{"id":"https://openalex.org/W7135227223","doi":"https://doi.org/10.1109/lra.2026.3673984","title":"Robust-Sub-Gaussian Model Predictive Control for Safe Ultrasound-Image-Guided Robotic Spinal Surgery","display_name":"Robust-Sub-Gaussian Model Predictive Control for Safe Ultrasound-Image-Guided Robotic Spinal Surgery","publication_year":2026,"publication_date":"2026-03-13","ids":{"openalex":"https://openalex.org/W7135227223","doi":"https://doi.org/10.1109/lra.2026.3673984"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3673984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3673984","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/A5063412202","display_name":"Yunke Ao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124057","display_name":"Universit\u00e4tsklinik Balgrist","ror":"https://ror.org/02yzaka98","country_code":"CH","type":"healthcare","lineage":["https://openalex.org/I4210124057"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Yunke Ao","raw_affiliation_strings":["ROCS Team at Balgrist University Hospital and University of Zurich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0009-0008-8857-9526","affiliations":[{"raw_affiliation_string":"ROCS Team at Balgrist University Hospital and University of Zurich, Zürich, Switzerland","institution_ids":["https://openalex.org/I4210124057"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015347380","display_name":"Manish Prajapat","orcid":"https://orcid.org/0000-0002-3867-4575"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Manish Prajapat","raw_affiliation_strings":["Department of Computer Science, ETH Zurich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-3867-4575","affiliations":[{"raw_affiliation_string":"Department of Computer Science, ETH Zurich, Zürich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056406128","display_name":"Yarden As","orcid":"https://orcid.org/0009-0005-1685-4099"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Yarden As","raw_affiliation_strings":["Department of Computer Science, ETH Zurich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0009-0005-1685-4099","affiliations":[{"raw_affiliation_string":"Department of Computer Science, ETH Zurich, Zürich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120272369","display_name":"Y. Taoudi-Benchekroun","orcid":null},"institutions":[{"id":"https://openalex.org/I12708293","display_name":"SIB Swiss Institute of Bioinformatics","ror":"https://ror.org/002n09z45","country_code":"CH","type":"nonprofit","lineage":["https://openalex.org/I12708293"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Yassine Taoudi-Benchekroun","raw_affiliation_strings":["Institute of Neuroinformatics, ETH Zurich, Zürich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Neuroinformatics, ETH Zurich, Zürich, Switzerland","institution_ids":["https://openalex.org/I12708293"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004993943","display_name":"Fabio Carrillo","orcid":"https://orcid.org/0000-0002-0942-0277"},"institutions":[{"id":"https://openalex.org/I4210124057","display_name":"Universit\u00e4tsklinik Balgrist","ror":"https://ror.org/02yzaka98","country_code":"CH","type":"healthcare","lineage":["https://openalex.org/I4210124057"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fabio Carrillo","raw_affiliation_strings":["OR-X Translational Center for Surgery, Balgrist University Hospital, University of Zurich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-0942-0277","affiliations":[{"raw_affiliation_string":"OR-X Translational Center for Surgery, Balgrist University Hospital, University of Zurich, Zürich, Switzerland","institution_ids":["https://openalex.org/I4210124057"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042562655","display_name":"Hooman Esfandiari","orcid":"https://orcid.org/0000-0003-2572-1798"},"institutions":[{"id":"https://openalex.org/I4210124057","display_name":"Universit\u00e4tsklinik Balgrist","ror":"https://ror.org/02yzaka98","country_code":"CH","type":"healthcare","lineage":["https://openalex.org/I4210124057"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Hooman Esfandiari","raw_affiliation_strings":["ROCS Team at Balgrist University Hospital and University of Zurich, Zürich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ROCS Team at Balgrist University Hospital and University of Zurich, Zürich, Switzerland","institution_ids":["https://openalex.org/I4210124057"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090542476","display_name":"Benjamin F. Grewe","orcid":"https://orcid.org/0000-0001-8560-2120"},"institutions":[{"id":"https://openalex.org/I12708293","display_name":"SIB Swiss Institute of Bioinformatics","ror":"https://ror.org/002n09z45","country_code":"CH","type":"nonprofit","lineage":["https://openalex.org/I12708293"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Benjamin F. Grewe","raw_affiliation_strings":["Institute of Neuroinformatics, ETH Zurich, Zürich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Neuroinformatics, ETH Zurich, Zürich, Switzerland","institution_ids":["https://openalex.org/I12708293"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003040843","display_name":"Andreas Krause","orcid":"https://orcid.org/0000-0001-7260-9673"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Andreas Krause","raw_affiliation_strings":["Department of Computer Science, ETH Zurich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-7260-9673","affiliations":[{"raw_affiliation_string":"Department of Computer Science, ETH Zurich, Zürich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080643821","display_name":"Philipp F\u00fcrnstahl","orcid":"https://orcid.org/0000-0001-6484-6206"},"institutions":[{"id":"https://openalex.org/I4210124057","display_name":"Universit\u00e4tsklinik Balgrist","ror":"https://ror.org/02yzaka98","country_code":"CH","type":"healthcare","lineage":["https://openalex.org/I4210124057"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Philipp