{"id":"https://openalex.org/W2906329276","doi":"https://doi.org/10.1109/lra.2018.2888896","title":"Autonomous Data-Driven Manipulation of Unknown Anisotropic Deformable Tissues Using Unmodelled Continuum Manipulators","display_name":"Autonomous Data-Driven Manipulation of Unknown Anisotropic Deformable Tissues Using Unmodelled Continuum Manipulators","publication_year":2018,"publication_date":"2018-12-20","ids":{"openalex":"https://openalex.org/W2906329276","doi":"https://doi.org/10.1109/lra.2018.2888896","mag":"2906329276"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2888896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2888896","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5055294307","display_name":"Farshid Alambeigi","orcid":"https://orcid.org/0000-0001-6903-5939"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Farshid Alambeigi","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076432970","display_name":"Zerui Wang","orcid":"https://orcid.org/0000-0003-4281-5120"},"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":"Zerui Wang","raw_affiliation_strings":["T Stone Robotics Institute, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026384745","display_name":"Rachel Hegeman","orcid":"https://orcid.org/0000-0003-2869-8773"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rachel Hegeman","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","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":["T Stone Robotics Institute, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090301235","display_name":"Mehran Armand","orcid":"https://orcid.org/0000-0003-1028-8303"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mehran Armand","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5055294307"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":3.1598,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.92314546,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"4","issue":"2","first_page":"254","last_page":"261"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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":0.9986000061035156,"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/T10892","display_name":"Drilling and Well Engineering","score":0.9660999774932861,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9402999877929688,"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/robot-manipulator","display_name":"Robot manipulator","score":0.7139513492584229},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6374121904373169},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5883443355560303},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5815852880477905},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5284172296524048},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4856030344963074},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.46026283502578735},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4057253301143646},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3515438437461853},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19351163506507874},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15220358967781067}],"concepts":[{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.7139513492584229},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6374121904373169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5883443355560303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5815852880477905},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5284172296524048},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4856030344963074},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.46026283502578735},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4057253301143646},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3515438437461853},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19351163506507874},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15220358967781067},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2888896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2888896","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1499925623","https://openalex.org/W1544433213","https://openalex.org/W1584687743","https://openalex.org/W1977579098","https://openalex.org/W1977822596","https://openalex.org/W1988003703","https://openalex.org/W2017484120","https://openalex.org/W2021923954","https://openalex.org/W2035379092","https://openalex.org/W2049410986","https://openalex.org/W2050268494","https://openalex.org/W2053485789","https://openalex.org/W2061417916","https://openalex.org/W2065682774","https://openalex.org/W2083016933","https://openalex.org/W2107550832","https://openalex.org/W2125817642","https://openalex.org/W2142828858","https://openalex.org/W2163403935","https://openalex.org/W2180065899","https://openalex.org/W2293818481","https://openalex.org/W2318613964","https://openalex.org/W2322971354","https://openalex.org/W2346178339","https://openalex.org/W2539237442","https://openalex.org/W2588047059","https://openalex.org/W2591985941","https://openalex.org/W2621077460","https://openalex.org/W2750828465","https://openalex.org/W2790485773","https://openalex.org/W2792910172","https://openalex.org/W2809199532","https://openalex.org/W2885777315","https://openalex.org/W2901136733","https://openalex.org/W2963094007","https://openalex.org/W2963968649","https://openalex.org/W3029645440","https://openalex.org/W3099541148","https://openalex.org/W4293775970","https://openalex.org/W6743606994","https://openalex.org/W6752595128","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W3213839729","https://openalex.org/W4238458658","https://openalex.org/W2753073204","https://openalex.org/W1979214824","https://openalex.org/W324942907","https://openalex.org/W2381705136","https://openalex.org/W190531548","https://openalex.org/W2685330831","https://openalex.org/W2974305258","https://openalex.org/W1972570117"],"abstract_inverted_index":{"We":[0,85],"present":[1],"an":[2,24,81],"autonomous":[3],"manipulation":[4],"approach":[5],"for":[6],"tissues":[7],"with":[8,57,105],"anisotropic":[9],"deformation":[10,41,74],"behavior":[11,42],"using":[12,69,98],"a":[13,77,106,112],"continuum":[14,47,78],"manipulator.":[15],"The":[16],"key":[17],"feature":[18,64],"of":[19,35,43,53,68,76,91,134],"our":[20,92],"vision-based":[21],"study":[22],"is":[23],"online":[25],"learning":[26,130],"and":[27,46,89,126,132],"estimation":[28],"method,":[29],"which":[30],"makes":[31],"its":[32],"implementation":[33],"independent":[34],"any":[36],"prior":[37],"knowledge":[38],"about":[39],"the":[40,44,54,60,66,87,99,128,135],"tissue":[45],"manipulator":[48,79],"as":[49,51],"well":[50],"calibration":[52],"vision":[55],"system":[56],"respect":[58],"to":[59],"robot.":[61],"This":[62],"important":[63],"addresses":[65],"difficulty":[67],"model-based":[70],"control":[71,75],"approaches":[72],"in":[73,94,122],"manipulating":[80],"unknown":[82],"deformable":[83],"tissue.":[84],"evaluated":[86],"performance":[88],"robustness":[90],"method":[93],"three":[95],"different":[96],"experiments":[97,117],"da":[100],"Vinci":[101],"Research":[102],"Kit":[103],"coupled":[104],"5":[107],"mm":[108],"instrument":[109],"that":[110,120],"has":[111],"4-degree-of-freedom":[113],"snake-like":[114],"wrist.":[115],"These":[116],"simulated":[118],"situations":[119],"occur":[121],"various":[123],"surgical":[124],"schemes":[125],"verified":[127],"adaptability,":[129],"capability,":[131],"accuracy":[133],"proposed":[136],"method.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}