{"id":"https://openalex.org/W3135121854","doi":"https://doi.org/10.1109/lra.2021.3061388","title":"Virtual-Fixture Based Drilling Control for Robot-Assisted Craniotomy: Learning From Demonstration","display_name":"Virtual-Fixture Based Drilling Control for Robot-Assisted Craniotomy: Learning From Demonstration","publication_year":2021,"publication_date":"2021-02-24","ids":{"openalex":"https://openalex.org/W3135121854","doi":"https://doi.org/10.1109/lra.2021.3061388","mag":"3135121854"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3061388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061388","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5064672242","display_name":"Xingguang Duan","orcid":"https://orcid.org/0000-0002-9640-4928"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingguang Duan","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","Institute of Engineering Medicine, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Institute of Engineering Medicine, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075910010","display_name":"Huanyu Tian","orcid":"https://orcid.org/0000-0001-5099-7791"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huanyu Tian","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100330888","display_name":"Changsheng Li","orcid":"https://orcid.org/0000-0003-2469-4222"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changsheng Li","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2469-4222","affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056031610","display_name":"Zhe Han","orcid":"https://orcid.org/0000-0002-3751-342X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Han","raw_affiliation_strings":["Institute of Engineering Medicine, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Engineering Medicine, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051831736","display_name":"Tengfei Cui","orcid":"https://orcid.org/0000-0001-7676-9041"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tengfei Cui","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103100034","display_name":"Qingxin Shi","orcid":"https://orcid.org/0000-0002-3467-5271"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingxin Shi","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045918129","display_name":"Hao Wen","orcid":"https://orcid.org/0000-0002-0060-2840"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wen","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100346175","display_name":"Jin Wang","orcid":"https://orcid.org/0000-0001-5473-8738"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Wang","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":1.8866,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.84765864,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"2327","last_page":"2334"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9932000041007996,"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":0.9932000041007996,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9768000245094299,"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/computer-science","display_name":"Computer science","score":0.6336734890937805},{"id":"https://openalex.org/keywords/drilling","display_name":"Drilling","score":0.5962478518486023},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.4978768825531006},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47067055106163025},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46150118112564087},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.43923309445381165},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3886869251728058},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20890265703201294},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1468433141708374}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6336734890937805},{"id":"https://openalex.org/C25197100","wikidata":"https://www.wikidata.org/wiki/Q890886","display_name":"Drilling","level":2,"score":0.5962478518486023},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.4978768825531006},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47067055106163025},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46150118112564087},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.43923309445381165},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3886869251728058},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20890265703201294},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1468433141708374},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3061388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061388","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[{"id":"https://openalex.org/G7282123152","display_name":null,"funder_award_id":"62073043","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8923524716","display_name":null,"funder_award_id":"2019YFB1311901","funder_id":"https://openalex.org/F4320336026","funder_display_name":"National Key Research and Development Program of China Stem Cell and Translational Research"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320336026","display_name":"National Key Research and Development Program of China Stem Cell and Translational Research","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W44794380","https://openalex.org/W1969199027","https://openalex.org/W1971077292","https://openalex.org/W1972888568","https://openalex.org/W1975326040","https://openalex.org/W2000082157","https://openalex.org/W2021487080","https://openalex.org/W2055399397","https://openalex.org/W2080930111","https://openalex.org/W2089145243","https://openalex.org/W2090278990","https://openalex.org/W2094584479","https://openalex.org/W2121849985","https://openalex.org/W2125545274","https://openalex.org/W2126909264","https://openalex.org/W2134490558","https://openalex.org/W2141158844","https://openalex.org/W2143238082","https://openalex.org/W2169360335","https://openalex.org/W2346348157","https://openalex.org/W2523353778","https://openalex.org/W2560100235","https://openalex.org/W2768152608","https://openalex.org/W2796961682","https://openalex.org/W2801001587","https://openalex.org/W2885575364","https://openalex.org/W2898461817","https://openalex.org/W2908604996","https://openalex.org/W2911358444","https://openalex.org/W2918308866","https://openalex.org/W2964786627","https://openalex.org/W2968268581","https://openalex.org/W3012211643","https://openalex.org/W3105219551","https://openalex.org/W3105264685","https://openalex.org/W6704806840"],"related_works":["https://openalex.org/W2393925373","https://openalex.org/W1975321310","https://openalex.org/W2989577922","https://openalex.org/W2014494654","https://openalex.org/W2365800299","https://openalex.org/W4397000813","https://openalex.org/W2314731977","https://openalex.org/W3130349901","https://openalex.org/W3213722473","https://openalex.org/W2110944602"],"abstract_inverted_index":{"One":[0],"of":[1,72,80,108,120],"the":[2,39,67,73,86,92,97,106,118,132,138,163],"promising":[3],"solutions":[4],"for":[5,152,160,169,177],"drilling":[6,22,51,121,150],"craniotomy":[7],"is":[8,76,89],"robot-assisted":[9],"surgery":[10],"with":[11,18],"human":[12],"guidance.":[13],"The":[14,45,70,123,134],"present":[15],"study":[16],"deals":[17],"a":[19,26],"piecewise":[20],"collaborative":[21,68,149],"task":[23],"assisted":[24],"by":[25],"robot":[27],"while":[28],"containing":[29],"aligning":[30,53,109],"and":[31,43,52,85,99,110,126,155,172],"drilling.":[32,69],"It":[33],"can":[34,54],"enable":[35],"surgeons":[36],"to":[37,117],"complete":[38],"operation":[40],"more":[41],"efficiently":[42],"accurately.":[44],"switched":[46],"virtual":[47],"fixture":[48],"(VF)":[49],"between":[50,96],"be":[55],"addressed":[56],"using":[57,91],"intention":[58,87],"recognition,":[59],"which":[60],"learns":[61],"from":[62],"demonstrating":[63],"human-guided":[64,100],"force":[65],"during":[66],"training":[71],"switching":[74],"condition":[75],"derived":[77],"in":[78,131,148],"terms":[79],"Gaussian":[81],"mixture":[82],"models":[83],"(GMMs)":[84],"recognition":[88],"achieved":[90],"Kullback-Leibler":[93],"(KL)":[94],"divergence":[95],"GMMs":[98],"real-time":[101],"sampled":[102],"forces.":[103],"To":[104],"evaluate":[105],"performance":[107,143],"drilling,":[111],"two":[112],"experiments":[113],"are":[114,129],"conducted":[115],"corresponding":[116],"steps":[119],"tasks.":[122],"compliance,":[124],"accuracy,":[125],"costing":[127],"time":[128],"demonstrated":[130],"experiments.":[133],"results":[135],"indicate":[136],"that":[137],"proposed":[139],"method":[140],"has":[141],"better":[142],"(0.78":[144],"\u00b1":[145,157,166,174],"0.50":[146],"mm":[147,168],"tasks":[151],"positioning":[153,170],"accuracy":[154,171],"38.65":[156],"5.00":[158],"s":[159,176],"time-consuming)":[161],"than":[162],"conventional":[164],"method(2.96":[165],"1.90":[167],"55.41":[173],"13.70":[175],"time-consuming).":[178]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":6}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}