org/W2102645302","https://openalex.org/W1964490400","https://openalex.org/W1968518598","https://openalex.org/W229301543","https://openalex.org/W3117511302","https://openalex.org/W2914399220","https://openalex.org/W2119963650"],"abstract_inverted_index":{"Surgical":[0],"robots":[1,29,77],"have":[2],"been":[3],"introduced":[4,105],"to":[5,14,33,46,99],"operating":[6],"rooms":[7],"over":[8],"the":[9,31,47,52,55,58,65,70,85,118,153],"past":[10],"few":[11],"decades":[12],"due":[13,45],"their":[15],"high":[16],"sensitivity,":[17],"small":[18],"size,":[19],"and":[20,36,49,54,89,123,135,168],"remote":[21],"controllability.":[22],"The":[23,161],"cable-driven":[24],"nature":[25],"of":[26,51,57,75,112,147],"many":[27],"surgical":[28,76],"allows":[30],"systems":[32],"be":[34,172],"dexterous":[35],"lightweight,":[37],"with":[38],"diameters":[39],"as":[40,42],"low":[41],"5mm.":[43],"However,":[44],"slack":[48],"stretch":[50],"cables":[53],"backlash":[56],"gears,":[59],"inevitable":[60],"uncertainties":[61],"are":[62],"brought":[63],"into":[64,106],"kinematics":[66],"calcu-lation":[67],"[1].":[68],"Since":[69],"reported":[71],"end":[72,128,143],"effector":[73,129,144],"position":[74,110,130,145],"like":[78],"RAVEN-II":[79],"[2]":[80],"is":[81,133],"directly":[82],"calculated":[83],"using":[84],"motor":[86],"encoder":[87],"measurements":[88],"forward":[90],"kinematics,":[91],"it":[92],"may":[93],"contain":[94],"relatively":[95],"large":[96],"error":[97,146],"up":[98],"10mm,":[100],"whereas":[101],"semi-autonomous":[102],"functions":[103],"being":[104],"abdominal":[107],"surgeries":[108],"require":[109],"inaccuracy":[111],"at":[113,174],"most":[114],"1mm.":[115],"To":[116],"resolve":[117],"problem,":[119],"a":[120],"cost-effective,":[121],"real-time":[122],"data-driven":[124],"pipeline":[125],"for":[126],"robot":[127,155],"precision":[131],"estimation":[132],"proposed":[134],"tested":[136],"on":[137],"RAVEN-II.":[138],"Analysis":[139],"shows":[140],"an":[141],"improved":[142],"around":[148],"1mm":[149],"RMS":[150],"traversing":[151],"through":[152],"entire":[154],"workspace":[156],"without":[157],"high-resolution":[158],"motion":[159],"tracker.":[160],"open":[162],"source":[163],"code,":[164],"data":[165],"sets,":[166],"videos,":[167],"user":[169],"guide":[170],"can":[171],"found":[173],"//github.com/HaonanPeng/RAVEN":[175],"Neural":[176],"Network":[177],"Estimator.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
