{"id":"https://openalex.org/W4407448659","doi":"https://doi.org/10.1109/tase.2025.3541594","title":"Motion Planning and Control of Active Robot in Orthopedic Surgery by CDMP-Based Imitation Learning and Constrained Optimization","display_name":"Motion Planning and Control of Active Robot in Orthopedic Surgery by CDMP-Based Imitation Learning and Constrained Optimization","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4407448659","doi":"https://doi.org/10.1109/tase.2025.3541594"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3541594","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3541594","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tase.2025.3541594","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045025476","display_name":"Xingqiang Jian","orcid":"https://orcid.org/0009-0006-8324-9582"},"institutions":[{"id":"https://openalex.org/I183519381","display_name":"Capital Medical University","ror":"https://ror.org/013xs5b60","country_code":"CN","type":"education","lineage":["https://openalex.org/I183519381"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xingqiang Jian","raw_affiliation_strings":["School of Biomedical Engineering, Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, and the Laboratory for Clinical Medicine, Capital Medical University, Beijing, China","the Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Laboratory for Clinical Medicine, the School of Biomedical Engineering, Capital Medical University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering, Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, and the Laboratory for Clinical Medicine, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I183519381"]},{"raw_affiliation_string":"the Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Laboratory for Clinical Medicine, the School of Biomedical Engineering, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I183519381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032560467","display_name":"Yibin Song","orcid":"https://orcid.org/0000-0002-4500-0210"},"institutions":[{"id":"https://openalex.org/I183519381","display_name":"Capital Medical University","ror":"https://ror.org/013xs5b60","country_code":"CN","type":"education","lineage":["https://openalex.org/I183519381"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Song","raw_affiliation_strings":["School of Biomedical Engineering, Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, and the Laboratory for Clinical Medicine, Capital Medical University, Beijing, China","the Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Laboratory for Clinical Medicine, the School of Biomedical Engineering, Capital Medical University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering, Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, and the Laboratory for Clinical Medicine, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I183519381"]},{"raw_affiliation_string":"the Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Laboratory for Clinical Medicine, the School of Biomedical Engineering, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I183519381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100765519","display_name":"Dongdong Liu","orcid":"https://orcid.org/0000-0003-2638-3014"},"institutions":[{"id":"https://openalex.org/I183519381","display_name":"Capital Medical University","ror":"https://ror.org/013xs5b60","country_code":"CN","type":"education","lineage":["https://openalex.org/I183519381"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongdong Liu","raw_affiliation_strings":["School of Biomedical Engineering, Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, and the Laboratory for Clinical Medicine, Capital Medical University, Beijing, China","the Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Laboratory for Clinical Medicine, the School of Biomedical Engineering, Capital Medical University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering, Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, and the Laboratory for Clinical Medicine, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I183519381"]},{"raw_affiliation_string":"the Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Laboratory for Clinical Medicine, the School of Biomedical Engineering, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I183519381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100653075","display_name":"Yu Wang","orcid":"https://orcid.org/0000-0002-0278-0405"},"institutions":[{"id":"https://openalex.org/I183519381","display_name":"Capital Medical University","ror":"https://ror.org/013xs5b60","country_code":"CN","type":"education","lineage":["https://openalex.org/I183519381"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Wang","raw_affiliation_strings":["School of Biomedical Engineering, Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, and the Laboratory for Clinical Medicine, Capital Medical University, Beijing, China","the Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Laboratory for Clinical Medicine, the