{"id":"https://openalex.org/W4390577974","doi":"https://doi.org/10.1109/lra.2024.3349959","title":"Safe Contact Force Generation for Robotic Thyroid Ultrasound Imaging","display_name":"Safe Contact Force Generation for Robotic Thyroid Ultrasound Imaging","publication_year":2024,"publication_date":"2024-01-04","ids":{"openalex":"https://openalex.org/W4390577974","doi":"https://doi.org/10.1109/lra.2024.3349959"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3349959","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3349959","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10380731.pdf","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":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10380731.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060320633","display_name":"Ryosuke Tsumura","orcid":"https://orcid.org/0000-0001-8014-0190"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ryosuke Tsumura","raw_affiliation_strings":["Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan","Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079939331","display_name":"Toshifumi Tomioka","orcid":"https://orcid.org/0000-0003-0406-3976"},"institutions":[{"id":"https://openalex.org/I4210145079","display_name":"National Cancer Center Hospital East","ror":"https://ror.org/03rm3gk43","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210145079"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshifumi Tomioka","raw_affiliation_strings":["National Cancer Center Hospital East, Kashiwa, Japan","National Cancer Center Hospital East, Kashiwa, Chiba, Japan"],"affiliations":[{"raw_affiliation_string":"National Cancer Center Hospital East, Kashiwa, Japan","institution_ids":["https://openalex.org/I4210145079"]},{"raw_affiliation_string":"National Cancer Center Hospital East, Kashiwa, Chiba, Japan","institution_ids":["https://openalex.org/I4210145079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072929150","display_name":"Yoshihiko Koseki","orcid":"https://orcid.org/0000-0003-0087-777X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiko Koseki","raw_affiliation_strings":["Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan","Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025592956","display_name":"Kiyoshi Yoshinaka","orcid":"https://orcid.org/0000-0002-5345-7974"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kiyoshi Yoshinaka","raw_affiliation_strings":["Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan","Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5060320633"],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":4.2958,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.94749002,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"2","first_page":"1700","last_page":"1707"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10329","display_name":"Thyroid Cancer Diagnosis and Treatment","score":0.9660999774932861,"subfield":{"id":"https://openalex.org/subfields/2712","display_name":"Endocrinology, Diabetes and Metabolism"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10329","display_name":"Thyroid Cancer Diagnosis and Treatment","score":0.9660999774932861,"subfield":{"id":"https://openalex.org/subfields/2712","display_name":"Endocrinology, Diabetes and Metabolism"},"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/T11728","display_name":"Thyroid and Parathyroid Surgery","score":0.964900016784668,"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"}},{"id":"https://openalex.org/T10844","display_name":"Radiation Dose and Imaging","score":0.9624999761581421,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6809861660003662},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.6540048718452454},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5408855080604553},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.528497040271759},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5218029022216797},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5174746513366699},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4674587845802307},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46392545104026794},{"id":"https://openalex.org/keywords/image-quality","display_name":"Image quality","score":0.4463360905647278},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.43806129693984985},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.41916191577911377},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.405937135219574},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.15267229080200195},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.1469641625881195}],"concepts":[{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6809861660003662},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.6540048718452454},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5408855080604553},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.528497040271759},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5218029022216797},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5174746513366699},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4674587845802307},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46392545104026794},{"id":"https://openalex.org/C55020928","wikidata":"https://www.wikidata.org/wiki/Q3813865","display_name":"Image quality","level":3,"score":0.4463360905647278},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.43806129693984985},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.41916191577911377},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.405937135219574},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.15267229080200195},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.1469641625881195},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3349959","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3349959","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10380731.pdf","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":{"id":"doi:10.1109/lra.2024.3349959","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3349959","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10380731.pdf","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"},"sustainable_development_goals":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4390577974.pdf","grobid_xml":"https://content.openalex.org/works/W4390577974.