{"id":"https://openalex.org/W3206983810","doi":"https://doi.org/10.1109/icra48506.2021.9560927","title":"Reinforcement Learning Control of A Novel Magnetic Actuated Flexible-joint Robotic Camera System for Single Incision Laparoscopic Surgery","display_name":"Reinforcement Learning Control of A Novel Magnetic Actuated Flexible-joint Robotic Camera System for Single Incision Laparoscopic Surgery","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206983810","doi":"https://doi.org/10.1109/icra48506.2021.9560927","mag":"3206983810"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560927","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/A5100650106","display_name":"Dong Xu","orcid":"https://orcid.org/0000-0002-2626-0287"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dong Xu","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101715530","display_name":"Yuanlin Zhang","orcid":"https://orcid.org/0000-0001-9580-7437"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanlin Zhang","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004143482","display_name":"Wenshuai Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenshuai Tan","raw_affiliation_strings":["Beihang University,School of Mechanical Engineering and Automation,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Mechanical Engineering and Automation,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109096287","display_name":"Hongxing Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongxing Wei","raw_affiliation_strings":["Beihang University,School of Mechanical Engineering and Automation,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Mechanical Engineering and Automation,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100650106"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.8282,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.73676376,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1236","last_page":"1241"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12053","display_name":"Minimally Invasive Surgical Techniques","score":0.9993000030517578,"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/T12053","display_name":"Minimally Invasive Surgical Techniques","score":0.9993000030517578,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9957000017166138,"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":0.9954000115394592,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5259000658988953},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5118553042411804},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.48021015524864197},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.46428361535072327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46274760365486145},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.44647279381752014},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.42874929308891296},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42829716205596924},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4130784869194031},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41061273217201233},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3777117133140564},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3367043435573578},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2663123607635498},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.25500762462615967},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17572170495986938},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.15206798911094666},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1378873884677887}],"concepts":[{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5259000658988953},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5118553042411804},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.48021015524864197},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.46428361535072327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46274760365486145},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.44647279381752014},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.42874929308891296},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42829716205596924},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4130784869194031},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41061273217201233},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3777117133140564},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3367043435573578},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2663123607635498},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25500762462615967},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17572170495986938},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.15206798911094666},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1378873884677887},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9560927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560927","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":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7900000214576721}],"awards":[],"funders":[{"id":"https://openalex.org/F4320330944","display_name":"Nature","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1862034222","https://openalex.org/W1972057105","https://openalex.org/W1972893933","https://openalex.org/W1979135718","https://openalex.org/W1981681739","https://openalex.org/W1985835191","https://openalex.org/W1989593248","https://openalex.org/W1994579391","https://openalex.org/W2052829685","https://openalex.org/W2057886183","https://openalex.org/W2059555357","https://openalex.org/W2066506863","https://openalex.org/W2173248099","https://openalex.org/W2203557876","https://openalex.org/W2291819290","https://openalex.org/W2342390196","https://openalex.org/W2963864421","https://openalex.org/W2965655002","https://openalex.org/W3168015501","https://openalex.org/W6639158687","https://openalex.org/W6684921986","https://openalex.org/W6796540614"],"related_works":["https://openalex.org/W1973180395","https://openalex.org/W2152950565","https://openalex.org/W2391384635","https://openalex.org/W2011148146","https://openalex.org/W1617565119","https://openalex.org/W2070343330","https://openalex.org/W2083852311","https://openalex.org/W160381218","https://openalex.org/W2512958550","https://openalex.org/W2075557570"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,29,62,75,79,85,102,115,126,131,137,144,157,167,180,184,195],"control":[4,100,125,142,154,211],"of":[5,19,31,43,64,78,87,101,130,143,170,183],"a":[6,36,49,56,111,121,152,173],"novel":[7,37,145],"Magnetic":[8],"Actuated":[9],"Flexible-joint":[10],"Robotic":[11],"Surgical":[12],"(MAFRS)":[13],"camera":[14,147,186],"system":[15,39],"with":[16,55],"four":[17],"degrees":[18],"freedom":[20],"(4-DOF)":[21],"for":[22],"single":[23],"incision":[24],"laparoscopic":[25],"surgery.":[26],"Based":[27],"on":[28],"idea":[30],"motion":[32,141,210],"decoupling,":[33],"we":[34,149],"designed":[35],"MAFRS":[38,80,146,185],"which":[40],"is":[41,176,213],"consists":[42],"an":[44],"external":[45,116],"driving":[46,117],"device":[47,54,104,118,198],"and":[48,68,91,98,128,216,221],"motor-free":[50],"insertable":[51,103],"wireless":[52],"robotic":[53,133,197],"hollow":[57],"flexible":[58],"joint.":[59],"Due":[60],"to":[61,119,124,166,178],"problems":[63],"abdominal":[65,71,205],"wall":[66,72,206],"obstruction":[67],"variability":[69],"in":[70],"thickness":[73],"during":[74],"actual":[76],"application":[77],"system,":[81,148],"as":[82,84],"well":[83],"existence":[86],"multiple":[88],"permanent":[89],"magnets":[90],"magnetically":[92],"conductive":[93],"media,":[94],"high-":[95],"precision":[96],"position":[97,127],"attitude":[99,129],"without":[105],"onboard":[106],"motors":[107],"has":[108,218],"always":[109],"been":[110],"challenge.":[112],"We":[113],"use":[114],"generate":[120],"magnetic":[122],"field":[123],"internal":[132,196],"device.":[134],"Aiming":[135],"at":[136,187],"automatic":[138],"precise":[139],"tilt":[140,209],"have":[150],"developed":[151],"closed-loop":[153],"scheme":[155],"using":[156],"Deep":[158],"Deterministic":[159],"Policy":[160],"Gradient":[161],"(DDPG)":[162],"algorithm.":[163],"By":[164],"referring":[165],"damping":[168],"characteristics":[169],"human":[171],"muscles,":[172],"virtual-muscle":[174],"method":[175],"proposed":[177],"eliminate":[179],"chattering":[181],"problem":[182],"specific":[188],"angles.":[189],"The":[190,208],"experimental":[191],"investigations":[192],"indicate":[193],"that":[194],"can":[199],"be":[200],"effectively":[201],"controlled":[202],"under":[203],"different":[204],"thicknesses.":[207],"accuracy":[212],"within":[214],"0.5°,":[215],"it":[217],"good":[219],"adaptability":[220],"antiinterference":[222],"performance.":[223]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}