{"id":"https://openalex.org/W4383097412","doi":"https://doi.org/10.1109/icra48891.2023.10161148","title":"Fully Robotized 3D Ultrasound Image Acquisition for Artery","display_name":"Fully Robotized 3D Ultrasound Image Acquisition for Artery","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383097412","doi":"https://doi.org/10.1109/icra48891.2023.10161148"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5013169403","display_name":"Mingcong Chen","orcid":"https://orcid.org/0000-0001-9544-2589"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"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"],"is_corresponding":false,"raw_author_name":"Mingcong Chen","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101220363","display_name":"Yuanrui Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanrui Huang","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences,Beijing,China,100049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences,Beijing,China,100049","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101567856","display_name":"Jian Chen","orcid":"https://orcid.org/0000-0003-1775-0134"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Chen","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","School of Artificial Intelligence, University of Chinese Academy of Sciences,Beijing,China,100049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences,Beijing,China,100049","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103244140","display_name":"Tongxi Zhou","orcid":"https://orcid.org/0009-0002-0869-4695"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tongxi Zhou","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061171514","display_name":"Jiuan Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiuan Chen","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","School of Artificial Intelligence, University of Chinese Academy of Sciences,Beijing,China,100049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Management and Control for Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences,Beijing,China,100049","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004659892","display_name":"Hongbin Liu","orcid":"https://orcid.org/0000-0002-4315-7556"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"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"]},{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["CN","GB","IN"],"is_corresponding":false,"raw_author_name":"Hongbin Liu","raw_affiliation_strings":["Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences,Centre for Artificial Intelligence and Robotics,Hong Kong","State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong","School of Biomedical Engineering and Imaging Sciences, King's College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences,Centre for Artificial Intelligence and Robotics,Hong Kong","institution_ids":["https://openalex.org/I4210121405"]},{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"School of Biomedical Engineering and Imaging Sciences, King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7427,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.83456663,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2690","last_page":"2696"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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":0.9994000196456909,"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/T11055","display_name":"Cardiac and Coronary Surgery Techniques","score":0.9948999881744385,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9940999746322632,"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/imaging-phantom","display_name":"Imaging phantom","score":0.7458313703536987},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7156270146369934},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6699725985527039},{"id":"https://openalex.org/keywords/3d-ultrasound","display_name":"3D ultrasound","score":0.579525887966156},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5789369344711304},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5000596046447754},{"id":"https://openalex.org/keywords/data-acquisition","display_name":"Data acquisition","score":0.487366259098053},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4497697651386261},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4401247203350067},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4393171966075897},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.433284193277359},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.30536991357803345},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1997835636138916},{"id":"https://openalex.org/keywords/nuclear-medicine","display_name":"Nuclear medicine","score":0.16156747937202454},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15853214263916016},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14221793413162231},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.11618077754974365}],"concepts":[{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.7458313703536987},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7156270146369934},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6699725985527039},{"id":"https://openalex.org/C2780170424","wikidata":"https://www.wikidata.org/wiki/Q229399","display_name":"3D