{"id":"https://openalex.org/W4416750057","doi":"https://doi.org/10.1109/iros60139.2025.11247389","title":"Quality-Driven Adaptive Control Framework for Robotic Ultrasound Imaging of Vascular Anatomies","display_name":"Quality-Driven Adaptive Control Framework for Robotic Ultrasound Imaging of Vascular Anatomies","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750057","doi":"https://doi.org/10.1109/iros60139.2025.11247389"},"language":"en","primary_location":{"id":"doi:10.1109/iros60139.2025.11247389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11311/1303493","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100408153","display_name":"Bo Wang","orcid":"https://orcid.org/0000-0002-9041-878X"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Bo Wang","raw_affiliation_strings":["Politecnico di Milano,Department of Electronics, Information and Bioengineering,Milan,Italy,20133"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Department of Electronics, Information and Bioengineering,Milan,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056537333","display_name":"Junling Fu","orcid":"https://orcid.org/0000-0003-2274-4150"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Junling Fu","raw_affiliation_strings":["Politecnico di Milano,Department of Electronics, Information and Bioengineering,Milan,Italy,20133"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Department of Electronics, Information and Bioengineering,Milan,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Giancarlo Ferrigno","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giancarlo Ferrigno","raw_affiliation_strings":["Politecnico di Milano,Department of Electronics, Information and Bioengineering,Milan,Italy,20133"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Department of Electronics, Information and Bioengineering,Milan,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":null,"display_name":"Elena De Momi","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elena De Momi","raw_affiliation_strings":["Politecnico di Milano,Department of Electronics, Information and Bioengineering,Milan,Italy,20133"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Department of Electronics, Information and Bioengineering,Milan,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100408153"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35184537,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4002","last_page":"4009"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9449999928474426,"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":0.9449999928474426,"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/T10727","display_name":"Ultrasound Imaging and Elastography","score":0.019500000402331352,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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":0.004399999976158142,"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/image-quality","display_name":"Image quality","score":0.5831000208854675},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5630999803543091},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5264000296592712},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4196999967098236},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.41510000824928284},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.3984000086784363},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.3982999920845032},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.37549999356269836}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7592999935150146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7142999768257141},{"id":"https://openalex.org/C55020928","wikidata":"https://www.wikidata.org/wiki/Q3813865","display_name":"Image quality","level":3,"score":0.5831000208854675},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5727999806404114},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5630999803543091},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5264000296592712},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4196999967098236},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.41510000824928284},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.3984000086784363},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3982999920845032},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.37549999356269836},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36230000853538513},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.3555000126361847},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3522000014781952},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.3352000117301941},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2996000051498413},{"id":"https://openalex.org/C31601959","wikidata":"https://www.wikidata.org/wiki/Q931309","display_name":"Medical imaging","level":2,"score":0.29840001463890076},{"id":"https://openalex.org/C2986892559","wikidata":"https://www.wikidata.org/wiki/Q234904","display_name":"Ultrasound imaging","level":3,"score":0.265500009059906},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2639000117778778}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros60139.2025.11247389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1303493","is_oa":true,"landing_page_url":"https://hdl.handle.net/11311/1303493","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:re.public.polimi.it:11311/1303493","is_oa":true,"landing_page_url":"https://hdl.handle.net/11311/1303493","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320338440","display_name":"HORIZON EUROPE Health","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1583092270","https://openalex.org/W1997583178","https://openalex.org/W2215544116","https://openalex.org/W2417584818","https://openalex.org/W2564163422","https://openalex.org/W2756252401","https://openalex.org/W2787091153","https://openalex.org/W2998768433","https://openalex.org/W3012125873","https://openalex.org/W3098362553","https://openalex.org/W3138654995","https://openalex.org/W3205841225","https://openalex.org/W4226514657","https://openalex.org/W4285678972","https://openalex.org/W4383097412","https://openalex.org/W4384701644","https://openalex.org/W4390495662","https://openalex.org/W4391306497","https://openalex.org/W4396821882","https://openalex.org/W4403534636","https://openalex.org/W4404415982","https://openalex.org/W4408166096"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,23,43,97],"quality-driven":[4],"adaptive":[5,62],"control":[6,65],"framework":[7,114],"for":[8,31,125],"robotic":[9],"vascular":[10,32,127],"anatomies":[11,33],"scanning":[12],"to":[13,41,74],"facilitate":[14],"the":[15,46,50,86,89,112,132],"acquisition":[16],"of":[17,49,88,134],"high-quality":[18],"ultrasound":[19],"(US)":[20],"images.":[21],"Specifically,":[22],"novel":[24],"probability-based":[25],"US":[26,57,63,69,122],"image":[27,38,58,70,77,123],"quality":[28,71,124],"evaluation":[29],"metric":[30],"is":[34,72],"introduced,":[35],"leveraging":[36],"an":[37,61],"segmentation":[39],"network":[40],"establish":[42],"mapping":[44],"between":[45],"controlled":[47],"variables":[48],"robot":[51],"(e.g.,":[52],"pose":[53],"and":[54,56,104,119],"force)":[55],"quality.":[59],"Furthermore,":[60],"probe":[64],"strategy":[66],"driven":[67],"by":[68],"developed":[73],"optimize":[75],"real-time":[76],"acquisition,":[78],"with":[79],"its":[80],"stability":[81],"rigorously":[82],"proven.":[83],"To":[84],"assess":[85],"effectiveness":[87],"proposed":[90,113],"framework,":[91],"two":[92],"experiments":[93],"were":[94],"conducted":[95],"on":[96],"human":[98],"tissue-mimicking":[99],"phantom,":[100],"encompassing":[101],"both":[102],"static":[103],"dynamic":[105],"scenarios.":[106],"The":[107],"experimental":[108],"results":[109],"demonstrate":[110],"that":[111],"ensures":[115],"stable":[116],"contact":[117],"force":[118],"significantly":[120],"enhances":[121],"robot-assisted":[126],"anatomy":[128],"imaging,":[129],"even":[130],"in":[131],"presence":[133],"external":[135],"disturbances.":[136]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}