School of Biomedical Engineering, Capital Medical University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering, Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, and the Laboratory for Clinical Medicine, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I183519381"]},{"raw_affiliation_string":"the Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Laboratory for Clinical Medicine, the School of Biomedical Engineering, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I183519381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059159178","display_name":"Xueqian Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I183519381","display_name":"Capital Medical University","ror":"https://ror.org/013xs5b60","country_code":"CN","type":"education","lineage":["https://openalex.org/I183519381"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueqian Guo","raw_affiliation_strings":["School of Biomedical Engineering, Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, and the Laboratory for Clinical Medicine, Capital Medical University, Beijing, China","the Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Laboratory for Clinical Medicine, the School of Biomedical Engineering, Capital Medical University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering, Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, and the Laboratory for Clinical Medicine, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I183519381"]},{"raw_affiliation_string":"the Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Laboratory for Clinical Medicine, the School of Biomedical Engineering, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I183519381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100404777","display_name":"Bo Wu","orcid":"https://orcid.org/0000-0002-1995-4432"},"institutions":[{"id":"https://openalex.org/I183519381","display_name":"Capital Medical University","ror":"https://ror.org/013xs5b60","country_code":"CN","type":"education","lineage":["https://openalex.org/I183519381"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Wu","raw_affiliation_strings":["School of Biomedical Engineering, Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, and the Laboratory for Clinical Medicine, Capital Medical University, Beijing, China","the Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Laboratory for Clinical Medicine, the School of Biomedical Engineering, Capital Medical University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering, Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, and the Laboratory for Clinical Medicine, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I183519381"]},{"raw_affiliation_string":"the Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Laboratory for Clinical Medicine, the School of Biomedical Engineering, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I183519381"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007786968","display_name":"Nan Zhang","orcid":"https://orcid.org/0000-0001-7444-7508"},"institutions":[{"id":"https://openalex.org/I183519381","display_name":"Capital Medical University","ror":"https://ror.org/013xs5b60","country_code":"CN","type":"education","lineage":["https://openalex.org/I183519381"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Zhang","raw_affiliation_strings":["School of Biomedical Engineering, Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, and the Laboratory for Clinical Medicine, Capital Medical University, Beijing, China","the Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Laboratory for Clinical Medicine, the School of Biomedical Engineering, Capital Medical University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering, Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, and the Laboratory for Clinical Medicine, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I183519381"]},{"raw_affiliation_string":"the Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Laboratory for Clinical Medicine, the School of Biomedical Engineering, Capital Medical University, Beijing, China","institution_ids":["https://openalex.org/I183519381"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5045025476"],"corresponding_institution_ids":["https://openalex.org/I183519381"],"apc_list":null,"apc_paid":null,"fwci":5.1752,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.94607787,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":"22","issue":null,"first_page":"12197","last_page":"12212"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9958000183105469,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9958000183105469,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9955000281333923,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9617999792098999,"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/orthopedic-surgery","display_name":"Orthopedic