ultrasound","level":3,"score":0.579525887966156},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5789369344711304},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5000596046447754},{"id":"https://openalex.org/C163985040","wikidata":"https://www.wikidata.org/wiki/Q1172399","display_name":"Data acquisition","level":2,"score":0.487366259098053},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4497697651386261},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4401247203350067},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4393171966075897},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.433284193277359},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.30536991357803345},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1997835636138916},{"id":"https://openalex.org/C2989005","wikidata":"https://www.wikidata.org/wiki/Q214963","display_name":"Nuclear medicine","level":1,"score":0.16156747937202454},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15853214263916016},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14221793413162231},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.11618077754974365},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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":33,"referenced_works":["https://openalex.org/W18241308","https://openalex.org/W1532881789","https://openalex.org/W1583092270","https://openalex.org/W1901129140","https://openalex.org/W1974422381","https://openalex.org/W1989849962","https://openalex.org/W1994349244","https://openalex.org/W1997583178","https://openalex.org/W2008788526","https://openalex.org/W2041050770","https://openalex.org/W2042357463","https://openalex.org/W2045999511","https://openalex.org/W2049665714","https://openalex.org/W2072195406","https://openalex.org/W2123924606","https://openalex.org/W2164862881","https://openalex.org/W2173082292","https://openalex.org/W2219632157","https://openalex.org/W2586099419","https://openalex.org/W2799544772","https://openalex.org/W2932459557","https://openalex.org/W2953381426","https://openalex.org/W2972627238","https://openalex.org/W3090509004","https://openalex.org/W3135545534","https://openalex.org/W3157010837","https://openalex.org/W3186292497","https://openalex.org/W3202175197","https://openalex.org/W3205841225","https://openalex.org/W4285194566","https://openalex.org/W4309362349","https://openalex.org/W6600775261","https://openalex.org/W6639824700"],"related_works":["https://openalex.org/W2417440389","https://openalex.org/W4244157427","https://openalex.org/W2734382758","https://openalex.org/W4385556839","https://openalex.org/W4378746257","https://openalex.org/W2109481748","https://openalex.org/W2381719890","https://openalex.org/W2076005643","https://openalex.org/W2057204181","https://openalex.org/W2040853802"],"abstract_inverted_index":{"Current":[0],"imaging":[1],"of":[2,61,177,196,214],"the":[3,59,64,92,108,131,158,162,190,200,212],"artery":[4,30],"relies":[5],"primarily":[6],"on":[7,149],"computed":[8],"tomography":[9],"angiography":[10],"(CTA),":[11],"which":[12],"requires":[13],"contrast":[14],"injections":[15],"and":[16,40,57,145,153,164,182,186],"exposure":[17],"to":[18,141,168],"radiation.":[19],"In":[20,205],"this":[21],"paper,":[22],"we":[23],"present":[24],"a":[25,35,41,47,82,96,112,118,122,126,143,150,154,170,207,219],"method":[26],"for":[27,78,99],"fully":[28],"autonomous":[29],"3D":[31,48,79,93,208],"image":[32],"acquisition":[33,52,66,217],"using":[34,95,111],"linear":[36],"ultrasound":[37],"(US)":[38],"probe":[39],"6":[42],"DoFs":[43],"robot":[44,135,159],"arm":[45],"with":[46,121,138],"camera.":[49],"Robotic":[50],"vessel":[51,71,114,163,209],"can":[53,67,75,160],"minimize":[54],"tissue":[55],"deformation":[56],"permit":[58],"reproduction":[60],"scans.":[62],"Additionally,":[63],"robotic-based":[65],"provide":[68,169],"more":[69],"precise":[70],"position":[72,167],"data":[73],"that":[74,157],"be":[76],"utilized":[77],"reconstruction":[80,210],"as":[81,218],"preoperative":[83,220],"image.":[84,173,221],"The":[85,134,174],"first":[86],"scanning":[87,179],"point":[88],"is":[89,136,203],"determined":[90],"by":[91,117],"camera":[94],"neural":[97,119],"network":[98,120],"leg":[100,151],"area":[101],"estimation.":[102],"A":[103],"visual":[104],"servo":[105],"algorithm":[106],"adjusts":[107],"in-plane":[109,132],"motions":[110],"cross-sectional":[113],"segmentation":[115],"produced":[116],"UNet":[123],"structure,":[124],"while":[125,189],"US":[127,172,216],"confidence":[128],"map":[129],"regulates":[130],"rotation.":[133],"equipped":[137],"impedance":[139],"control":[140],"maintain":[142],"constant":[144],"safe":[146],"scan.":[147],"Experiments":[148],"phantom":[152,178],"volunteer":[155,201],"indicate":[156],"follow":[161],"modify":[165],"its":[166],"sharper":[171],"average":[175],"error":[176,194],"in":[180,199],"y-axis":[181],"z-axis":[183],"are":[184],"0.2536mm":[185],"0.2928mm,":[187],"respectively,":[188],"root":[191],"means":[192],"square":[193],"(RMSE)":[195],"contact":[197],"force":[198],"experiment":[202],"0.2664N.":[204],"addition,":[206],"demonstrates":[211],"possibility":[213],"robotic":[215]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":9}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}