{"id":"https://openalex.org/W4394564282","doi":"https://doi.org/10.1109/lra.2024.3386017","title":"Force-Position Hybrid Control for Robot Assisted Thoracic-Abdominal Puncture With Respiratory Movement","display_name":"Force-Position Hybrid Control for Robot Assisted Thoracic-Abdominal Puncture With Respiratory Movement","publication_year":2024,"publication_date":"2024-04-08","ids":{"openalex":"https://openalex.org/W4394564282","doi":"https://doi.org/10.1109/lra.2024.3386017"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3386017","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3386017","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/A5102830479","display_name":"Jinhang Li","orcid":"https://orcid.org/0009-0003-6535-9196"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":true,"raw_author_name":"Jinhang Li","raw_affiliation_strings":["Department of Electromechanical Engineering, University of Macau, Macau, China"],"affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101434589","display_name":"Huajie Tang","orcid":"https://orcid.org/0009-0009-1979-6006"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huajie Tang","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101424147","display_name":"Mingyang Lv","orcid":"https://orcid.org/0009-0001-5696-068X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyang Lv","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017155873","display_name":"Xiangyun Liao","orcid":"https://orcid.org/0000-0002-1682-3939"},"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/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyun Liao","raw_affiliation_strings":["Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100364132","display_name":"Peng Zhang","orcid":"https://orcid.org/0000-0002-4465-5143"},"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/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Zhang","raw_affiliation_strings":["Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042608392","display_name":"Baoliang Zhao","orcid":"https://orcid.org/0000-0002-8157-5951"},"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/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoliang Zhao","raw_affiliation_strings":["Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063490642","display_name":"Pak Kin Wong","orcid":"https://orcid.org/0000-0002-7623-6904"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Pak Kin Wong","raw_affiliation_strings":["Department of Electromechanical Engineering, University of Macau, Macau, China"],"affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100668236","display_name":"Ying Hu","orcid":"https://orcid.org/0000-0002-3807-3649"},"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/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Hu","raw_affiliation_strings":["Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5102830479"],"corresponding_institution_ids":["https://openalex.org/I204512498"],"apc_list":null,"apc_paid":null,"fwci":1.4764,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.79831065,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"6","first_page":"5262","last_page":"5268"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9891999959945679,"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":0.9891999959945679,"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/T10322","display_name":"Respiratory Support and Mechanisms","score":0.9642000198364258,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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/T10830","display_name":"Airway Management and Intubation Techniques","score":0.9591000080108643,"subfield":{"id":"https://openalex.org/subfields/2703","display_name":"Anesthesiology and Pain Medicine"},"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/movement","display_name":"Movement (music)","score":0.5858380794525146},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.541502833366394},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.4960823953151703},{"id":"https://openalex.org/keywords/movement-control","display_name":"Movement control","score":0.484901487827301},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4276457726955414},{"id":"https://openalex.org/keywords/abdominal-muscles","display_name":"Abdominal muscles","score":0.41947540640830994},{"id":"https://openalex.org/keywords/respiratory-system","display_name":"Respiratory system","score":0.41103029251098633},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3884866237640381},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.3292807340621948},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16253691911697388},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.13950639963150024},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.05998292565345764}],"concepts":[{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.5858380794525146},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.541502833366394},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.4960823953151703},{"id":"https://openalex.org/C3019108329","wikidata":"https://www.wikidata.org/wiki/Q1751327","display_name":"Movement control","level":2,"score":0.484901487827301},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4276457726955414},{"id":"https://openalex.org/C2993177591","wikidata":"https://www.wikidata.org/wiki/Q9597","display_name":"Abdominal