{"id":"https://openalex.org/W4401386948","doi":"https://doi.org/10.1109/lra.2024.3440090","title":"Ultrasound Robotic System to Multi-Approach Puncture for Endoscopic Spinal Surgery","display_name":"Ultrasound Robotic System to Multi-Approach Puncture for Endoscopic Spinal Surgery","publication_year":2024,"publication_date":"2024-08-07","ids":{"openalex":"https://openalex.org/W4401386948","doi":"https://doi.org/10.1109/lra.2024.3440090"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3440090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3440090","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/A5076184254","display_name":"Xuan Xiao","orcid":"https://orcid.org/0000-0001-8297-4746"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Xuan Xiao","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100633822","display_name":"Lin Chen","orcid":"https://orcid.org/0000-0002-6453-7996"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin Chen","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023394254","display_name":"Xinben Hu","orcid":"https://orcid.org/0009-0001-0324-7442"},"institutions":[{"id":"https://openalex.org/I4210158318","display_name":"Second Affiliated Hospital of Zhejiang University","ror":"https://ror.org/059cjpv64","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210158318"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinben Hu","raw_affiliation_strings":["Department of Neurosurgery, Second Affiliated Hospital of Zhejiang University School of Medicine, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Department of Neurosurgery, Second Affiliated Hospital of Zhejiang University School of Medicine, Hangzhou, China","institution_ids":["https://openalex.org/I4210158318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081213903","display_name":"Yunjiang Wang","orcid":"https://orcid.org/0000-0002-0080-8240"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yunjiang Wang","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087845533","display_name":"Abhishek Saini","orcid":"https://orcid.org/0000-0001-5841-0430"},"institutions":[{"id":"https://openalex.org/I1343871089","display_name":"Los Alamos National Laboratory","ror":"https://ror.org/01e41cf67","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I1343871089","https://openalex.org/I198811213","https://openalex.org/I4210120050"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abhishek Saini","raw_affiliation_strings":["Los Alamos National Laboratory, Los Alamos, NM, USA"],"affiliations":[{"raw_affiliation_string":"Los Alamos National Laboratory, Los Alamos, NM, USA","institution_ids":["https://openalex.org/I1343871089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008965935","display_name":"Tianjian Liu","orcid":"https://orcid.org/0000-0002-8813-6660"},"institutions":[{"id":"https://openalex.org/I4210158318","display_name":"Second Affiliated Hospital of Zhejiang University","ror":"https://ror.org/059cjpv64","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210158318"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianjian Liu","raw_affiliation_strings":["Department of Neurosurgery, Second Affiliated Hospital of Zhejiang University School of Medicine, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Department of Neurosurgery, Second Affiliated Hospital of Zhejiang University School of Medicine, Hangzhou, China","institution_ids":["https://openalex.org/I4210158318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101885611","display_name":"Keji Yang","orcid":"https://orcid.org/0009-0002-7381-1341"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Keji Yang","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090777984","display_name":"Yongjian Zhu","orcid":"https://orcid.org/0000-0002-5924-1998"},"institutions":[{"id":"https://openalex.org/I4210158318","display_name":"Second Affiliated Hospital of Zhejiang University","ror":"https://ror.org/059cjpv64","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210158318"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongjian Zhu","raw_affiliation_strings":["Department of Neurosurgery, Second Affiliated Hospital of Zhejiang University School of Medicine, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Department of Neurosurgery, Second Affiliated Hospital of Zhejiang University School of Medicine, Hangzhou, China","institution_ids":["https://openalex.org/I4210158318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036251446","display_name":"Haoran Jin","orcid":"https://orcid.org/0000-0002-9412-3946"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haoran Jin","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5076184254"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.6025,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.95190996,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"9","issue":"10","first_page":"9119","last_page":"9126"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11669","display_name":"Head