{"id":"https://openalex.org/W7117468859","doi":"https://doi.org/10.1109/tase.2025.3649268","title":"MC-CPO-Based Algorithm for Collision-Aware and Preparation Accuracy in Confined Space for Tooth Preparation Robots","display_name":"MC-CPO-Based Algorithm for Collision-Aware and Preparation Accuracy in Confined Space for Tooth Preparation Robots","publication_year":2025,"publication_date":"2025-12-29","ids":{"openalex":"https://openalex.org/W7117468859","doi":"https://doi.org/10.1109/tase.2025.3649268"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3649268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3649268","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":null,"license_id":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5118954934","display_name":"Jianpeng Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianpeng Sun","raw_affiliation_strings":["Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Heilongjiang Province Key Laboratory of Pattern Recognition and Information Perception, and the Key Laboratory of Engineering Dielectrics and Its Application, Ministry of Education, Harbin University of Science and Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Heilongjiang Province Key Laboratory of Pattern Recognition and Information Perception, and the Key Laboratory of Engineering Dielectrics and Its Application, Ministry of Education, Harbin University of Science and Technology, Harbin, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121511640","display_name":"Jingang Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingang Jiang","raw_affiliation_strings":["Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113146537","display_name":"Zhonghao Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhonghao Xue","raw_affiliation_strings":["Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121449714","display_name":"Chunrui Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunrui Wang","raw_affiliation_strings":["School of Computer Science and Technology, Harbin University of Science and Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Harbin University of Science and Technology, Harbin, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101458692","display_name":"Tao Shen","orcid":"https://orcid.org/0000-0002-9429-0525"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Shen","raw_affiliation_strings":["Key Laboratory of Engineering Dielectrics and Its Application, Ministry of Education, Harbin University of Science and Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Engineering Dielectrics and Its Application, Ministry of Education, Harbin University of Science and Technology, Harbin, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5121480476","display_name":"Jie Pan","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Pan","raw_affiliation_strings":["School of Stomatology, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Stomatology, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5118954934"],"corresponding_institution_ids":["https://openalex.org/I100188998"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.6282616,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"1879","last_page":"1892"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6553999781608582,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.6553999781608582,"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":0.11999999731779099,"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":0.09449999779462814,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.604200005531311},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5640000104904175},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.5054000020027161},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4440999925136566},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.4296000003814697},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.42100000381469727},{"id":"https://openalex.org/keywords/solid-modeling","display_name":"Solid modeling","score":0.4156000018119812},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.40610000491142273},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3880000114440918},{"id":"https://openalex.org/keywords/surface-roughness","display_name":"Surface roughness","score":0.38019999861717224}],"concepts":[{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.604200005531311},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5640000104904175},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.5054000020027161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4948999881744385},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4440999925136566},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.4296000003814697},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.42100000381469727},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.4156000018119812},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.40610000491142273},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3970000147819519},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3912000060081482},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3880000114440918},{"id":"https://openalex.org/C107365816","wikidata":"https://www.wikidata.org/wiki/Q114817","display_name":"Surface roughness","level":2,"score":0.38019999861717224},{"id":"https://openalex.org/C3020197141","wikidata":"https://www.wikidata.org/wiki/Q6621541","display_name":"Tooth surface","level":2,"score":0.37880000472068787},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.3686999976634979},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36660000681877136},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.36629998683929443},{"id":"https://openalex.org/C71039073","wikidata":"https://www.wikidata.org/wiki/Q3439090","display_name":"Surface finish","level":2,"score":0.35499998927116394},{"id":"https://openalex.org/C104065381","wikidata":"https://www.wikidata.org/wiki/Q1002535","display_name":"Geometric modeling","level":2,"score":0.3400999903678894},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.3359000086784363},{"id":"https://openalex.org/C2777571299","wikidata":"https://www.wikidata.org/wiki/Q3680646","display_name":"Grinding","level":2,"score":0.3346000015735626},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.3303999900817871},{"id":"https://openalex.org/C117258860","wikidata":"https://www.wikidata.org/wiki/Q895153","display_name":"Boundary