muscles","level":2,"score":0.41947540640830994},{"id":"https://openalex.org/C534529494","wikidata":"https://www.wikidata.org/wiki/Q7891","display_name":"Respiratory system","level":2,"score":0.41103029251098633},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3884866237640381},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.3292807340621948},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16253691911697388},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.13950639963150024},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.05998292565345764},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3386017","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3386017","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":[{"score":0.5400000214576721,"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2"}],"awards":[{"id":"https://openalex.org/G1500225812","display_name":null,"funder_award_id":"62273328","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2479525681","display_name":null,"funder_award_id":"2022-KF-22-07","funder_id":"https://openalex.org/F4320326907","funder_display_name":"State Key Laboratory of Robotics"},{"id":"https://openalex.org/G5112031173","display_name":null,"funder_award_id":"U23A20345","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5267426585","display_name":null,"funder_award_id":"U21A20489","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6811481038","display_name":null,"funder_award_id":"2023A1515030130","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G6983118161","display_name":null,"funder_award_id":"2021B1515130003","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G908830822","display_name":null,"funder_award_id":"U23A20391","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1919180987","https://openalex.org/W1980020889","https://openalex.org/W2015863638","https://openalex.org/W2083234398","https://openalex.org/W2090415875","https://openalex.org/W2289475690","https://openalex.org/W2560800824","https://openalex.org/W2605447266","https://openalex.org/W2769462004","https://openalex.org/W2890509291","https://openalex.org/W2939037429","https://openalex.org/W2976703554","https://openalex.org/W2990790033","https://openalex.org/W3008015855","https://openalex.org/W3016589294","https://openalex.org/W3047376839","https://openalex.org/W3119958418","https://openalex.org/W3121747126","https://openalex.org/W3128646645","https://openalex.org/W3130833501","https://openalex.org/W3131305985","https://openalex.org/W3172233338","https://openalex.org/W3188810168","https://openalex.org/W3194321204","https://openalex.org/W4221151401","https://openalex.org/W4383815400"],"related_works":["https://openalex.org/W2184114188","https://openalex.org/W2348328675","https://openalex.org/W4234486410","https://openalex.org/W2353407213","https://openalex.org/W3130582205","https://openalex.org/W2479613937","https://openalex.org/W2738039334","https://openalex.org/W2278309517","https://openalex.org/W2347574669","https://openalex.org/W318961068"],"abstract_inverted_index":{"Percutaneous":[0],"puncture":[1,41,209],"is":[2,46,70,152],"a":[3,39,65,127],"widely":[4],"used":[5],"procedure":[6],"in":[7,23],"the":[8,21,24,52,77,81,95,106,123,132,138,156,161,167,189,196],"diagnosis":[9],"and":[10,17,26,58,85,166,174,195,205],"therapy":[11],"of":[12,55,83,108,121,207],"cancer":[13],"such":[14],"as":[15],"biopsy":[16],"ablation":[18],"operations,":[19],"while":[20],"organs":[22],"thoracic":[25],"abdominal":[27],"cavities":[28],"are":[29],"significantly":[30],"affected":[31],"by":[32,193,200],"patients'":[33],"respiratory":[34,44,62,86,139,144,162,211],"movement.":[35,212],"In":[36],"this":[37],"study,":[38],"robotic":[40,124,208],"system":[42],"with":[43,112,179,210],"movement":[45],"firstly":[47],"developed,":[48],"which":[49,72,110],"can":[50,187],"simulate":[51],"different":[53],"motions":[54],"body":[56],"surface":[57],"internal":[59],"organ":[60],"during":[61],"cycle.":[63],"Then":[64],"force-position":[66,185],"hybrid":[67],"control":[68,149,181,186],"framework":[69],"proposed,":[71],"includes":[73],"needle":[74,125,133],"insertion":[75,134],"along":[76],"planned":[78],"path":[79],"at":[80,94,105,131],"end":[82,107],"inspiration":[84],"motion":[87,145],"following":[88,137,163],"according":[89],"to":[90,117],"interaction":[91,159,191],"force":[92,192],"sensing":[93],"other":[96],"phases.":[97],"Since":[98],"it":[99],"requires":[100],"only":[101],"one":[102],"CT":[103],"scan":[104],"inspiration,":[109],"complies":[111],"clinical":[113],"routine":[114],"procedures.":[115],"Furthurmore,":[116],"avoid":[118],"tearing":[119],"damage":[120],"tissue,":[122],"takes":[126],"virtual":[128],"RCM":[129],"constraint":[130],"point":[135],"when":[136],"motion.":[140],"And":[141],"for":[142],"better":[143,203],"compensation,":[146],"an":[147],"admittance":[148],"optimization":[150],"method":[151],"proposed":[153,184],"based":[154],"on":[155],"maximal":[157],"needle-tissue":[158,190],"force,":[160],"displacement":[164],"percentage":[165],"overshoot":[168],"dis-placement/force.":[169],"Experiments":[170],"have":[171],"been":[172],"conducted,":[173],"results":[175],"show":[176],"that":[177],"compared":[178],"position":[180],"only,":[182],"our":[183],"reduce":[188],"74%":[194],"target":[197],"puncure":[198],"error":[199],"56%,":[201],"indicating":[202],"safety":[204],"accuracy":[206]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
