{"id":"https://openalex.org/W3211330821","doi":"https://doi.org/10.1109/robio54168.2021.9739464","title":"Learning Robotic Ultrasound Scanning Skills via Human Demonstrations and Guided Explorations","display_name":"Learning Robotic Ultrasound Scanning Skills via Human Demonstrations and Guided Explorations","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W3211330821","doi":"https://doi.org/10.1109/robio54168.2021.9739464","mag":"3211330821"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739464","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739464","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2111.01625","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112688136","display_name":"Xutian Deng","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xutian Deng","raw_affiliation_strings":["Wuhan University,School of Power and Mechanical Engineering,Hubei,China","School of Power and Mechanical Engineering, Wuhan University, Hubei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,School of Power and Mechanical Engineering,Hubei,China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan University, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100348260","display_name":"Yi\u2010Ting Chen","orcid":"https://orcid.org/0000-0002-0063-4965"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Yiting Chen","raw_affiliation_strings":["Wuhan University,School of Power and Mechanical Engineering,Hubei,China","Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","School of Power and Mechanical Engineering, Wuhan University, Hubei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,School of Power and Mechanical Engineering,Hubei,China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan University, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100405442","display_name":"Fei Chen","orcid":"https://orcid.org/0000-0003-4397-0931"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fei Chen","raw_affiliation_strings":["The Chinese University of Hong Kong,T-Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong","Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,T-Stone Robotics Institute,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100339704","display_name":"Miao Li","orcid":"https://orcid.org/0000-0002-2244-2104"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Miao Li","raw_affiliation_strings":["Wuhan University,School of Power and Mechanical Engineering,Hubei,China","School of Power and Mechanical Engineering, Wuhan University, Hubei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,School of Power and Mechanical Engineering,Hubei,China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan University, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"372","last_page":"378"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9868999719619751,"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/leverage","display_name":"Leverage (statistics)","score":0.7422321438789368},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.7052403092384338},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.630922794342041},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6103529930114746},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5033020377159119},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.462182879447937},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14413002133369446},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.12403839826583862},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.0818408727645874}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7422321438789368},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.7052403092384338},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.630922794342041},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6103529930114746},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5033020377159119},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.462182879447937},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14413002133369446},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.12403839826583862},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0818408727645874},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio54168.2021.9739464","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739464","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2111.01625","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2111.01625","pdf_url":"https://arxiv.org/pdf/2111.01625","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2111.01625","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2111.01625","pdf_url":"https://arxiv.org/pdf/2111.01625","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1564155246","https://openalex.org/W1583092270","https://openalex.org/W2025943982","https://openalex.org/W2040921290","https://openalex.org/W2052552304","https://openalex.org/W2110508378","https://openalex.org/W2134756228","https://openalex.org/W2166302491","https://openalex.org/W2254101695","https://openalex.org/W2417584818","https://openalex.org/W2503967141","https://openalex.org/W2564163422","https://openalex.org/W2686198515","https://openalex.org/W2736167336","https://openalex.org/W2785994810","https://openalex.org/W2893379190","https://openalex.org/W2913939945","https://openalex.org/W2932459557","https://openalex.org/W2968095426","https://openalex.org/W2982446957","https://openalex.org/W2999684000","https://openalex.org/W3011613361","https://openalex.org/W3014982919","https://openalex.org/W3043316223","https://openalex.org/W3094046334","https://openalex.org/W3098362553","https://openalex.org/W3099763198","https://openalex.org/W3125472763","https://openalex.org/W3135181254","https://openalex.org/W3135545534","https://openalex.org/W3205841225","https://openalex.org/W4300017345"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2665305151"],"abstract_inverted_index":{"Medical":[0],"ultrasound":[1,25,30,35,49,63,72,85,121],"has":[2],"become":[3],"a":[4,23,56,78,124],"routine":[5],"exami-nation":[6],"approach":[7,58],"nowadays":[8],"and":[9,92,153],"is":[10,19,38,75,130],"widely":[11],"adopted":[12],"for":[13],"different":[14],"medical":[15],"applications,":[16],"so":[17],"it":[18],"desired":[20],"to":[21,27,59,106,132,145],"have":[22],"robotic":[24,62,71],"system":[26],"perform":[28],"the":[29,34,45,48,61,70,84,87,90,93,101,108,112,117,135,138,147,154],"scanning":[31,36,64,73],"autonomously.":[32],"However,":[33],"skill":[37,74],"considerably":[39],"complex,":[40],"which":[41,82],"highly":[42],"depends":[43],"on":[44],"experience":[46],"of":[47,89,103,119,137,149],"physician.":[50],"In":[51],"this":[52],"paper,":[53],"we":[54,99],"propose":[55],"learning-based":[57],"learn":[60],"skills":[65],"from":[66,116],"human":[67],"demonstrations.":[68],"First,":[69],"encapsulated":[76],"into":[77,96],"high-dimensional":[79],"multi-modal":[80,109],"model,":[81],"takes":[83],"images,":[86],"pose/position":[88],"probe":[91],"contact":[94],"force":[95],"account.":[97],"Second,":[98],"leverage":[100],"power":[102],"imitation":[104],"learning":[105],"train":[107],"model":[110],"with":[111,127],"training":[113],"data":[114],"collected":[115],"demonstrations":[118],"experienced":[120],"physicians.":[122],"Finally,":[123],"post-optimization":[125],"procedure":[126],"guided":[128],"explorations":[129],"proposed":[131,151],"further":[133],"improve":[134],"performance":[136],"learned":[139,155],"model.":[140],"Robotic":[141],"experiments":[142],"are":[143],"conducted":[144],"validate":[146],"advantages":[148],"our":[150],"framework":[152],"models.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}