{"id":"https://openalex.org/W7128483822","doi":"https://doi.org/10.1109/lra.2026.3662617","title":"Robotic Piezo-Assisted Oocyte Penetration and Intracytoplasmic Sperm Injection","display_name":"Robotic Piezo-Assisted Oocyte Penetration and Intracytoplasmic Sperm Injection","publication_year":2026,"publication_date":"2026-02-09","ids":{"openalex":"https://openalex.org/W7128483822","doi":"https://doi.org/10.1109/lra.2026.3662617"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3662617","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3662617","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":null,"display_name":"Yifan Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Huang","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057383878","display_name":"Haoyuan Gu","orcid":"https://orcid.org/0000-0002-0252-4743"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyuan Gu","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-0252-4743","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125545891","display_name":"Ziteng Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziteng Liu","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0009-0003-3150-9483","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087138345","display_name":"Chunfeng Yue","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chunfeng Yue","raw_affiliation_strings":["Suzhou Boundless Medical Technology Ltd. Company, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Suzhou Boundless Medical Technology Ltd. Company, Suzhou, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037119790","display_name":"Changsheng Dai","orcid":"https://orcid.org/0000-0002-8293-0097"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changsheng Dai","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-8293-0097","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12982588,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"3","first_page":"3764","last_page":"3771"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10364","display_name":"Reproductive Biology and Fertility","score":0.586899995803833,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"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/T10364","display_name":"Reproductive Biology and Fertility","score":0.586899995803833,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"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/T11190","display_name":"3D Printing in Biomedical Research","score":0.20489999651908875,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.05460000038146973,"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/penetration","display_name":"Penetration (warfare)","score":0.8546000123023987},{"id":"https://openalex.org/keywords/oocyte","display_name":"Oocyte","score":0.6736000180244446},{"id":"https://openalex.org/keywords/sperm","display_name":"Sperm","score":0.5166000127792358},{"id":"https://openalex.org/keywords/intracytoplasmic-sperm-injection","display_name":"Intracytoplasmic sperm injection","score":0.44839999079704285},{"id":"https://openalex.org/keywords/intracellular","display_name":"Intracellular","score":0.4219000041484833},{"id":"https://openalex.org/keywords/cell","display_name":"Cell","score":0.3700000047683716}],"concepts":[{"id":"https://openalex.org/C80107235","wikidata":"https://www.wikidata.org/wiki/Q7162625","display_name":"Penetration (warfare)","level":2,"score":0.8546000123023987},{"id":"https://openalex.org/C2776690073","wikidata":"https://www.wikidata.org/wiki/Q3246226","display_name":"Oocyte","level":3,"score":0.6736000180244446},{"id":"https://openalex.org/C2781087480","wikidata":"https://www.wikidata.org/wiki/Q17145","display_name":"Sperm","level":2,"score":0.5166000127792358},{"id":"https://openalex.org/C2778278907","wikidata":"https://www.wikidata.org/wiki/Q28700","display_name":"Intracytoplasmic sperm injection","level":4,"score":0.44839999079704285},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4442000091075897},{"id":"https://openalex.org/C79879829","wikidata":"https://www.wikidata.org/wiki/Q5571762","display_name":"Intracellular","level":2,"score":0.4219000041484833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.396699994802475},{"id":"https://openalex.org/C1491633281","wikidata":"https://www.wikidata.org/wiki/Q7868","display_name":"Cell","level":2,"score":0.3700000047683716},{"id":"https://openalex.org/C95444343","wikidata":"https://www.wikidata.org/wiki/Q7141","display_name":"Cell