{"id":"https://openalex.org/W3003227101","doi":"https://doi.org/10.1109/iros40897.2019.8968039","title":"Hysteresis Compensator with Learning-based Pose Estimation for a Flexible Endoscopic Surgery Robot","display_name":"Hysteresis Compensator with Learning-based Pose Estimation for a Flexible Endoscopic Surgery Robot","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003227101","doi":"https://doi.org/10.1109/iros40897.2019.8968039","mag":"3003227101"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968039","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968039","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5062211455","display_name":"Donghoon Baek","orcid":"https://orcid.org/0000-0002-2486-4378"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghoon Baek","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,robotics program,Daejeon,South Korea","robotics program, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,robotics program,Daejeon,South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"robotics program, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112458527","display_name":"Ju-Hwan Seo","orcid":"https://orcid.org/0000-0002-5847-1767"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ju-Hwan Seo","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Department of Mechanical Engineering,Daejeon,South Korea","Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Department of Mechanical Engineering,Daejeon,South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081588788","display_name":"Joonhwan Kim","orcid":"https://orcid.org/0000-0002-5478-4360"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Joonhwan Kim","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Department of Mechanical Engineering,Daejeon,South Korea","Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Department of Mechanical Engineering,Daejeon,South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072713763","display_name":"Dong\u2010Soo Kwon","orcid":"https://orcid.org/0000-0003-1540-3307"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong-Soo Kwon","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Department of Mechanical Engineering,Daejeon,South Korea","Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Department of Mechanical Engineering,Daejeon,South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.3988,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.61132563,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2983","last_page":"2989"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9988999962806702,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9879999756813049,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.6899245381355286},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6777321100234985},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6160072684288025},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5796316266059875},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5727533102035522},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.46233364939689636},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.46178892254829407},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4490337371826172},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4429464042186737},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19254440069198608},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06513455510139465}],"concepts":[{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.6899245381355286},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6777321100234985},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6160072684288025},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5796316266059875},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5727533102035522},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.46233364939689636},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.46178892254829407},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4490337371826172},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4429464042186737},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19254440069198608},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06513455510139465},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968039","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968039","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":31,"referenced_works":["https://openalex.org/W584436618","https://openalex.org/W1522301498","https://openalex.org/W1533861849","https://openalex.org/W1929856797","https://openalex.org/W1975412993","https://openalex.org/W1987096132","https://openalex.org/W1989552041","https://openalex.org/W1996181637","https://openalex.org/W2071871942","https://openalex.org/W2078269830","https://openalex.org/W2095948214","https://openalex.org/W2100927926","https://openalex.org/W2116990727","https://openalex.org/W2147492425","https://openalex.org/W2154578892","https://openalex.org/W2167501464","https://openalex.org/W2168914856","https://openalex.org/W2171590421","https://openalex.org/W2340893972","https://openalex.org/W2478416728","https://openalex.org/W2601489923","https://openalex.org/W2605356355","https://openalex.org/W2792810896","https://openalex.org/W2964121744","https://openalex.org/W3099236024","https://openalex.org/W6631190155","https://openalex.org/W6631943919","https://openalex.org/W6640083356","https://openalex.org/W6668571902","https://openalex.org/W6749567845","https://openalex.org/W7012057523"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W2152313554","https://openalex.org/W2064303750","https://openalex.org/W3048672182","https://openalex.org/W1509300825","https://openalex.org/W3092582874","https://openalex.org/W2054620577"],"abstract_inverted_index":{"The":[0,148],"use":[1,77],"of":[2,58,112,130,183,205],"the":[3,43,55,106,113,131,137,156,161,173,190,193,212,221],"tendon-sheath":[4],"mechanism":[5],"(TSM)":[6],"is":[7,49,73,101,216],"common":[8],"in":[9,18,38,42,54,116,227],"flexible":[10,184],"surgery":[11,185],"robots,":[12],"because":[13],"it":[14],"can":[15,109],"flexibly":[16],"work":[17],"limited":[19],"spaces":[20],"and":[21,33],"provides":[22],"efficient":[23],"power":[24],"transmission.":[25],"However,":[26],"hysteresis":[27,48,95,111,152,197,226],"from":[28],"nonlinearities":[29],"such":[30],"as":[31],"friction":[32],"backlash":[34],"poses":[35],"a":[36,86,93,142,176,188],"challenge":[37],"controlling":[39,155],"precise":[40],"motion":[41],"surgical":[44,88,114,132],"instrument.":[45],"Moreover,":[46],"this":[47,91],"also":[50],"affected":[51],"by":[52,153],"changes":[53],"various":[56,117,203],"configurations":[57,119,204],"sheath":[59,118],"which":[60,79],"limits":[61],"traditional":[62],"model-based":[63],"compensation":[64],"approaches.":[65],"Recently,":[66],"feedback":[67],"approach":[68],"using":[69,121,141],"an":[70,127],"endoscopic":[71],"camera":[72],"presented,":[74],"but":[75],"they":[76],"markers":[78],"are":[80],"not":[81],"appropriate":[82],"for":[83,202,224],"applying":[84],"to":[85,125,160,198,218,220],"real":[87],"instruments.":[89],"In":[90,123,207],"paper,":[92],"novel":[94],"compensator":[96,108,150,223],"with":[97,167],"learning-based":[98,138,213],"pose":[99,139,214],"estimation":[100,140,215],"proposed.":[102],"Unlike":[103],"previous":[104],"studies,":[105],"proposed":[107,149,174,194,222],"reduce":[110],"instrument":[115],"without":[120],"markers.":[122],"order":[124],"estimate":[126],"actual":[128],"angle":[129],"instrument's":[133],"joint,":[134],"we":[135,209],"employ":[136],"siamese":[143],"convolutional":[144],"neural":[145],"network":[146],"(SCNN).":[147],"reduces":[151,196],"partially":[154],"position":[157],"command,":[158],"similar":[159],"instinctive":[162],"adjustments":[163],"that":[164,211],"physicians":[165],"make":[166],"their":[168],"visual":[169],"feedback.":[170],"To":[171],"validate":[172],"method,":[175],"testbed":[177],"was":[178],"constructed":[179],"considering":[180],"several":[181],"requirements":[182],"robots.":[186],"As":[187],"result,":[189],"results":[191],"show":[192],"method":[195],"less":[199],"than":[200],"10\u00b0,":[201],"sheath.":[206],"addition,":[208],"confirmed":[210],"sufficient":[217],"apply":[219],"reducing":[225],"real-time.":[228]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
