{"id":"https://openalex.org/W3114101453","doi":"https://doi.org/10.1109/rcar49640.2020.9303265","title":"Eye-In-Hand Uncalibrated Visual Servoing of Concentric Tube Robot","display_name":"Eye-In-Hand Uncalibrated Visual Servoing of Concentric Tube Robot","publication_year":2020,"publication_date":"2020-09-28","ids":{"openalex":"https://openalex.org/W3114101453","doi":"https://doi.org/10.1109/rcar49640.2020.9303265","mag":"3114101453"},"language":"en","primary_location":{"id":"doi:10.1109/rcar49640.2020.9303265","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar49640.2020.9303265","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-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/A5074134677","display_name":"Kehe Zhang","orcid":"https://orcid.org/0000-0001-8013-265X"},"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":true,"raw_author_name":"Kehe Zhang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technolgoy, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technolgoy, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101708548","display_name":"Xing Yang","orcid":"https://orcid.org/0000-0003-2345-9722"},"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":"Xing Yang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technolgoy, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technolgoy, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100772693","display_name":"Jie Wang","orcid":"https://orcid.org/0000-0002-5896-5396"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Wang","raw_affiliation_strings":["Robotics, Perception and Artificial Intelligence Lab, The Chinese University of Hong Kong, N.T., Hong Kong"],"affiliations":[{"raw_affiliation_string":"Robotics, Perception and Artificial Intelligence Lab, The Chinese University of Hong Kong, N.T., Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100731554","display_name":"Shuang Song","orcid":"https://orcid.org/0000-0002-3490-9752"},"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":"Shuang Song","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technolgoy, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technolgoy, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Robotics, Perception and Artificial Intelligence Lab, The Chinese University of Hong Kong, N.T., Hong Kong"],"affiliations":[{"raw_affiliation_string":"Robotics, Perception and Artificial Intelligence Lab, The Chinese University of Hong Kong, N.T., Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5074134677"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.1717,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.47779231,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"233","last_page":"238"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T11569","display_name":"Optical Coherence Tomography Applications","score":0.989799976348877,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9890999794006348,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/visual-servoing","display_name":"Visual servoing","score":0.9818100929260254},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7540265321731567},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7351780533790588},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7059493660926819},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.580352246761322},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5715858340263367},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4332694411277771},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23451876640319824}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9818100929260254},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7540265321731567},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7351780533790588},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7059493660926819},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.580352246761322},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5715858340263367},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4332694411277771},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23451876640319824},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar49640.2020.9303265","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar49640.2020.9303265","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8199999928474426}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W607660670","https://openalex.org/W1965338336","https://openalex.org/W1966906328","https://openalex.org/W1969604763","https://openalex.org/W2131150943","https://openalex.org/W2146306674","https://openalex.org/W2167501464","https://openalex.org/W2184993170","https://openalex.org/W2406634771","https://openalex.org/W2765859816","https://openalex.org/W2771478976","https://openalex.org/W2774994422","https://openalex.org/W2792910172","https://openalex.org/W2909634898","https://openalex.org/W2990588373","https://openalex.org/W3206780068"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2171817899","https://openalex.org/W2376367950","https://openalex.org/W213797040","https://openalex.org/W2620386921","https://openalex.org/W571470105","https://openalex.org/W1851410152","https://openalex.org/W2091554547","https://openalex.org/W4293869118","https://openalex.org/W2118183560"],"abstract_inverted_index":{"A":[0,113],"control":[1,83],"strategy":[2,154],"of":[3,30,62,74,85,108,122,155],"uncalibrated":[4,45,63,86,156],"visual":[5,42,46,64,87,135,157],"servoing":[6,43,47,65,88,158],"is":[7,66,117,131],"proposed":[8],"for":[9,27,89,127,141,175],"a":[10,82,90,132,165],"three-degree-of-freedom":[11],"continuous":[12],"concentric":[13],"tube":[14],"robot":[15,53],"(CTR)":[16],"in":[17,24,168],"the":[18,60,71,75,79,105,109,120,123,142,153,172,176],"paper.":[19],"CTRs":[20],"are":[21,101,144],"widely":[22],"researched":[23],"recent":[25],"years":[26],"its":[28],"advantages":[29],"flexibility,":[31],"minimally":[32],"invasive":[33],"and":[34,55,96,170],"portable":[35],"medical":[36],"device":[37],"surgery.":[38],"Compared":[39],"with":[40],"calibrated":[41],"control,":[44],"does":[48],"not":[49],"require":[50],"CTR's":[51,124],"accurate":[52],"model":[54],"camera":[56],"calibration":[57],"parameters,":[58],"while":[59],"difficulty":[61],"how":[67],"to":[68,103],"accurately":[69],"estimate":[70,104],"Jacobian":[72,106],"matrix":[73,107],"image":[76,128],"online.":[77,112],"Therefore,":[78],"paper":[80],"designs":[81],"scheme":[84],"three":[91],"degree-of-freedom":[92],"CTR.":[93,177],"Kalman":[94,98],"Filtering(KF)":[95],"Unscented":[97],"Filtering(UKF)":[99],"algorithms":[100],"used":[102],"CTR":[110,143],"system":[111],"millimeter":[114],"level":[115],"endoscope":[116],"installed":[118],"at":[119],"end":[121],"operating":[125],"arm":[126],"acquisition,":[129],"which":[130],"an":[133],"eye-in-hand":[134],"system.":[136],"The":[137],"best":[138],"UKF":[139,162],"parameters":[140],"obtained":[145],"based":[146,159],"on":[147,160],"comparative":[148],"experiments.":[149],"Experiments":[150],"show":[151],"that":[152],"designed":[161],"algorithm":[163],"has":[164],"good":[166],"performance":[167],"locating":[169],"tracking":[171],"target":[173],"point":[174]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}