{"id":"https://openalex.org/W7131088175","doi":"https://doi.org/10.1109/robio66223.2025.11377341","title":"Offline Reinforcement Learning-Based Adaptive Impedance Control for Variable Force Tracking in Robotic Ultrasound Scanning","display_name":"Offline Reinforcement Learning-Based Adaptive Impedance Control for Variable Force Tracking in Robotic Ultrasound Scanning","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131088175","doi":"https://doi.org/10.1109/robio66223.2025.11377341"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11377341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377341","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5126648574","display_name":"Liang Yao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liang Yao","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126642940","display_name":"Yun Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I2802939634","display_name":"Chinese PLA General Hospital","ror":"https://ror.org/04gw3ra78","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I2802939634"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Zhang","raw_affiliation_strings":["The Third Medical Centre of Chinese PLA General Hospital,Department of Ultrasound,Beijing,China,100039"],"affiliations":[{"raw_affiliation_string":"The Third Medical Centre of Chinese PLA General Hospital,Department of Ultrasound,Beijing,China,100039","institution_ids":["https://openalex.org/I2802939634"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040545966","display_name":"Ziqi Zhou","orcid":"https://orcid.org/0000-0002-0861-1805"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziqi Zhou","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126591337","display_name":"Yizhe Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Yizhe Sun","raw_affiliation_strings":["University of Macau,Department of Electromechanical Engineering,Macau,China,999078"],"affiliations":[{"raw_affiliation_string":"University of Macau,Department of Electromechanical Engineering,Macau,China,999078","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042608392","display_name":"Baoliang Zhao","orcid":"https://orcid.org/0000-0002-8157-5951"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoliang Zhao","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126610581","display_name":"Ziwen Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziwen Wang","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126633477","display_name":"Peng Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Zhang","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126593081","display_name":"Faqin Lv","orcid":null},"institutions":[{"id":"https://openalex.org/I2802939634","display_name":"Chinese PLA General Hospital","ror":"https://ror.org/04gw3ra78","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I2802939634"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Faqin Lv","raw_affiliation_strings":["The Third Medical Centre of Chinese PLA General Hospital,Department of Ultrasound,Beijing,China,100039"],"affiliations":[{"raw_affiliation_string":"The Third Medical Centre of Chinese PLA General Hospital,Department of Ultrasound,Beijing,China,100039","institution_ids":["https://openalex.org/I2802939634"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063490642","display_name":"Pak Kin Wong","orcid":"https://orcid.org/0000-0002-7623-6904"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Pak Kin Wong","raw_affiliation_strings":["University of Macau,Department of Electromechanical Engineering,Macau,China,999078"],"affiliations":[{"raw_affiliation_string":"University of Macau,Department of Electromechanical Engineering,Macau,China,999078","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126622662","display_name":"Ying Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Hu","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5126648574"],"corresponding_institution_ids":["https://openalex.org/I4210145761"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.63348214,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1344","last_page":"1349"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.28540000319480896,"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":0.28540000319480896,"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/T10727","display_name":"Ultrasound Imaging and Elastography","score":0.16910000145435333,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.07240000367164612,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6895999908447266},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.6858000159263611},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6351000070571899},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5397999882698059},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5012999773025513},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.438400000333786},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4352000057697296},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43320000171661377},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.391400009393692}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6895999908447266},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.6858000159263611},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6351000070571899},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.608299970626831},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5397999882698059},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5012999773025513},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45719999074935913},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.438400000333786},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4352000057697296},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43320000171661377},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.391400009393692},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3894999921321869},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.38830000162124634},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.37439998984336853},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.3659999966621399},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.3637000024318695},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3495999872684479},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.34880000352859497},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.3425999879837036},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3334999978542328},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33059999346733093},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.30889999866485596},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3082999885082245},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.3027999997138977},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2903999984264374},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25619998574256897},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11377341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377341","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/7","score":0.5236109495162964,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1978023077","https://openalex.org/W2169440744","https://openalex.org/W2738226240","https://openalex.org/W2789837488","https://openalex.org/W2909711564","https://openalex.org/W2955130115","https://openalex.org/W3157010837","https://openalex.org/W3202358609","https://openalex.org/W4285225245","https://openalex.org/W4295832261","https://openalex.org/W4384701644","https://openalex.org/W4386363016","https://openalex.org/W4392251630","https://openalex.org/W4406387938"],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"ultrasound":[1,11],"scanning":[2,35],"(RUSS)":[3],"has":[4],"become":[5],"a":[6,29,71,113,117,137],"promising":[7],"solution":[8],"to":[9,55,60,84],"standardize":[10],"(US)":[12],"examinations":[13],"and":[14,57,65,132,147,158],"relieve":[15],"the":[16,25],"workload":[17],"of":[18,120],"sonographers.":[19],"In":[20,45],"many":[21],"practical":[22],"RUSS":[23,139],"applications,":[24],"probe":[26],"must":[27],"track":[28],"time-varying":[30],"force":[31,72,105],"profile,":[32],"especially":[33],"when":[34],"patients":[36,64,79],"with":[37,152],"musculoskeletal":[38],"pain,":[39],"tumors,":[40],"or":[41],"other":[42],"localized":[43],"lesions.":[44],"such":[46],"cases,":[47],"conventional":[48,153],"adaptive":[49,98],"impedance":[50,99],"control":[51,73,100],"(AIC)":[52],"is":[53,80],"difficult":[54],"tune":[56],"often":[58],"fails":[59],"generalize":[61],"across":[62],"different":[63],"anatomical":[66],"regions.":[67],"Moreover,":[68],"directly":[69],"learning":[70,96],"policy":[74,115],"online":[75,127],"by":[76],"trial-and-error":[77],"on":[78,129,136],"clinically":[81],"unacceptable":[82],"due":[83],"safety":[85],"concerns.":[86],"To":[87],"address":[88],"these":[89],"challenges,":[90],"we":[91],"introduce":[92],"an":[93],"offline":[94],"reinforcement":[95],"based":[97],"scheme":[101],"(ORL-AIC)":[102],"for":[103],"variable":[104],"tracking":[106,149],"in":[107,133],"RUSS.":[108],"The":[109],"proposed":[110],"controller":[111],"learns":[112],"near-optimal":[114],"from":[116],"limited":[118],"set":[119],"pre-collected":[121],"interaction":[122],"samples,":[123],"without":[124],"requiring":[125],"additional":[126],"exploration":[128],"patients.":[130],"Phantom":[131],"vivo":[134],"experiments":[135],"real":[138],"platform":[140],"demonstrate":[141],"that":[142],"ORLAIC":[143],"achieves":[144],"reduced":[145],"overshoot":[146],"improved":[148],"accuracy":[150],"compared":[151],"AIC":[154],"baselines,":[155],"enabling":[156],"safer":[157],"more":[159],"patient-specific":[160],"robotic":[161],"US":[162],"scanning.":[163]},"counts_by_year":[],"updated_date":"2026-02-25T06:17:34.324206","created_date":"2026-02-24T00:00:00"}
