{"id":"https://openalex.org/W4317383103","doi":"https://doi.org/10.1109/robio55434.2022.10012022","title":"Autonomous tumor palpation and resection path planning using tactile array sensor and deep reinforcement learning for surgical robot","display_name":"Autonomous tumor palpation and resection path planning using tactile array sensor and deep reinforcement learning for surgical robot","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383103","doi":"https://doi.org/10.1109/robio55434.2022.10012022"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10012022","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10012022","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 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":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5011526530","display_name":"Feng Ju","orcid":"https://orcid.org/0000-0002-9261-1372"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Feng Ju","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics,Nanjing,China,210016"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics,Nanjing,China,210016","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078575028","display_name":"Haoran Ye","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoran Ye","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics,Nanjing,China,210016"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics,Nanjing,China,210016","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083795548","display_name":"Dongming Bai","orcid":"https://orcid.org/0000-0002-1292-8354"},"institutions":[{"id":"https://openalex.org/I4210152737","display_name":"Jinhua Polytechnic","ror":"https://ror.org/047hbb113","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152737"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongming Bai","raw_affiliation_strings":["Jinhua Polytechnic, Key Laboratory of Crop Harvesting Equipment Technology of Zhejiang Province,Jinhua,China,321000"],"affiliations":[{"raw_affiliation_string":"Jinhua Polytechnic, Key Laboratory of Crop Harvesting Equipment Technology of Zhejiang Province,Jinhua,China,321000","institution_ids":["https://openalex.org/I4210152737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101997395","display_name":"Yingxuan Zhang","orcid":"https://orcid.org/0000-0001-6403-3838"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingxuan Zhang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University,Jinan,China,250061"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101869884","display_name":"Chengjun Zhu","orcid":"https://orcid.org/0000-0002-2867-562X"},"institutions":[{"id":"https://openalex.org/I4210152119","display_name":"Jiangsu Province Hospital","ror":"https://ror.org/04py1g812","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210152119"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengjun Zhu","raw_affiliation_strings":["Jiangsu Province Hospital,Department of Oncology,Nanjing,China,210029"],"affiliations":[{"raw_affiliation_string":"Jiangsu Province Hospital,Department of Oncology,Nanjing,China,210029","institution_ids":["https://openalex.org/I4210152119"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020995850","display_name":"Yanfei Cao","orcid":"https://orcid.org/0000-0001-6835-6837"},"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":"Yanfei Cao","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering and Department of Electronic Engineering,Hong Kong","Department of Mechanical and Automation Engineering and Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering and Department of Electronic Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering and Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082017096","display_name":"Wenchao Yue","orcid":"https://orcid.org/0000-0002-9788-3705"},"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":"Wenchao Yue","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering and Department of Electronic Engineering,Hong Kong","Department of Mechanical and Automation Engineering and Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering and Department of Electronic Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering and Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5011526530"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":1.2826,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.81442366,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"871","last_page":"876"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.996999979019165,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.996999979019165,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9947999715805054,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9833999872207642,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.7113893628120422},{"id":"https://openalex.org/keywords/palpation","display_name":"Palpation","score":0.7022132873535156},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.650819718837738},{"id":"https://openalex.org/keywords/piezoresistive-effect","display_name":"Piezoresistive effect","score":0.6241731643676758},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6223584413528442},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6038362383842468},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5893411040306091},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.50958251953125},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.508588433265686},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21264895796775818},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.13027408719062805},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09006235003471375},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08031615614891052}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.7113893628120422},{"id":"https://openalex.org/C2781167935","wikidata":"https://www.wikidata.org/wiki/Q795090","display_name":"Palpation","level":2,"score":0.7022132873535156},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.650819718837738},{"id":"https://openalex.org/C198490522","wikidata":"https://www.wikidata.org/wiki/Q1932915","display_name":"Piezoresistive effect","level":2,"score":0.6241731643676758},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6223584413528442},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6038362383842468},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5893411040306091},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.50958251953125},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.508588433265686},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21264895796775818},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.13027408719062805},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09006235003471375},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08031615614891052}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10012022","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10012022","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 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":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.5299999713897705}],"awards":[{"id":"https://openalex.org/G7843836628","display_name":null,"funder_award_id":"61973335,62111530151,52105103","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2129308920","https://openalex.org/W2261804262","https://openalex.org/W2332871321","https://openalex.org/W2546661679","https://openalex.org/W2626149096","https://openalex.org/W2772101127","https://openalex.org/W3023387549","https://openalex.org/W3048669518","https://openalex.org/W3081532918","https://openalex.org/W3130510173"],"related_works":["https://openalex.org/W2154907448","https://openalex.org/W2187628146","https://openalex.org/W2373005596","https://openalex.org/W2068356387","https://openalex.org/W4207016008","https://openalex.org/W2622859989","https://openalex.org/W2683098030","https://openalex.org/W2082416097","https://openalex.org/W3002123865","https://openalex.org/W2023956079"],"abstract_inverted_index":{"Surgical":[0],"robots":[1],"have":[2,12],"been":[3],"widely":[4],"used":[5],"in":[6,38,124],"tumor":[7,27,122],"resection,":[8],"but":[9],"they":[10],"still":[11],"shortcomings":[13],"such":[14],"as":[15,50,52],"the":[16,53,73,104,109,112],"lack":[17],"of":[18,111],"tactile":[19,33,69,78],"perception,":[20],"which":[21,41,115],"may":[22],"lead":[23],"to":[24,67,75,101],"inaccurate":[25],"intraoperative":[26],"identification":[28],"and":[29,71,82,107],"resection.":[30],"A":[31],"piezoresistive":[32],"array":[34,55],"sensor":[35],"is":[36,61,99],"proposed":[37],"this":[39],"paper,":[40],"features":[42],"small":[43],"size":[44],"(10":[45],"mm":[46],"X":[47],"10":[48],"mm)":[49],"well":[51],"high-efficiency":[54],"detection":[56,97,105],"mode.":[57],"The":[58],"sensing":[59],"principle":[60],"simply":[62],"applying":[63],"a":[64,77,92],"constant":[65],"voltage":[66],"each":[68],"element":[70,88],"measuring":[72],"current":[74],"generate":[76],"image.":[79],"Its":[80],"effectiveness":[81],"performance":[83],"are":[84],"verified":[85],"by":[86],"finite":[87],"simulations.":[89],"In":[90],"addition,":[91],"deep":[93],"reinforcement":[94],"learning-based":[95],"autonomous":[96,126],"algorithm":[98],"developed":[100],"further":[102],"improve":[103],"efficiency":[106],"facilitate":[108],"planning":[110],"resection":[113,123],"path,":[114],"provides":[116],"an":[117],"effective":[118],"guarantee":[119],"for":[120],"accurate":[121],"future":[125],"robotic":[127],"surgeries.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}