{"id":"https://openalex.org/W3098362553","doi":"https://doi.org/10.1109/tie.2020.3036215","title":"Automatic Force-Based Probe Positioning for Precise Robotic Ultrasound Acquisition","display_name":"Automatic Force-Based Probe Positioning for Precise Robotic Ultrasound Acquisition","publication_year":2020,"publication_date":"2020-11-12","ids":{"openalex":"https://openalex.org/W3098362553","doi":"https://doi.org/10.1109/tie.2020.3036215","mag":"3098362553"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2020.3036215","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2020.3036215","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5045257827","display_name":"Zhongliang Jiang","orcid":"https://orcid.org/0000-0001-7461-2200"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Zhongliang Jiang","raw_affiliation_strings":["Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany","[Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany]"],"affiliations":[{"raw_affiliation_string":"Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"[Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany]","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048911869","display_name":"Matthias Grimm","orcid":"https://orcid.org/0000-0002-3433-4020"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Grimm","raw_affiliation_strings":["Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany","[Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany]"],"affiliations":[{"raw_affiliation_string":"Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"[Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany]","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061386768","display_name":"Mingchuan Zhou","orcid":"https://orcid.org/0000-0002-6944-1483"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mingchuan Zhou","raw_affiliation_strings":["Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany","[Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany]"],"affiliations":[{"raw_affiliation_string":"Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"[Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany]","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100668236","display_name":"Ying Hu","orcid":"https://orcid.org/0000-0002-3807-3649"},"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, China","Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China;"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China;","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006906002","display_name":"Javier Esteban","orcid":"https://orcid.org/0000-0002-3017-4875"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Javier Esteban","raw_affiliation_strings":["Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany","[Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany]"],"affiliations":[{"raw_affiliation_string":"Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"[Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany]","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046896448","display_name":"Nassir Navab","orcid":"https://orcid.org/0000-0002-6032-5611"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany","Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5045257827"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":4.0777,"has_fulltext":false,"cited_by_count":88,"citation_normalized_percentile":{"value":0.94763119,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"68","issue":"11","first_page":"11200","last_page":"11211"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9987999796867371,"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/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.8293546438217163},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.7843766212463379},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5806613564491272},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5769172310829163},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5642715096473694},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.5275335311889648},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5178813934326172},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.47591739892959595},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.43088456988334656},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4288768172264099},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3891352415084839},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27134597301483154},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.265011727809906},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.2116968035697937},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1698511838912964}],"concepts":[{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.8293546438217163},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7843766212463379},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5806613564491272},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5769172310829163},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5642715096473694},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.5275335311889648},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5178813934326172},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.47591739892959595},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.43088456988334656},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4288768172264099},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3891352415084839},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27134597301483154},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.265011727809906},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.2116968035697937},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1698511838912964},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tie.2020.3036215","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2020.3036215","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:hub.hku.hk:10722/365392","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/365392","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W104681419","https://openalex.org/W1487667890","https://openalex.org/W1560133025","https://openalex.org/W1583092270","https://openalex.org/W1873864891","https://openalex.org/W1901993572","https://openalex.org/W2050733205","https://openalex.org/W2058877817","https://openalex.org/W2064674566","https://openalex.org/W2071000559","https://openalex.org/W2107018713","https://openalex.org/W2125805655","https://openalex.org/W2151321259","https://openalex.org/W2152195021","https://openalex.org/W2157289347","https://openalex.org/W2288836328","https://openalex.org/W2313149896","https://openalex.org/W2338895756","https://openalex.org/W2543580944","https://openalex.org/W2591481278","https://openalex.org/W2616585706","https://openalex.org/W2729315639","https://openalex.org/W2753487131","https://openalex.org/W2769219922","https://openalex.org/W2793224505","https://openalex.org/W2795890078","https://openalex.org/W2893379190","https://openalex.org/W2955189674","https://openalex.org/W2999812210","https://openalex.org/W3002801921","https://openalex.org/W4298036988"],"related_works":["https://openalex.org/W1973180395","https://openalex.org/W2417440389","https://openalex.org/W2391384635","https://openalex.org/W2011148146","https://openalex.org/W4385556839","https://openalex.org/W4378746257","https://openalex.org/W2734382758","https://openalex.org/W2109481748","https://openalex.org/W3164202441","https://openalex.org/W2362930768"],"abstract_inverted_index":{"The":[0,84,135,180],"correct":[1],"orientation":[2,33,127],"of":[3,10,22,90,178],"an":[4],"ultrasound":[5,24],"(US)":[6],"probe":[7,58,126,195],"is":[8,107,137,197],"one":[9],"the":[11,15,20,32,61,77,81,88,91,104,111,117,121,125,140,187,202],"main":[12],"parameters":[13],"governing":[14],"US":[16,44,57],"image":[17],"quality.":[18],"With":[19],"rise":[21],"robotic":[23],"systems":[25],"(RUSS),":[26],"methods":[27,175],"that":[28],"can":[29,128],"automatically":[30,54],"compute":[31],"promise":[34],"repeatable,":[35],"automatic":[36],"acquisition":[37],"from":[38],"predefined":[39,73],"angles":[40,155],"resulting":[41],"in":[42,176],"high-quality":[43],"imaging.":[45],"In":[46],"this":[47],"article,":[48],"we":[49],"propose":[50],"a":[51,56,150,169],"method":[52,85,136],"to":[53,60,71,76,119,139],"position":[55],"orthogonally":[59],"tissue":[62],"surface,":[63],"thereby":[64],"improving":[65],"sound":[66],"propagation":[67],"and":[68,142,156,166,194,199],"enabling":[69],"RUSS":[70],"reach":[72],"orientations":[74],"relatively":[75],"surface":[78],"normal":[79,122],"at":[80],"contact":[82,105],"point.":[83],"relies":[86],"on":[87,149,157,186,201],"derivation":[89],"underlying":[92],"mechanical":[93],"model.":[94],"Two":[95],"rotations":[96],"around":[97],"orthogonal":[98],"axes":[99],"are":[100,114],"carried":[101],"out,":[102],"while":[103],"force":[106,112],"being":[108],"recorded.":[109],"Then,":[110],"data":[113],"fed":[115],"into":[116],"model":[118],"estimate":[120],"direction.":[123],"Accordingly,":[124],"be":[129],"computed":[130],"without":[131],"requiring":[132],"visual":[133],"features.":[134],"applicable":[138],"convex":[141],"linear":[143],"probes.":[144],"It":[145],"has":[146,172],"been":[147],"evaluated":[148],"phantom":[151],"with":[152],"varying":[153],"tilt":[154],"multiple":[158],"human":[159],"tissues":[160,189],"(forearm,":[161],"upper":[162],"arm,":[163],"lower":[164],"back,":[165],"leg).":[167],"As":[168],"result,":[170],"it":[171],"outperformed":[173],"existing":[174],"terms":[177],"accuracy.":[179],"mean":[181],"(\u00b1SD)":[182],"absolute":[183],"angular":[184],"difference":[185],"in-vivo":[188],"averaged":[190],"over":[191],"all":[192],"anatomies":[193],"types":[196],"2.9\u00b11.6\u00b0":[198],"2.2\u00b11.5\u00b0":[200],"phantom.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-11T14:59:36.786465","created_date":"2025-10-10T00:00:00"}
