{"id":"https://openalex.org/W4386524666","doi":"https://doi.org/10.1109/lra.2023.3313067","title":"An Ultra-Fast Intrinsic Contact Sensing Method for Medical Instruments With Arbitrary Shape","display_name":"An Ultra-Fast Intrinsic Contact Sensing Method for Medical Instruments With Arbitrary Shape","publication_year":2023,"publication_date":"2023-09-07","ids":{"openalex":"https://openalex.org/W4386524666","doi":"https://doi.org/10.1109/lra.2023.3313067"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3313067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313067","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/A5101955302","display_name":"Guanglin Cao","orcid":"https://orcid.org/0009-0001-0197-2886"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guanglin Cao","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong"],"raw_orcid":"https://orcid.org/0009-0001-0197-2886","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013169403","display_name":"Mingcong Chen","orcid":"https://orcid.org/0000-0001-9544-2589"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingcong Chen","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-9544-2589","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101647714","display_name":"Jian Hu","orcid":"https://orcid.org/0000-0002-3068-6854"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Hu","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-3068-6854","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004659892","display_name":"Hongbin Liu","orcid":"https://orcid.org/0000-0002-4315-7556"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Hongbin Liu","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Biomedical Engineering and Imaging Sciences, King's College London, London, U.K","Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-4315-7556","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Biomedical Engineering and Imaging Sciences, King's College London, London, U.K","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101955302"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210100255","https://openalex.org/I4210112150","https://openalex.org/I4210116924","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":0.5365,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.61312337,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"8","issue":"11","first_page":"6955","last_page":"6962"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9987000226974487,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9987000226974487,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9897000193595886,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/imaging-phantom","display_name":"Imaging phantom","score":0.5486451387405396},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5118700861930847},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5011255741119385},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.49078378081321716},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.46414414048194885},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4445699453353882},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4398805797100067},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42263123393058777},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4035370349884033},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33646219968795776},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2714656889438629},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.23046210408210754},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19637581706047058},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.1086258590221405}],"concepts":[{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.5486451387405396},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5118700861930847},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5011255741119385},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.49078378081321716},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.46414414048194885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4445699453353882},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4398805797100067},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42263123393058777},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4035370349884033},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33646219968795776},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2714656889438629},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.23046210408210754},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19637581706047058},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.1086258590221405},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3313067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313067","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1975502852","https://openalex.org/W2000657722","https://openalex.org/W2009730997","https://openalex.org/W2063930976","https://openalex.org/W2086180075","https://openalex.org/W2171130677","https://openalex.org/W2412810726","https://openalex.org/W2570268714","https://openalex.org/W2762248135","https://openalex.org/W2919910659","https://openalex.org/W2964738465","https://openalex.org/W2967519415","https://openalex.org/W3002601801","https://openalex.org/W3098362553","https://openalex.org/W3160823244","https://openalex.org/W3165650603","https://openalex.org/W3183858554","https://openalex.org/W3207392316","https://openalex.org/W4200213509","https://openalex.org/W4282912956","https://openalex.org/W4311617360"],"related_works":["https://openalex.org/W2504004674","https://openalex.org/W2417440389","https://openalex.org/W4385556839","https://openalex.org/W4378746257","https://openalex.org/W2734382758","https://openalex.org/W1595229445","https://openalex.org/W2109481748","https://openalex.org/W2381719890","https://openalex.org/W2498744856","https://openalex.org/W4390482104"],"abstract_inverted_index":{"Intraoperative":[0],"contact":[1,22,72,89,102,110,127,156],"sensing":[2,28,103,128],"has":[3,167],"the":[4,8,101,114,126,177,184,199],"potential":[5],"to":[6,35,42,62,77,81,107,132,187,205],"reduce":[7,70],"risk":[9],"of":[10,84,147,179,190,216],"surgical":[11],"errors":[12],"and":[13,46,87,112,134],"enhance":[14],"manipulation":[15,203],"capabilities":[16,204],"for":[17,117],"medical":[18,36],"robots,":[19],"particularly":[20],"in":[21,33,155],"force":[23,27,111,210],"control.":[24],"Current":[25],"intrinsic":[26],"(IFS)":[29],"methods":[30],"are":[31],"limited":[32],"application":[34],"instruments":[37],"with":[38,158,173,208],"arbitrary":[39],"shape,":[40],"due":[41],"high":[43,214],"computational":[44,159],"time":[45,160],"reliance":[47],"on":[48,100,170],"surface":[49,64],"equations.":[50],"This":[51],"study":[52,186],"presents":[53],"an":[54],"ultra-fast":[55],"IFS":[56],"method":[57,68,104,129],"that":[58,75,125,198],"uses":[59],"multiple":[60],"planes":[61],"establish":[63],"geometry":[65],"descriptions.":[66],"The":[67,165,195],"can":[69,135],"high-order":[71],"mechanical":[73],"models":[74],"need":[76],"be":[78],"solved":[79],"iteratively":[80],"a":[82,94,137,171,213],"set":[83],"linear":[85],"equations,":[86],"calculate":[88],"location":[90,157],"analytically.":[91],"In":[92],"addition,":[93],"robot":[95],"motion":[96],"control":[97],"approach":[98],"based":[99],"is":[105,130,183],"proposed":[106],"maintain":[108],"stable":[109],"regulate":[113],"probe's":[115],"orientation":[116],"robotic":[118],"ultrasound":[119],"systems":[120],"(RUSS).":[121],"Experimental":[122],"results":[123,196],"show":[124],"robust":[131],"friction":[133],"achieve":[136],"mean":[138],"(":[139],"<inline-formula":[140,149],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[141,150],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[142,151],"notation=\"LaTeX\">$\\pm$</tex-math></inline-formula>":[143,152],"SD)":[144],"displacement":[145],"error":[146],"1.04":[148],"0.43":[153],"mm":[154],"less":[161],"than":[162],"1":[163],"ms.":[164],"system":[166,200],"been":[168],"evaluated":[169],"phantom":[172],"sinusoidal":[174],"motion.":[175],"To":[176],"best":[178],"our":[180],"knowledge,":[181],"this":[182],"first":[185],"validate":[188],"adaptiveness":[189],"RUSS":[191],"under":[192],"dynamic":[193],"conditions.":[194],"demonstrated":[197],"exhibits":[201],"comparable":[202],"human":[206],"operators":[207],"only":[209],"sensing,":[211],"indicating":[212],"level":[215],"adaptiveness.":[217]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}