{"id":"https://openalex.org/W3001016550","doi":"https://doi.org/10.1109/lra.2020.2967685","title":"Hand-Eye Calibration of Surgical Instrument for Robotic Surgery Using Interactive Manipulation","display_name":"Hand-Eye Calibration of Surgical Instrument for Robotic Surgery Using Interactive Manipulation","publication_year":2020,"publication_date":"2020-01-21","ids":{"openalex":"https://openalex.org/W3001016550","doi":"https://doi.org/10.1109/lra.2020.2967685","mag":"3001016550"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2967685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967685","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/A5010124359","display_name":"Fangxun Zhong","orcid":"https://orcid.org/0000-0002-1151-1995"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Fangxun Zhong","raw_affiliation_strings":["T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, China"],"raw_orcid":"https://orcid.org/0000-0002-1151-1995","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, China","institution_ids":["https://openalex.org/I177725633"]}]},{"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":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zerui Wang","raw_affiliation_strings":["T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, China"],"raw_orcid":"https://orcid.org/0000-0003-4281-5120","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041869772","display_name":"Wei Chen","orcid":"https://orcid.org/0000-0001-8589-8988"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wei Chen","raw_affiliation_strings":["T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, China"],"raw_orcid":"https://orcid.org/0000-0002-9065-3771","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013047026","display_name":"Kejing He","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kejing He","raw_affiliation_strings":["T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101752146","display_name":"Yaqing Wang","orcid":"https://orcid.org/0000-0002-2836-4530"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yaqing Wang","raw_affiliation_strings":["T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, China"],"raw_orcid":"https://orcid.org/0000-0002-2836-4530","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, China","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":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, China"],"raw_orcid":"https://orcid.org/0000-0002-3625-6679","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5010124359"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":1.5678,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.81225662,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"5","issue":"2","first_page":"1540","last_page":"1547"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9977999925613403,"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/computer-vision","display_name":"Computer vision","score":0.7526400089263916},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.687293291091919},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6861478686332703},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6514444947242737},{"id":"https://openalex.org/keywords/surgical-instrument","display_name":"Surgical instrument","score":0.5074998736381531},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5038825869560242},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.49619847536087036},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4833773970603943},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4790995419025421},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47004714608192444},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4395180344581604},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11776268482208252},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11425533890724182}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7526400089263916},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.687293291091919},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6861478686332703},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6514444947242737},{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.5074998736381531},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5038825869560242},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.49619847536087036},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4833773970603943},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4790995419025421},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47004714608192444},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4395180344581604},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11776268482208252},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11425533890724182},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2967685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967685","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W18117025","https://openalex.org/W1483377086","https://openalex.org/W1487127700","https://openalex.org/W1595852621","https://openalex.org/W1837943477","https://openalex.org/W1981388915","https://openalex.org/W1983309556","https://openalex.org/W1988874269","https://openalex.org/W1989173793","https://openalex.org/W2030414913","https://openalex.org/W2060239234","https://openalex.org/W2070927739","https://openalex.org/W2121349631","https://openalex.org/W2124292741","https://openalex.org/W2127514693","https://openalex.org/W2150382645","https://openalex.org/W2159461149","https://openalex.org/W2167667767","https://openalex.org/W2243910751","https://openalex.org/W2293557985","https://openalex.org/W2337977475","https://openalex.org/W2341108136","https://openalex.org/W2346178339","https://openalex.org/W2370549573","https://openalex.org/W2401482382","https://openalex.org/W2414155169","https://openalex.org/W2499669286","https://openalex.org/W2519007024","https://openalex.org/W2561316912","https://openalex.org/W2587007321","https://openalex.org/W2604690505","https://openalex.org/W2735048916","https://openalex.org/W2739374696","https://openalex.org/W2743321363","https://openalex.org/W2753115354","https://openalex.org/W2783059813","https://openalex.org/W2792810896","https://openalex.org/W2884341504","https://openalex.org/W2897317266","https://openalex.org/W2910876659","https://openalex.org/W2940581269","https://openalex.org/W2955538355","https://openalex.org/W3098609708","https://openalex.org/W3099641329","https://openalex.org/W3105287169","https://openalex.org/W4211225190","https://openalex.org/W6629149974","https://openalex.org/W6735917613","https://openalex.org/W6740578593"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W1989224798","https://openalex.org/W2738959291","https://openalex.org/W2122164124","https://openalex.org/W2043154226","https://openalex.org/W2168520748","https://openalex.org/W2378174708","https://openalex.org/W2768461781","https://openalex.org/W2139369153","https://openalex.org/W1988738119"],"abstract_inverted_index":{"Conventional":[0],"robot":[1,91],"hand-eye":[2],"calibration":[3,41],"methods":[4],"are":[5,101,140],"impractical":[6],"for":[7,55],"localizing":[8],"robotic":[9,32],"instruments":[10],"in":[11,111],"minimally-invasive":[12],"surgeries":[13],"under":[14],"intra-corporeal":[15],"workspace":[16],"after":[17],"preoperative":[18],"set-up.":[19],"In":[20],"this":[21],"letter,":[22],"we":[23],"present":[24],"a":[25,31,36,82,105,143],"new":[26],"approach":[27],"to":[28,35,62,72],"autonomously":[29],"calibrate":[30],"instrument":[33,54,76,123],"relative":[34],"monocular":[37],"camera":[38],"without":[39],"recognizing":[40],"objects":[42],"or":[43,125],"salient":[44],"features.":[45],"The":[46,96,114],"algorithm":[47],"leverages":[48],"interactive":[49],"manipulation":[50],"(IM)":[51],"of":[52,122],"the":[53,63,74,90,94,119,135,148],"tracking":[56],"its":[57],"rigid-body":[58],"motion":[59],"behavior":[60],"subject":[61],"remote":[64],"center-of-motion":[65],"constraint.":[66],"An":[67],"adaptive":[68],"controller":[69],"is":[70,86],"proposed":[71,149],"regulate":[73],"IM-induced":[75],"trajectory,":[77],"using":[78,147],"visual":[79],"feedback,":[80],"within":[81],"3D":[83],"plane":[84],"which":[85],"observable":[87],"from":[88,130],"both":[89],"base":[92],"and":[93,99,132],"camera.":[95],"eye-to-hand":[97],"orientation":[98],"position":[100],"then":[102],"computed":[103],"via":[104,142],"dual-stage":[106],"process":[107],"allowing":[108],"parameter":[109],"estimation":[110],"low-dimensional":[112],"spaces.":[113],"method":[115],"does":[116],"not":[117],"require":[118],"exact":[120],"knowledge":[121],"model":[124],"large-scale":[126],"data":[127],"collection.":[128],"Results":[129],"simulations":[131],"experiments":[133],"on":[134],"da":[136],"Vinci":[137],"Research":[138],"Kit":[139],"demonstrated":[141],"laparoscopy":[144],"resembled":[145],"set-up":[146],"framework.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