surgery","score":0.6204332113265991},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5448101162910461},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5372670888900757},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5086299180984497},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4698452353477478},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4569365084171295},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4373268783092499},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42220357060432434},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4152836799621582},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.19376015663146973},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.19359824061393738},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1593913435935974}],"concepts":[{"id":"https://openalex.org/C68312169","wikidata":"https://www.wikidata.org/wiki/Q216685","display_name":"Orthopedic surgery","level":2,"score":0.6204332113265991},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5448101162910461},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5372670888900757},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5086299180984497},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4698452353477478},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4569365084171295},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4373268783092499},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42220357060432434},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4152836799621582},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.19376015663146973},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.19359824061393738},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1593913435935974},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3541594","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3541594","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tase.2025.3541594","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3541594","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6293058842","display_name":null,"funder_award_id":"61672362","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8184140768","display_name":null,"funder_award_id":"4232002","funder_id":"https://openalex.org/F4320334977","funder_display_name":"Beijing Municipal Natural Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334977","display_name":"Beijing Municipal Natural Science Foundation","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W1489796207","https://openalex.org/W1981340483","https://openalex.org/W2069656130","https://openalex.org/W2601943843","https://openalex.org/W2802040446","https://openalex.org/W2883972132","https://openalex.org/W2890600282","https://openalex.org/W2891765131","https://openalex.org/W2894234207","https://openalex.org/W2934999524","https://openalex.org/W2966933909","https://openalex.org/W2978696050","https://openalex.org/W2979471310","https://openalex.org/W2994446013","https://openalex.org/W3000110877","https://openalex.org/W3004689279","https://openalex.org/W3005930993","https://openalex.org/W3033013189","https://openalex.org/W3041164983","https://openalex.org/W3045540573","https://openalex.org/W3046389955","https://openalex.org/W3081176596","https://openalex.org/W3093106179","https://openalex.org/W3094280121","https://openalex.org/W3105064488","https://openalex.org/W3118688377","https://openalex.org/W3128104326","https://openalex.org/W3128463899","https://openalex.org/W3135121854","https://openalex.org/W3180405849","https://openalex.org/W3192801518","https://openalex.org/W3203380063","https://openalex.org/W3213182432","https://openalex.org/W4200045126","https://openalex.org/W4214554036","https://openalex.org/W4214920619","https://openalex.org/W4220676399","https://openalex.org/W4220767832","https://openalex.org/W4221139340","https://openalex.org/W4224864419","https://openalex.org/W4224869245","https://openalex.org/W4225677151","https://openalex.org/W4283270658","https://openalex.org/W4283314241","https://openalex.org/W4283791038","https://openalex.org/W4285129493","https://openalex.org/W4285196244","https://openalex.org/W4285819051","https://openalex.org/W4304148160","https://openalex.org/W4307304009","https://openalex.org/W4308888449","https://openalex.org/W4317518606","https://openalex.org/W4317796347","https://openalex.org/W4318830078","https://openalex.org/W4321795072","https://openalex.org/W4323294828","https://openalex.org/W4323913780","https://openalex.org/W4360938667","https://openalex.org/W4366165326","https://openalex.org/W4367550242","https://openalex.org/W4378174328","https://openalex.org/W4380995859","https://openalex.org/W4383825825","https://openalex.org/W4384522536","https://openalex.org/W4386051056","https://openalex.org/W4390099945","https://openalex.org/W4391907940","https://openalex.org/W4393161677"],"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":{"Current":[0],"orthopedic":[1,288],"surgical":[2,20,24,111,116,296,329,339,371,410,446,450,484],"robots":[3,297],"are":[4,199,240,298],"widely":[5],"used":[6],"in":[7,57,193,268,287,301,337,415,431],"pedicle":[8,32,58,126,195,270,291,399,454],"screw":[9,33,59,127,196,237,271,292,333,400,