F\u00fcrnstahl","raw_affiliation_strings":["ROCS Team at Balgrist University Hospital and University of Zurich, Zürich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ROCS Team at Balgrist University Hospital and University of Zurich, Zürich, Switzerland","institution_ids":["https://openalex.org/I4210124057"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5063412202"],"corresponding_institution_ids":["https://openalex.org/I4210124057"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.51529343,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"5","first_page":"5638","last_page":"5645"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10238","display_name":"Spine and Intervertebral Disc Pathology","score":0.1460999995470047,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"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/T10238","display_name":"Spine and Intervertebral Disc Pathology","score":0.1460999995470047,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic 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/T11030","display_name":"Scoliosis diagnosis and treatment","score":0.09809999912977219,"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":0.07729999721050262,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5609999895095825},{"id":"https://openalex.org/keywords/spinal-surgery","display_name":"Spinal surgery","score":0.45750001072883606},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2996000051498413},{"id":"https://openalex.org/keywords/spinal-deformity","display_name":"Spinal deformity","score":0.29739999771118164},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.2572999894618988}],"concepts":[{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.7049000263214111},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5609999895095825},{"id":"https://openalex.org/C2994406423","wikidata":"https://www.wikidata.org/wiki/Q188449","display_name":"Spinal surgery","level":2,"score":0.45750001072883606},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.4375999867916107},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3278000056743622},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2996000051498413},{"id":"https://openalex.org/C2992931878","wikidata":"https://www.wikidata.org/wiki/Q7577457","display_name":"Spinal deformity","level":3,"score":0.29739999771118164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.27480000257492065},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25450000166893005},{"id":"https://openalex.org/C2779473830","wikidata":"https://www.wikidata.org/wiki/Q1540899","display_name":"MEDLINE","level":2,"score":0.2538999915122986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3673984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3673984","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/G5093406137","display_name":null,"funder_award_id":"21039","funder_id":"https://openalex.org/F4320321942","funder_display_name":"Hasler Stiftung"}],"funders":[{"id":"https://openalex.org/F4320321942","display_name":"Hasler Stiftung","ror":"https://ror.org/04m3t9183"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Safety-critical":[0],"control":[1],"using":[2,68],"high-dimensional":[3,32],"sensory":[4],"feedback":[5],"from":[6,31],"optical":[7],"data":[8,173],"(e.g.,":[9],"images,":[10],"point":[11],"clouds)":[12],"poses":[13],"significant":[14],"challenges":[15],"in":[16,87,129,182],"domains":[17],"like":[18],"autonomous":[19],"driving":[20],"and":[21,146,177],"robotic":[22,132,148,194],"surgery.":[23],"Control":[24,108],"can":[25],"rely":[26],"on":[27],"low-dimensional":[28],"states":[29],"estimated":[30],"data.":[33],"However,":[34],"the":[35,96,120,152,185],"estimation":[36,66],"errors":[37,67],"often":[38],"follow":[39],"complex,":[40],"unknown":[41],"distributions":[42],"that":[43,111],"standard":[44],"probabilistic":[45],"models":[46],"fail":[47],"to":[48],"capture,":[49],"making":[50],"formal":[51],"safety":[52,114],"guarantees":[53,115],"challenging.":[54],"In":[55],"this":[56,126],"work,":[57],"we":[58,154],"introduce":[59],"a":[60,77,105,156],"novel":[61],"characterization":[62,86],"of":[63,83,98,174,187],"these":[64],"general":[65],"sub-":[69],"Gaussian":[70],"noise":[71,85,122],"with":[72,95],"bounded":[73],"mean.":[74],"We":[75,102,124],"develop":[76,104],"new":[78],"technique":[79],"for":[80,116,190],"uncertainty":[81],"propagation":[82,97],"proposed":[84,121],"linear":[88,117],"systems,":[89],"which":[90,136],"combines":[91],"robust":[92],"set-based":[93],"methods":[94],"sub-Gaussian":[99],"variance":[100],"proxies.":[101],"further":[103],"Model":[106],"Predictive":[107],"(MPC)":[109],"framework":[110],"provides":[112],"closed-loop":[113],"systems":[118],"under":[119],"assumption.":[123],"apply":[125],"MPC":[127],"approach":[128,189],"an":[130],"ultrasound-image-guided":[131],"spinal":[133],"surgery":[134,195],"pipeline,":[135,153],"contains":[137],"deep-learning-based":[138],"semantic":[139],"segmentation,":[140],"image-based":[141],"registration,":[142],"high-level":[143],"optimization-based":[144],"planning,":[145],"low-level":[147],"control.":[149],"To":[150],"validate":[151],"developed":[155],"realistic":[157],"simulation":[158,183],"environment":[159],"integrating":[160],"real":[161],"human":[162],"anatomy,":[163],"robot":[164],"dynamics,":[165],"efficient":[166],"ultrasound":[167],"simulation,":[168],"as":[169,171],"well":[170],"in-vivo":[172],"breathing":[175],"motion":[176],"drilling":[178],"force.":[179],"Evaluation":[180],"results":[181],"demonstrate":[184],"potential":[186],"our":[188],"solving":[191],"complex":[192],"image-guided":[193],"task":[196],"while":[197],"ensuring":[198],"safety.":[199]},"counts_by_year":[],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2026-03-14T00:00:00"}