{"id":"https://openalex.org/W4390099865","doi":"https://doi.org/10.1109/robio58561.2023.10354869","title":"Force perception -based active breath-following control of a puncture ablation surgery robot end effector","display_name":"Force perception -based active breath-following control of a puncture ablation surgery robot end effector","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099865","doi":"https://doi.org/10.1109/robio58561.2023.10354869"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354869","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354869","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5031914777","display_name":"Yong Tao","orcid":"https://orcid.org/0000-0002-8585-0797"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Yong","raw_affiliation_strings":["Beihang University,School of Mechanical Engineering &#x0026; Automation, Research Institute of Aero-Engine"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Mechanical Engineering &#x0026; Automation, Research Institute of Aero-Engine","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058434396","display_name":"Dongming Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dongming Han","raw_affiliation_strings":["School of Mechanical Engineering &#x0026; Automation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering &#x0026; Automation","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057674506","display_name":"Tianmiao Wang","orcid":"https://orcid.org/0000-0003-3153-7524"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianmiao Wang","raw_affiliation_strings":["Beihang University,Robotics Institute of School of Mechanical Engineering and Automation","Robotics Institute of School of Mechanical Engineering and Automation, Beihang University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,Robotics Institute of School of Mechanical Engineering and Automation","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute of School of Mechanical Engineering and Automation, Beihang University","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100773711","display_name":"Yufan Zhang","orcid":"https://orcid.org/0000-0002-1575-9816"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufan Zhang","raw_affiliation_strings":["Beihang University,Research Institute of Aero-Engine","Research Institute of Aero-Engine, Beihang University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,Research Institute of Aero-Engine","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Research Institute of Aero-Engine, Beihang University","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049812267","display_name":"Lian Duan","orcid":"https://orcid.org/0000-0002-4213-474X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lian Duan","raw_affiliation_strings":["Beihang University,Research Institute of Aero-Engine","Research Institute of Aero-Engine, Beihang University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,Research Institute of Aero-Engine","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Research Institute of Aero-Engine, Beihang University","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100319139","display_name":"Yiru Wang","orcid":"https://orcid.org/0000-0002-7552-6635"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yiru Wang","raw_affiliation_strings":["School of Mechanical Engineering &#x0026; Automation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering &#x0026; Automation","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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":0.9987999796867371,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9679999947547913,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/robot","display_name":"Robot","score":0.5085021257400513},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49724987149238586},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.48672178387641907},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4625643193721771},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4499845504760742},{"id":"https://openalex.org/keywords/ablation","display_name":"Ablation","score":0.44338294863700867},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3868136703968048},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3655916154384613},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.3410872220993042},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.32390743494033813},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25189509987831116},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.18073800206184387}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5085021257400513},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49724987149238586},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.48672178387641907},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4625643193721771},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4499845504760742},{"id":"https://openalex.org/C2778902805","wikidata":"https://www.wikidata.org/wiki/Q322177","display_name":"Ablation","level":2,"score":0.44338294863700867},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3868136703968048},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3655916154384613},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.3410872220993042},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.32390743494033813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25189509987831116},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.18073800206184387},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354869","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354869","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1969933448","https://openalex.org/W1992962027","https://openalex.org/W2030996033","https://openalex.org/W2126914232","https://openalex.org/W2133450663","https://openalex.org/W2137225577","https://openalex.org/W2170926050","https://openalex.org/W2296039882","https://openalex.org/W2593465928","https://openalex.org/W2766093896","https://openalex.org/W2996507671","https://openalex.org/W3008015855","https://openalex.org/W3133668161","https://openalex.org/W3157461997","https://openalex.org/W4224288265","https://openalex.org/W4230329894","https://openalex.org/W4303859063","https://openalex.org/W4319071195"],"related_works":["https://openalex.org/W2913786724","https://openalex.org/W2357783023","https://openalex.org/W2013863777","https://openalex.org/W2118389769","https://openalex.org/W4394573179","https://openalex.org/W3020408180","https://openalex.org/W2917979353","https://openalex.org/W4286313746","https://openalex.org/W2333062987","https://openalex.org/W2110336555"],"abstract_inverted_index":{"During":[0],"the":[1,13,25,37,57,73,123,128],"process":[2],"of":[3,36,95,130],"remote":[4],"microwave":[5],"puncture":[6,60],"ablation":[7,61],"surgery":[8],"in":[9],"areas":[10],"such":[11,78],"as":[12,29,31],"liver":[14],"and":[15,34,45,99,146,171],"thoracic":[16],"cavity,":[17],"there":[18],"are":[19],"accompanying":[20],"physiological":[21,48],"movements":[22],"due":[23,63],"to":[24,53,64,72,121,143,166],"body's":[26,38],"respiratory":[27],"motion,":[28],"well":[30],"possible":[32],"spasms":[33,145],"twitching":[35,147],"muscles":[39],"caused":[40,76],"by":[41,77,137],"factors":[42],"like":[43],"anesthesia":[44],"temperature.":[46],"These":[47],"activities":[49],"can":[50],"easily":[51],"lead":[52],"skin":[54,75],"lacerations":[55],"near":[56],"rigid":[58],"percutaneous":[59],"needle":[62],"relative":[65],"motion.":[66],"To":[67],"prevent":[68],"this":[69],"secondary":[70],"harm":[71],"surrounding":[74],"movements,":[79],"we":[80,134],"designed":[81],"a":[82,96,139],"robot":[83,150],"end-effector":[84,118],"active":[85],"respiration":[86],"tracking":[87,113,155],"method":[88,107],"based":[89],"on":[90],"fuzzy":[91],"variable":[92],"admittance":[93,124],"control":[94],"robotic":[97],"arm":[98],"sliding":[100],"window":[101],"half-wave":[102],"analysis":[103],"debounce":[104],"algorithm.":[105],"This":[106],"not":[108,151],"only":[109,152],"enables":[110],"smooth":[111],"zero-force":[112,154],"but":[114,161],"also":[115,162],"monitors":[116],"real-time":[117],"motion":[119],"information":[120],"adjust":[122],"parameters,":[125],"thus":[126],"avoiding":[127],"occurrence":[129],"potential":[131],"oscillations.":[132],"Finally,":[133],"conducted":[135],"experiments":[136],"applying":[138],"random":[140],"step-like":[141],"oscillation":[142],"simulate":[144],"phenomena.":[148],"The":[149],"achieved":[153],"with":[156],"forces":[157],"less":[158],"than":[159],"1.5N":[160],"demonstrated":[163],"excellent":[164],"resistance":[165],"oscillations,":[167],"showcasing":[168],"remarkable":[169],"flexibility":[170],"stability.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