and Neck Surgical Oncology","score":0.9848999977111816,"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"}},"topics":[{"id":"https://openalex.org/T11669","display_name":"Head and Neck Surgical Oncology","score":0.9848999977111816,"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/T10868","display_name":"Soft Robotics and Applications","score":0.98089998960495,"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/T10916","display_name":"Surgical Simulation and Training","score":0.977400004863739,"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/medicine","display_name":"Medicine","score":0.6012744307518005},{"id":"https://openalex.org/keywords/spinal-surgery","display_name":"Spinal surgery","score":0.516825258731842},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.48149383068084717},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.4505699574947357},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.3617379069328308}],"concepts":[{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.6012744307518005},{"id":"https://openalex.org/C2994406423","wikidata":"https://www.wikidata.org/wiki/Q188449","display_name":"Spinal surgery","level":2,"score":0.516825258731842},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.48149383068084717},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.4505699574947357},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.3617379069328308}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3440090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3440090","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":[{"id":"https://openalex.org/G4209258266","display_name":null,"funder_award_id":"52275549","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8321568322","display_name":null,"funder_award_id":"2022FZZX01-06","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G8826242756","display_name":null,"funder_award_id":"82201631","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/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W3031052312","https://openalex.org/W4389568370","https://openalex.org/W3032375762","https://openalex.org/W1995515455","https://openalex.org/W2080531066","https://openalex.org/W4401657753","https://openalex.org/W2029967375","https://openalex.org/W4200563007","https://openalex.org/W2357989941"],"abstract_inverted_index":{"Ultrasound":[0],"(US)":[1],"imaging":[2,182],"has":[3],"been":[4],"widely":[5],"utilized":[6],"for":[7,157],"guiding":[8],"puncture":[9,19,59,67,147,179,184,194],"procedures":[10],"in":[11,63,105,115,190,197],"spinal":[12,32],"interventions.":[13],"However,":[14],"conventional":[15],"methods":[16],"that":[17],"confine":[18],"within":[20],"the":[21,28,88,106,116,120,128,134,137,160,172,193],"US":[22,51,138],"plane":[23,108],"may":[24],"not":[25],"adequately":[26],"meet":[27],"demands":[29],"of":[30,83,93,99,127,133,149],"endoscopic":[31],"surgery":[33],"(ESS),":[34],"which":[35],"requires":[36],"extensive":[37],"spatial":[38],"orientation":[39,97],"adjustments.":[40],"In":[41],"this":[42],"study,":[43],"we":[44],"introduce":[45],"a":[46,50,57,75,80,143,167],"novel":[47],"approach":[48],"using":[49],"robotic":[52],"system":[53],"(URS)":[54],"integrated":[55],"with":[56,79,90],"multi-approach":[58],"mechanism":[60,73],"to":[61,86,183],"aid":[62],"target":[64],"localization":[65],"and":[66,109,130,178],"assistance":[68],"during":[69],"ESS.":[70,158],"The":[71,186],"proposed":[72],"incorporates":[74],"five-bar":[76],"linkage":[77],"structure":[78],"remote":[81],"center":[82],"motion":[84],"(RCM)":[85],"drive":[87],"needle":[89],"two":[91],"degrees":[92],"freedom,":[94],"enabling":[95],"significant":[96],"adjustments":[98],"85<inline-formula":[100],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[101,111],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[102,112],"notation=\"LaTeX\">$^{\\circ":[103,113],"}$</tex-math></inline-formula>":[104,114],"transverse":[107],"140<inline-formula":[110],"coronal":[117],"plane.":[118,139],"Additionally,":[119],"probe":[121,129],"holder":[122],"module":[123],"provides":[124],"vertical":[125],"adaptability":[126],"depth":[131],"adjustment":[132],"RCM":[135],"on":[136,142,166],"Experimental":[140],"validation":[141],"cross-wire":[144],"model":[145],"demonstrates":[146],"accuracy":[148],"less":[150],"than":[151],"3":[152],"mm,":[153],"meeting":[154],"clinical":[155,162],"requirements":[156],"Furthermore,":[159],"system's":[161],"usability":[163],"is":[164],"demonstrated":[165],"gel":[168],"lumbar":[169],"model,":[170],"showcasing":[171],"entire":[173],"process":[174],"(imaging,":[175],"targeting,":[176],"navigating,":[177],"assisting)":[180],"from":[181],"assistance.":[185],"URS":[187],"shows":[188],"promise":[189],"significantly":[191],"improving":[192],"success":[195],"rates":[196],"ESS":[198],"while":[199],"reducing":[200],"technical":[201],"dependencies.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}