representation","level":3,"score":0.32710000872612},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.3174999952316284},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3172999918460846},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31439998745918274},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.30869999527931213},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.30480000376701355},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.303600013256073},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.29649999737739563},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.2897999882698059},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.288100004196167},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2842999994754791},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2761000096797943},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2759000062942505},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2759000062942505},{"id":"https://openalex.org/C184585634","wikidata":"https://www.wikidata.org/wiki/Q1434060","display_name":"Bounding volume","level":4,"score":0.2644999921321869}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3649268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3649268","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":null,"license_id":null,"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":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1068084111","display_name":null,"funder_award_id":"2025M781278","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G4098459252","display_name":null,"funder_award_id":"52575015","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"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320326178","display_name":"Heilongjiang Provincial Postdoctoral Science Foundation","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1773833824","https://openalex.org/W1989329245","https://openalex.org/W2996331036","https://openalex.org/W3165078599","https://openalex.org/W3192044931","https://openalex.org/W3200209451","https://openalex.org/W3207057528","https://openalex.org/W4206969736","https://openalex.org/W4310936473","https://openalex.org/W4313475481","https://openalex.org/W4360584570","https://openalex.org/W4362466409","https://openalex.org/W4366979708","https://openalex.org/W4379622502","https://openalex.org/W4384435982","https://openalex.org/W4390691999","https://openalex.org/W4391640378","https://openalex.org/W4393066148","https://openalex.org/W4394612770","https://openalex.org/W4394883151","https://openalex.org/W4399767118","https://openalex.org/W4400488939","https://openalex.org/W4402147288","https://openalex.org/W4402568463","https://openalex.org/W4402592702","https://openalex.org/W4403927975","https://openalex.org/W4405179692","https://openalex.org/W4406610381","https://openalex.org/W4408946254","https://openalex.org/W4410153246","https://openalex.org/W4410428526","https://openalex.org/W4412196526","https://openalex.org/W4413925844","https://openalex.org/W4414579001"],"related_works":[],"abstract_inverted_index":{"To":[0],"address":[1],"the":[2,24,37,44,48,112,117,120,134,143,165,169,178],"challenge":[3],"of":[4,47,68,142,181],"multi-constraint":[5],"field":[6],"coupling":[7],"in":[8,16,199,227],"tooth":[9,204,221],"preparation":[10,129,187,222],"robots,":[11,223],"particularly":[12],"for":[13,40,157,220],"posture":[14,53,61],"solving":[15],"confined":[17],"oral":[18,49,206],"cavity":[19],"spaces,":[20],"this":[21],"paper":[22],"introduces":[23],"Multi-field":[25],"Coupling":[26],"Cantilevered":[27],"Instrument":[28],"Operation":[29],"Parameters":[30],"Optimization":[31],"(MC-CPO)":[32],"algorithm.":[33],"Initially,":[34],"based":[35],"on":[36],"protection":[38],"mechanism":[39],"adjacent":[41,72],"teeth":[42],"and":[43,74,84,104,119,128,151,191,205,215,231],"anatomical":[45],"structure":[46],"cavity,":[50],"a":[51,213],"hierarchical":[52],"planning":[54],"strategy":[55],"is":[56,77,97],"proposed":[57],"to":[58,175,225],"decouple":[59],"bur":[60,118],"from":[62,173],"handle":[63],"orientation":[64],"optimization.":[65,160],"The":[66],"risk":[67],"collisions":[69],"between":[70,116],"bur,":[71],"teeth,":[73],"soft":[75],"tissues":[76],"significantly":[78],"reduced":[79],"through":[80],"single-entry":[81],"constraint":[82],"modeling":[83],"outer":[85],"bounding":[86],"sphere":[87],"(OBS)":[88],"collision":[89,171],"detection":[90],"algorithms.":[91],"Subsequently,":[92],"an":[93,202],"instrument-tissue":[94],"interaction":[95],"model":[96,109],"developed,":[98],"incorporating":[99],"bidirectional":[100],"contact":[101,145],"boundary":[102],"conditions":[103],"personalized":[105],"force":[106,115],"characterization.":[107],"This":[108,210],"dynamically":[110],"resolves":[111],"instantaneous":[113],"grinding":[114],"tooth,":[121],"optimizing":[122],"material":[123],"removal":[124],"residual":[125],"volume":[126],"(MRRV)":[127],"accuracy.":[130],"Further,":[131],"by":[132,183,189,197],"extending":[133],"Artificial":[135],"Protozoa":[136],"Optimizer":[137],"(APO)":[138],"algorithm,":[139],"geometric":[140],"error":[141],"tool":[144],"(TC)":[146],"point,":[147],"robotic":[148],"arm":[149],"stiffness,":[150],"joint":[152,194],"continuity":[153],"constraints":[154],"are":[155],"integrated":[156],"multi-objective":[158],"collaborative":[159,229],"Experimental":[161],"results":[162],"demonstrate":[163],"that":[164],"optimized":[166],"approach":[167],"reduces":[168,192],"instrument":[170],"rate":[172],"23.5%":[174],"1.3%\u00b10.4%(CI=0.8%-1.9%),":[176],"lowers":[177],"standard":[179],"deviation":[180],"MRRV":[182],"18.8%,":[184],"improves":[185],"surface":[186],"roughness":[188],"27.3%,":[190],"peak":[193],"angular":[195],"acceleration":[196],"35%":[198],"tests":[200],"using":[201],"isolated":[203],"phantom":[207],"head":[208],"model.":[209],"study":[211],"offers":[212],"safe":[214],"precise":[216],"clinical":[217],"operation":[218],"paradigm":[219],"contributing":[224],"advancements":[226],"human-robot":[228],"diagnosis":[230],"treatment.":[232]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-12-29T00:00:00"}