{"id":"https://openalex.org/W3206811919","doi":"https://doi.org/10.1109/icra48506.2021.9560747","title":"Remote-Center-of-Motion Recommendation toward Brain Needle Intervention Using Deep Reinforcement Learning","display_name":"Remote-Center-of-Motion Recommendation toward Brain Needle Intervention Using Deep Reinforcement Learning","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206811919","doi":"https://doi.org/10.1109/icra48506.2021.9560747","mag":"3206811919"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560747","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5055468404","display_name":"Huxin Gao","orcid":"https://orcid.org/0000-0002-8700-560X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"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/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]}],"countries":["CN","HK","SG"],"is_corresponding":true,"raw_author_name":"Huxin Gao","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore","Department of Electronic Engineering, The Chinese University of Hong Kong","NUS (Suzhou) Research Institute, Suzhou, China"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"NUS (Suzhou) Research Institute, Suzhou, China","institution_ids":["https://openalex.org/I4210125878"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451719","display_name":"Xiao Xiao","orcid":"https://orcid.org/0000-0002-1254-5740"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Xiao Xiao","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore","Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011499314","display_name":"Liang Qiu","orcid":"https://orcid.org/0000-0002-6784-1627"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Liang Qiu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore","NUS (Suzhou) Research Institute, Suzhou, China"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"NUS (Suzhou) Research Institute, Suzhou, China","institution_ids":["https://openalex.org/I4210125878"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"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/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China","Department of Electronic Engineering, The Chinese University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080281123","display_name":"Nicolas Kon Kam King","orcid":"https://orcid.org/0000-0002-6009-4411"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Nicolas Kon Kam King","raw_affiliation_strings":["Department of Surgery, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Surgery, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032340829","display_name":"Hongliang Ren","orcid":"https://orcid.org/0000-0002-6488-1551"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"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/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]}],"countries":["CN","HK","SG"],"is_corresponding":false,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore","Department of Electronic Engineering, The Chinese University of Hong Kong","NUS (Suzhou) Research Institute, Suzhou, China"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"NUS (Suzhou) Research Institute, Suzhou, China","institution_ids":["https://openalex.org/I4210125878"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5055468404"],"corresponding_institution_ids":["https://openalex.org/I165932596","https://openalex.org/I177725633","https://openalex.org/I4210125878"],"apc_list":null,"apc_paid":null,"fwci":0.9191,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.71483394,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8295","last_page":"8301"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9840999841690063,"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":0.9758999943733215,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8505618572235107},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6880960464477539},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6815013885498047},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6695627570152283},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6620681881904602},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5860361456871033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5600327253341675},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5533051490783691},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5500447154045105},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5004167556762695},{"id":"https://openalex.org/keywords/intervention","display_name":"Intervention (counseling)","score":0.4681556224822998},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4309849143028259},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42370253801345825},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40013253688812256},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33726876974105835},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20570465922355652},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.19668829441070557},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18356278538703918}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8505618572235107},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6880960464477539},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6815013885498047},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6695627570152283},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6620681881904602},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5860361456871033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5600327253341675},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5533051490783691},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5500447154045105},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5004167556762695},{"id":"https://openalex.org/C2780665704","wikidata":"https://www.wikidata.org/wiki/Q959298","display_name":"Intervention (counseling)","level":2,"score":0.4681556224822998},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4309849143028259},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42370253801345825},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40013253688812256},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33726876974105835},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20570465922355652},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.19668829441070557},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18356278538703918},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C118552586","wikidata":"https://www.wikidata.org/wiki/Q7867","display_name":"Psychiatry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9560747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560747","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1564155246","https://openalex.org/W1776704687","https://openalex.org/W1969762044","https://openalex.org/W2015250930","https://openalex.org/W2024354681","https://openalex.org/W2099002310","https://openalex.org/W2101817128","https://openalex.org/W2108398132","https://openalex.org/W2119017905","https://openalex.org/W2121863487","https://openalex.org/W2137994981","https://openalex.org/W2295877882","https://openalex.org/W2531667847","https://openalex.org/W2560100235","https://openalex.org/W2595385770","https://openalex.org/W2736601468","https://openalex.org/W2736750746","https://openalex.org/W2905311401","https://openalex.org/W2905810301","https://openalex.org/W2963864421","https://openalex.org/W2991355332","https://openalex.org/W2995227139","https://openalex.org/W3008991766","https://openalex.org/W3011336397","https://openalex.org/W6684921986","https://openalex.org/W6741002519"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W4324119010","https://openalex.org/W3110652258","https://openalex.org/W2971758839"],"abstract_inverted_index":{"Brain":[0],"needle":[1,21,48,82],"intervention":[2,49],"is":[3,24,58,70],"a":[4,25,46,129],"specific":[5],"diagnosis":[6],"and":[7,17,33,119,144],"therapy":[8],"procedure":[9],"in":[10,39,51,165,202,221],"brain":[11,15],"disorders,":[12],"such":[13],"as":[14,150],"tumors":[16],"Parkinson\u2019s":[18],"disease.":[19],"Preoperative":[20],"path":[22],"planning":[23],"vital":[26],"step":[27],"to":[28,71,132,162],"guarantee":[29],"the":[30,40,56,62,65,97,103,125,134,151,167,171,176,179,186,191,199,203,206,209,213],"patient\u2019s":[31],"safety":[32],"reduce":[34],"lesions.":[35],"For":[36],"positioning":[37],"accuracy":[38],"CT/MRI":[41],"environment,":[42],"we":[43],"have":[44,212],"developed":[45],"novel":[47],"robot":[50,57,98],"our":[52],"previous":[53],"work.":[54,223],"Because":[55],"currently":[59],"designed":[60,192],"for":[61,73,81,124],"rigid":[63],"needle,":[64],"task":[66,193],"of":[67,78,154,189,216],"preoperative":[68],"path-planning":[69],"search":[72],"an":[74,88],"optimal":[75],"Remote":[76],"Center":[77],"Motion":[79],"(RCM)":[80],"insertion.":[83],"Therefore,":[84],"this":[85,100],"work":[86],"proposes":[87],"RCM":[89],"recommendation":[90],"system":[91,101],"using":[92],"deep":[93],"reinforcement":[94,155],"learning.":[95],"Considering":[96],"kinematics,":[99],"takes":[102],"following":[104],"criteria/constraints":[105,220],"into":[106],"consideration:":[107],"clinical":[108],"obstacle":[109],"(blood":[110],"vessels,":[111],"tissues)":[112],"avoidance":[113],"(COA),":[114],"mechanically":[115,120],"inverse":[116],"kinematics":[117],"(MIK)":[118],"less":[121],"motion":[122],"(MLM)":[123],"robot.":[126],"We":[127],"design":[128],"reward":[130],"function":[131],"combine":[133],"above":[135,172],"three":[136],"criteria":[137,173],"based":[138],"on":[139],"their":[140],"corresponding":[141],"importance":[142],"level":[143,201],"utilize":[145],"proximal":[146],"policy":[147],"optimization":[148],"(PPO)":[149],"main":[152],"agent":[153],"learning":[156],"(RL).":[157],"RL":[158,183,210],"methods":[159],"are":[160],"proved":[161],"be":[163],"competent":[164],"searching":[166],"RCM,":[168],"which":[169,196],"satisfies":[170],"simultaneously.":[174],"On":[175,205],"one":[177],"hand,":[178,208],"results":[180],"present":[181],"that":[182],"agents":[184,211],"obtain":[185],"success":[187],"rate":[188],"finishing":[190],"at":[194],"93%,":[195],"has":[197],"reached":[198],"human":[200],"tests.":[204],"other":[207],"remarkable":[214],"capability":[215],"combining":[217],"more":[218],"complex":[219],"future":[222]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}