{"id":"https://openalex.org/W4401415550","doi":"https://doi.org/10.1109/icra57147.2024.10611403","title":"Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement","display_name":"Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415550","doi":"https://doi.org/10.1109/icra57147.2024.10611403"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611403","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611403","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5027496774","display_name":"Yiang Lu","orcid":"https://orcid.org/0000-0002-5941-9215"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yiang Lu","raw_affiliation_strings":["The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365160","display_name":"Bin Li","orcid":"https://orcid.org/0000-0002-2404-9971"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Li","raw_affiliation_strings":["The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115595744","display_name":"Wei Chen","orcid":"https://orcid.org/0000-0002-0113-2596"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Chen","raw_affiliation_strings":["The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044404474","display_name":"Junyan Yan","orcid":"https://orcid.org/0000-0001-6271-5819"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junyan Yan","raw_affiliation_strings":["The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072251844","display_name":"Shing Shin Cheng","orcid":"https://orcid.org/0000-0002-9386-5497"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shing Shin Cheng","raw_affiliation_strings":["The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075663124","display_name":"Jiangliu Wang","orcid":"https://orcid.org/0000-0003-2734-0243"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangliu Wang","raw_affiliation_strings":["The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005976047","display_name":"Jianshu Zhou","orcid":"https://orcid.org/0000-0003-3900-3519"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianshu Zhou","raw_affiliation_strings":["The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090516040","display_name":"Qi Dou","orcid":"https://orcid.org/0000-0002-3416-9950"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Dou","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Computer Science and Engineering,Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Computer Science and Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,T Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5027496774"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":1.2571,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.77372204,"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":"9866","last_page":"9872"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T11366","display_name":"Elasticity and Material Modeling","score":0.9868999719619751,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9835000038146973,"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/computer-science","display_name":"Computer science","score":0.5405780673027039},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4292667508125305},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.390583872795105}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5405780673027039},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4292667508125305},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.390583872795105}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611403","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611403","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":38,"referenced_works":["https://openalex.org/W2295380675","https://openalex.org/W2544641369","https://openalex.org/W2753162957","https://openalex.org/W2774676248","https://openalex.org/W2889068233","https://openalex.org/W2981921395","https://openalex.org/W2982459439","https://openalex.org/W3003514119","https://openalex.org/W3089587361","https://openalex.org/W3108198586","https://openalex.org/W3132721098","https://openalex.org/W3136694183","https://openalex.org/W3190305371","https://openalex.org/W3191039667","https://openalex.org/W4205124509","https://openalex.org/W4220755253","https://openalex.org/W4285172072","https://openalex.org/W4285266431","https://openalex.org/W4285676972","https://openalex.org/W4293150125","https://openalex.org/W4296437650","https://openalex.org/W4310290794","https://openalex.org/W4310713305","https://openalex.org/W4312997263","https://openalex.org/W4318038628","https://openalex.org/W4321770324","https://openalex.org/W4321770550","https://openalex.org/W4327952333","https://openalex.org/W4362014274","https://openalex.org/W4365790336","https://openalex.org/W4366449600","https://openalex.org/W4378697391","https://openalex.org/W4383109137","https://openalex.org/W4383818779","https://openalex.org/W4388543825","https://openalex.org/W4389692493","https://openalex.org/W4390692601","https://openalex.org/W4391598430"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Recently,":[0],"fiber":[1,6,36],"optic":[2],"sensors":[3,114],"such":[4],"as":[5,157,159],"Bragg":[7],"gratings":[8],"(FBGs)":[9],"have":[10],"been":[11],"widely":[12],"investigated":[13],"for":[14,44,83,117],"shape":[15,87],"reconstruction":[16],"and":[17,37,88,128,137,147,181],"force":[18,89],"estimation":[19,85],"of":[20,32,86,173,183],"flexible":[21,42,61,93,120],"surgical":[22],"robots.":[23],"However,":[24],"most":[25],"existing":[26],"approaches":[27],"need":[28],"precise":[29],"model":[30],"parameters":[31],"FBGs":[33],"inside":[34],"the":[35,41,60,179,184],"their":[38,149],"alignments":[39],"with":[40,68,112,122,162],"robots":[43,94],"accurate":[45],"sensing":[46,108,176],"results.":[47],"Another":[48],"challenge":[49],"lies":[50],"in":[51,71,151,171],"online":[52],"acquiring":[53],"external":[54],"forces":[55,164],"at":[56,165],"arbitrary":[57],"locations":[58],"along":[59,90],"robots,":[62],"which":[63],"is":[64,115],"highly":[65,91],"required":[66],"when":[67],"large":[69,123],"deflections":[70],"robotic":[72],"surgery.":[73],"In":[74],"this":[75],"paper,":[76],"we":[77],"propose":[78],"a":[79,101,118,129],"novel":[80],"data-driven":[81],"paradigm":[82],"simultaneous":[84],"deformable":[92],"by":[95,142],"using":[96],"sparse":[97],"strain":[98,145],"measurement":[99],"from":[100],"single-core":[102],"FBG":[103,113],"fiber.":[104],"A":[105],"thin-walled":[106],"soft":[107],"tube":[109],"helically":[110],"embedded":[111],"designed":[116],"robotic-assisted":[119],"ureteroscope":[121],"deflection":[124],"up":[125],"to":[126],"270\u00b0":[127],"bend":[130],"radius":[131],"under":[132],"10":[133],"mm.":[134],"We":[135],"introduce":[136],"study":[138],"three":[139],"learning":[140],"models":[141],"incorporating":[143],"spatial":[144],"encoders,":[146],"compare":[148],"performances":[150],"both":[152],"free":[153],"space":[154],"without":[155],"interactions":[156],"well":[158],"constrained":[160],"environments":[161],"contact":[163],"different":[166],"locations.":[167],"The":[168],"experimental":[169],"results":[170],"terms":[172],"dynamic":[174],"shape-force":[175],"accuracy":[177],"demonstrate":[178],"effectiveness":[180],"superiority":[182],"proposed":[185],"methods.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}