biology","level":1,"score":0.35690000653266907},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.34549999237060547},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3257000148296356},{"id":"https://openalex.org/C132651336","wikidata":"https://www.wikidata.org/wiki/Q185571","display_name":"Fluidics","level":2,"score":0.3179999887943268},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.29429998993873596},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.2872999906539917},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C12554922","wikidata":"https://www.wikidata.org/wiki/Q7100","display_name":"Biophysics","level":1,"score":0.26179999113082886},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.25279998779296875}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3662617","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3662617","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/G3547157307","display_name":null,"funder_award_id":"DUT23RC(3)023","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G4714848287","display_name":null,"funder_award_id":"62373076","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2042047814","https://openalex.org/W2104839086","https://openalex.org/W2119156836","https://openalex.org/W2157533783","https://openalex.org/W2160754664","https://openalex.org/W2163802608","https://openalex.org/W2194775991","https://openalex.org/W2784769965","https://openalex.org/W2885502606","https://openalex.org/W2970516847","https://openalex.org/W2982528182","https://openalex.org/W2988400224","https://openalex.org/W2995271379","https://openalex.org/W4214886427","https://openalex.org/W4312595788","https://openalex.org/W4387345449","https://openalex.org/W4393219404"],"related_works":[],"abstract_inverted_index":{"Cell":[0],"penetration":[1,23,71,104,150],"and":[2,36,51,72,79,96,119,133,138,165],"intracellular":[3,73],"injection":[4,43,75],"are":[5],"indispensable":[6],"procedures":[7],"in":[8,41],"many":[9],"cell":[10],"surgery":[11],"tasks.":[12],"Because":[13],"of":[14,19,33,54,90,154,185],"the":[15,30,37,42,55,59,113,116,120,146],"complex":[16],"layered":[17],"structure":[18],"oocytes,":[20],"conventional":[21],"piezo-assisted":[22],"often":[24],"causes":[25],"unavoidable":[26],"cellular":[27,81],"damage.":[28,82],"Moreover,":[29],"small":[31],"volume":[32],"single":[34],"cells":[35],"nonlinear":[38],"dynamics":[39],"involved":[40],"process":[44],"make":[45],"it":[46],"challenging":[47],"to":[48,111,129],"achieve":[49],"precise":[50,166],"rapid":[52],"delivery":[53],"injected":[56],"material":[57],"within":[58,169],"cytoplasm.":[60],"This":[61],"letter":[62],"presents":[63],"an":[64],"integrated":[65],"robotic":[66],"system":[67,148],"for":[68,103,131],"automated":[69],"oocyte":[70,91],"sperm":[74,140,167],"that":[76,145],"enhances":[77],"precision":[78],"minimizes":[80],"A":[83,106,123],"deep":[84],"neural":[85],"network":[86],"enables":[87],"robust":[88],"segmentation":[89],"structural":[92],"layers":[93],"under":[94],"low-contrast":[95],"partially":[97],"occluded":[98],"conditions,":[99],"providing":[100],"reliable":[101],"feedback":[102],"optimization.":[105],"dynamic":[107],"model":[108],"was":[109],"developed":[110],"describe":[112],"interaction":[114],"between":[115],"pump":[117],"motion":[118],"fluidic":[121],"response.":[122],"model-predictive":[124],"controller":[125],"is":[126],"then":[127],"designed":[128],"compensate":[130],"delays":[132],"pressure":[134],"deviations,":[135],"ensuring":[136,180],"smooth":[137],"accurate":[139],"delivery.":[141],"Experimental":[142],"validation":[143],"demonstrates":[144],"proposed":[147],"achieves":[149],"with":[151],"a":[152,181],"deformation":[153],"4.76":[155],"<inline-formula":[156,161,170],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[157,162,171],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[158,163,172],"notation=\"LaTeX\">$\\pm$</tex-math></inline-formula>":[159],"2.34":[160],"notation=\"LaTeX\">$\\mu$</tex-math></inline-formula>m":[164],"positioning":[168],"notation=\"LaTeX\">$\\pm$</tex-math></inline-formula>5":[173],"pixels":[174],"(overshoot":[175],"below":[176],"8":[177],"pixels),":[178],"while":[179],"post-injection":[182],"survival":[183],"rate":[184],"82.8%.":[186]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-02-11T00:00:00"}