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1487667890","https://openalex.org/W1963950405","https://openalex.org/W1970970367","https://openalex.org/W1975502852","https://openalex.org/W2033167899","https://openalex.org/W2090465025","https://openalex.org/W2104707603","https://openalex.org/W2111253117","https://openalex.org/W2167751982","https://openalex.org/W2193127336","https://openalex.org/W2254101695","https://openalex.org/W2417584818","https://openalex.org/W2548511181","https://openalex.org/W2564163422","https://openalex.org/W2599839468","https://openalex.org/W2729315639","https://openalex.org/W2889646458","https://openalex.org/W2893379190","https://openalex.org/W2904885586","https://openalex.org/W2909822531","https://openalex.org/W2966176395","https://openalex.org/W3008583927","https://openalex.org/W3010664997","https://openalex.org/W3011781268","https://openalex.org/W3094155404","https://openalex.org/W3108053057","https://openalex.org/W3113980039","https://openalex.org/W3130510843","https://openalex.org/W3139404660","https://openalex.org/W3145467992","https://openalex.org/W3159554907","https://openalex.org/W4210703720","https://openalex.org/W4281631995","https://openalex.org/W4285194566","https://openalex.org/W4323348293","https://openalex.org/W4380318419","https://openalex.org/W4383200144"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W4205284030","https://openalex.org/W2570672926","https://openalex.org/W4378191988","https://openalex.org/W3210882399","https://openalex.org/W1976172674","https://openalex.org/W1984186897","https://openalex.org/W2057014666"],"abstract_inverted_index":{"Ultrasound":[0],"(US)":[1],"imaging":[2,7],"is":[3,143,243],"a":[4,61,103,111,132,167,171,178,218,254,263],"first-line":[5],"medical":[6],"modality":[8],"for":[9,137],"detecting":[10],"thyroid":[11,39,57,120,139,276,286],"cancer;":[12],"however,":[13],"it":[14],"suffers":[15],"from":[16,234],"operator-dependent":[17],"variability":[18],"in":[19,38,72,229,274,285],"image":[20,50,127],"quality":[21,51,97,203],"and":[22,52,126,177,208,220,250],"diagnostic":[23,247],"accuracy.":[24],"To":[25],"address":[26],"this":[27,235],"issue,":[28],"various":[29],"robotic":[30,56,119,138,275],"US":[31,40,58,64,121,140,206,277],"systems":[32],"have":[33],"been":[34],"proposed":[35],"to":[36,68,75,79],"assist":[37],"examinations.":[41],"Nevertheless,":[42],"ensuring":[43],"an":[44],"appropriate":[45],"contact":[46,87,115,196,210,256,265],"force":[47,88,116,149,172,211,266],"that":[48,238,262],"balances":[49],"patient":[53],"safety":[54,125],"during":[55,118,212],"scanning":[59,214],"remains":[60],"challenge.":[62],"Thyroid":[63],"procedures":[65],"require":[66],"physicians":[67],"be":[69,271],"very":[70],"cautious":[71],"applying":[73],"pressure":[74],"the":[76,80,83,96,106,183,186,189,194,199,202,209,213,221,239,259,280],"neck":[77],"due":[78],"sensitivity":[81],"of":[82,98,105,114,145,185,204,224,245,267],"scanned":[84],"area.":[85],"Excessive":[86],"not":[89],"only":[90],"discomforts":[91],"patients,":[92],"but":[93],"also":[94],"degrades":[95],"acquired":[99],"images,":[100],"such":[101,156],"as":[102,157],"distortion":[104],"organ.":[107],"This":[108],"study":[109,130,236],"presents":[110],"comprehensive":[112],"analysis":[113],"management":[117],"imaging,":[122,141,278],"focusing":[123],"on":[124],"quality.":[128],"The":[129,160,232],"introduces":[131],"series-elastic":[133],"actuated":[134],"end-effector":[135,162,190],"designed":[136],"which":[142],"capable":[144,244],"generating":[146],"low":[147],"constant":[148,179],"without":[150],"feedback":[151],"control":[152],"with":[153],"robot":[154],"arms":[155],"admittance":[158],"control.":[159],"developed":[161,200,241],"comprises":[163],"several":[164],"components,":[165],"including":[166],"linear":[168,175,187],"servo":[169],"actuator,":[170],"sensor,":[173],"two":[174],"springs,":[176],"spring.":[180],"By":[181],"controlling":[182],"compression":[184],"spring,":[188],"can":[191,270],"safely":[192,249],"exert":[193],"desired":[195],"force.":[197,257],"With":[198],"system,":[201],"obtained":[205],"images":[207,248],"were":[215],"analyzed":[216],"through":[217],"phantom,":[219],"subjective":[222],"assessments":[223],"subjects'":[225],"discomfort":[226],"was":[227],"conducted":[228],"human":[230],"trials.":[231],"findings":[233],"indicate":[237],"newly":[240],"system":[242],"acquiring":[246],"reliably":[251],"by":[252],"utilizing":[253],"stable":[255],"Moreover,":[258],"results":[260],"demonstrate":[261],"minimal":[264],"1-2":[268],"N":[269],"effectively":[272],"employed":[273],"highlighting":[279],"system's":[281],"potential":[282],"clinical":[283],"utility":[284],"cancer":[287],"diagnosis.":[288]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}