{"id":"https://openalex.org/W7131182145","doi":"https://doi.org/10.1109/robio66223.2025.11377839","title":"RCM-Constrained Hybrid Trajectory Planning for High-Efficiency Brain Biopsy Using MRI-Compatible Neurosurgical Robot","display_name":"RCM-Constrained Hybrid Trajectory Planning for High-Efficiency Brain Biopsy Using MRI-Compatible Neurosurgical Robot","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131182145","doi":"https://doi.org/10.1109/robio66223.2025.11377839"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11377839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377839","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/A5064624200","display_name":"Aoxun Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aoxun Zhu","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University,Tianjin,China,300071"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University,Tianjin,China,300071","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126616267","display_name":"Tao Yue","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Yue","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University,Tianjin,China,300071"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University,Tianjin,China,300071","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126621129","display_name":"Longxin Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longxin Wang","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University,Tianjin,China,300071"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University,Tianjin,China,300071","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027234719","display_name":"Chongshan Fan","orcid":"https://orcid.org/0000-0001-5171-102X"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chongshan Fan","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University,Tianjin,China,300071"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University,Tianjin,China,300071","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100446035","display_name":"Hao Wang","orcid":"https://orcid.org/0000-0001-6881-9977"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongpeng Wang","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University,Tianjin,China,300071"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University,Tianjin,China,300071","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.54204229,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1257","last_page":"1262"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.7121999859809875,"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":0.7121999859809875,"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":0.10970000177621841,"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"}},{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.013100000098347664,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7627999782562256},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.717199981212616},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6320000290870667},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5823000073432922},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.47749999165534973},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.46869999170303345},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4683000147342682},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4560999870300293},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4375}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7627999782562256},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.717199981212616},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6320000290870667},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5823000073432922},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4964999854564667},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47749999165534973},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.46869999170303345},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4683000147342682},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4560999870300293},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4375},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4375},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4090999960899353},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3944999873638153},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.37450000643730164},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35269999504089355},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.35019999742507935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34779998660087585},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33410000801086426},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.31380000710487366},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.2980000078678131},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.29760000109672546},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2711000144481659},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.2703000009059906},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.26190000772476196},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.26100000739097595},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.2581000030040741},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.2533000111579895},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.2513999938964844}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11377839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377839","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":[{"score":0.7026206254959106,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G7266234631","display_name":null,"funder_award_id":"2024A1515011897","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G8516326147","display_name":null,"funder_award_id":"2022YFB4702800","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1519835194","https://openalex.org/W1893937519","https://openalex.org/W1989169659","https://openalex.org/W2030588472","https://openalex.org/W2471490703","https://openalex.org/W2894815554","https://openalex.org/W2903530329","https://openalex.org/W2914082429","https://openalex.org/W2982076750","https://openalex.org/W3192198738","https://openalex.org/W3198636158","https://openalex.org/W3206811919","https://openalex.org/W4244514994","https://openalex.org/W4254787175","https://openalex.org/W4289950747","https://openalex.org/W4376504439","https://openalex.org/W4399241376"],"related_works":[],"abstract_inverted_index":{"This":[0,131],"paper":[1],"addresses":[2],"the":[3,30,42,61,75,89,97],"limitations":[4],"of":[5,33,41],"insufficient":[6],"precision":[7,141],"and":[8,38,51,122,152],"compromised":[9],"safety":[10],"inherent":[11],"in":[12],"conventional":[13],"brain":[14],"biopsy":[15],"procedures":[16],"by":[17,67],"proposing":[18],"a":[19,24,80,153],"trajectory":[20,99,133],"planning":[21,53,103,134],"strategy":[22,135],"for":[23,106],"7-degree-of-freedom":[25],"(7-DoF)":[26],"neurosurgical":[27],"robot,":[28],"incorporating":[29],"Remote":[31],"Center":[32],"Motion":[34],"(RCM)":[35],"constraint.":[36],"Smooth":[37],"continuous":[39],"motion":[40,129,137],"needle":[43,123],"tip":[44],"end-effector":[45],"is":[46],"achieved":[47],"through":[48,147],"integrated":[49],"joint-space":[50],"Cartesian-space":[52],"methodologies.":[54],"The":[55,70],"robotic":[56],"model":[57],"was":[58,104,145],"established":[59],"using":[60],"Denavit-Hartenberg":[62],"(D-H)":[63],"parameters":[64],"method,":[65],"followed":[66],"kinematic":[68],"analysis.":[69],"RCM":[71],"constraint":[72],"ensures":[73],"that":[74],"surgical":[76],"instrument":[77],"rotates":[78],"about":[79],"spatially":[81],"fixed":[82],"burr":[83],"hole":[84],"point":[85],"(RCM":[86],"point)":[87],"on":[88],"skull,":[90],"thereby":[91],"minimizing":[92],"tissue":[93],"trauma.":[94],"To":[95],"realize":[96],"robot's":[98],"planning,":[100],"trapezoidal":[101],"velocity":[102],"implemented":[105],"prismatic":[107],"joints":[108,120,125],"1,2,3":[109],"to":[110,127],"prevent":[111],"actuator":[112],"saturation,":[113],"while":[114,139],"quintic":[115],"polynomial":[116],"interpolation":[117],"governed":[118],"revolute":[119],"4,5":[121],"rotation/insertion":[124],"6,7":[126],"guarantee":[128],"smoothness.":[130],"hybrid":[132],"enhances":[136],"efficiency":[138],"maintaining":[140],"requirements.":[142],"Feasibility":[143],"validation":[144],"conducted":[146],"simulation":[148],"experiments":[149],"utilizing":[150],"MATLAB":[151],"digital":[154],"twin":[155],"platform.":[156]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2026-02-24T00:00:00"}