455],"implantation":[10,60,197,272,293,401],"tasks":[11,61,198],"due":[12,304],"to":[13,54,102,143,234,274,305,481],"their":[14,306,413],"precise":[15],"positioning":[16,308],"capabilities.":[17,309],"However,":[18,310],"the":[19,28,31,40,44,104,109,123,145,160,168,190,218,225,229,235,253,263,269,280,370,396,409,416,421,425,462,472],"operation":[21],"processes,":[22],"including":[23],"pose":[25,112,117,330,451],"alignment":[26,113,331,452],"and":[27,68,75,93,114,137,164,208,220,259,318,332,364,412,428,453,461,470,486],"drilling":[29,124,231],"of":[30,46,65,108,125,266,285,362,398,408,444,448],"placement":[34,128,238],"path,":[35],"remain":[36],"heavily":[37],"dependent":[38],"on":[39,135,314],"surgeon,":[41],"indicating":[42],"that":[43,252,341],"level":[45,265],"automation":[47,56,267,286],"still":[48],"needs":[49],"improvement.":[50],"This":[51,149,438,476],"paper":[52],"aims":[53],"enhance":[55],"through":[62],"a":[63,78,154,176,257,324,359,382],"combination":[64],"imitation":[66,91,388],"learning":[67,92,389],"constraint":[69],"optimization,":[70],"thereby":[71],"ensuring":[72],"both":[73],"reliability":[74,430],"safety.":[76],"Firstly,":[77],"high-level":[79,146],"motion":[80,170,393,418],"planning":[81,419],"method,":[82],"leveraging":[83],"Cartesian":[84],"space":[85,106],"dynamic":[86],"movement":[87],"primitives":[88],"(CDMP)":[89],"based":[90,134,181,387,392],"an":[94],"image-guided":[95],"optical":[96,344],"navigation":[97],"system":[98],"(I-GONS),":[99],"is":[100,141,150,172,277,402,478],"proposed":[101,254],"generate":[103],"task":[105,397],"path":[107,232,239,334,376],"rough":[110],"fine":[115],"alignment,":[118],"as":[119,121],"well":[120],"for":[122,262,282,290,327,395,441],"path.":[129,148],"Secondly,":[130],"end-effector":[131],"velocity":[132],"control":[133,171,320,394],"position":[136],"orientation":[138],"errors":[139,192,227],"(POE-EVC)":[140],"employed":[142],"follow":[144],"planned":[147,236],"achieved":[151],"by":[152,279],"constructing":[153],"quadratic":[155],"programming":[156],"(QP)":[157],"problem":[158],"with":[159,390],"robot":[161],"kinematic":[162,316,464,474],"constraints":[163,317],"manipulability":[165,459],"optimization.":[166],"Concurrently,":[167],"low-level":[169],"addressed":[173],"online":[174],"using":[175,420],"modified":[177],"linear":[178],"variational":[179],"inequality":[180],"primal":[182],"dual":[183],"neural":[184],"network":[185],"(mLVI-PDNN).":[186],"Experimental":[187],"results":[188,250],"demonstrate":[189],"distance":[191],"multiple":[194,445],"<inline-formula":[200,209,241],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[201,210,242],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[202,211,243],"<tex-math":[203,212,244],"notation=\"LaTeX\">$0.738\\pm":[204],"0.080$":[205],"</tex-math></inline-formula>":[206,215,247],"mm":[207,216],"notation=\"LaTeX\">$0.154\\pm":[213],"0.031$":[214],"at":[217],"entry":[219],"target":[221],"points,":[222],"respectively.":[223],"And":[224],"angular":[226],"between":[228],"actual":[230],"compared":[233],"notation=\"LaTeX\">$0.005\\pm":[245],"0.002$":[246],"degrees.":[248],"These":[249],"show":[251],"methodology":[255,384,477],"offers":[256],"reliable":[258,325],"innovative":[260],"solution":[261],"higher":[264,283],"procedure.Note":[273],"Practitioners\u2014The":[275],"study":[276],"driven":[278],"need":[281],"levels":[284],"surgery":[289],"tasks.":[294],"Orthopedic":[295],"usually":[299],"deployed":[300],"complicated":[302],"surgeries":[303],"excellent":[307],"they":[311],"primarily":[312],"rely":[313],"basic":[315],"cooperative":[319],"modes,":[321],"thus":[322],"lacking":[323],"mechanism":[326],"active":[328],"drilling,":[335,456],"especially":[336],"complex":[338],"scenarios":[340],"involve":[342],"only":[343],"tracking":[345],"systems":[346,357],"(OTS)":[347],"without":[348,433],"additional":[349,435],"vision":[350,436],"sensors.":[351,437],"For":[352],"example,":[353],"current":[354],"popular":[355],"OTS":[356],"have":[358],"limited":[360],"field":[361],"view":[363],"cannot":[365],"fully":[366],"acquire":[367],"information":[368],"about":[369],"scene,":[372],"which":[373],"impacts":[374],"collision-free":[375],"planning.":[377],"To":[378],"address":[379],"these":[380],"issues,":[381],"novel":[383],"combining":[385],"CDMP":[386,422],"QP":[391],"introduced.":[403],"Incorporating":[404],"surgeons\u2019":[405],"prior":[406],"knowledge":[407],"environment":[411],"participation":[414],"robot\u2019s":[417,426,463,473],"model":[423],"enhances":[424],"autonomy":[427],"increases":[429],"surgeries,":[432],"requiring":[434],"approach":[439],"allows":[440],"accurate":[442],"reconstruction":[443],"targets":[447],"automatic":[449],"while":[457],"respecting":[458],"optimization":[460],"constraints,":[465],"rather":[466],"than":[467],"merely":[468],"imitating":[469],"ignoring":[471],"structure.":[475],"also":[479],"applicable":[480],"various":[482],"clinical":[483],"operations":[485],"industrial":[487],"applications.":[488]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
