{"id":"https://openalex.org/W4312892945","doi":"https://doi.org/10.1109/tie.2022.3220864","title":"SAPM: Self-Adaptive Parallel Manipulator With Pose and Force Adjustment for Robotic Ultrasonography","display_name":"SAPM: Self-Adaptive Parallel Manipulator With Pose and Force Adjustment for Robotic Ultrasonography","publication_year":2022,"publication_date":"2022-11-14","ids":{"openalex":"https://openalex.org/W4312892945","doi":"https://doi.org/10.1109/tie.2022.3220864","pmid":"https://pubmed.ncbi.nlm.nih.gov/37323755"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3220864","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3220864","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","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC7614654/pdf/EMS174140.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101972318","display_name":"Xianqiang Bao","orcid":"https://orcid.org/0000-0001-9723-9883"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xianqiang Bao","raw_affiliation_strings":["School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9723-9883","affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K","institution_ids":["https://openalex.org/I4210119896","https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034269100","display_name":"Shuangyi Wang","orcid":"https://orcid.org/0000-0003-4316-3259"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuangyi Wang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4316-3259","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086315933","display_name":"Lingling Zheng","orcid":"https://orcid.org/0000-0002-8447-5446"},"institutions":[{"id":"https://openalex.org/I201933988","display_name":"Kagawa University","ror":"https://ror.org/04j7mzp05","country_code":"JP","type":"education","lineage":["https://openalex.org/I201933988"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Lingling Zheng","raw_affiliation_strings":["Faculty of Engineering and Design, Kagawa University, Takamatsu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Design, Kagawa University, Takamatsu, Japan","institution_ids":["https://openalex.org/I201933988"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058258110","display_name":"R. James Housden","orcid":"https://orcid.org/0000-0002-1673-5728"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Richard James Housden","raw_affiliation_strings":["School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1673-5728","affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K","institution_ids":["https://openalex.org/I4210119896","https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085446806","display_name":"Joseph V. Hajnal","orcid":"https://orcid.org/0000-0002-2690-5495"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Joseph Hajnal","raw_affiliation_strings":["School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-2690-5495","affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K","institution_ids":["https://openalex.org/I4210119896","https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001083475","display_name":"Kawal Rhode","orcid":"https://orcid.org/0000-0002-4707-7318"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kawal Rhode","raw_affiliation_strings":["School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-4707-7318","affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K","institution_ids":["https://openalex.org/I4210119896","https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7261,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.8600616,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"70","issue":"10","first_page":"10333","last_page":"10343"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9979000091552734,"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"}},"topics":[{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9979000091552734,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9958999752998352,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6512998342514038},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.534337043762207},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5229616761207581},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5194541811943054},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.49448084831237793},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4277648329734802},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3873521685600281},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3664909899234772},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28047990798950195},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2590699791908264},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21265313029289246},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11912694573402405}],"concepts":[{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6512998342514038},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.534337043762207},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5229616761207581},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5194541811943054},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.49448084831237793},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4277648329734802},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3873521685600281},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3664909899234772},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28047990798950195},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2590699791908264},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21265313029289246},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11912694573402405}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tie.2022.3220864","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3220864","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":"pmid:37323755","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37323755","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on industrial electronics (1982)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:7614654","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7614654","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC7614654/pdf/EMS174140.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Trans Ind Electron","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:7614654","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7614654","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC7614654/pdf/EMS174140.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Trans Ind Electron","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5099999904632568,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G12820538","display_name":null,"funder_award_id":"62003339","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1322964166","display_name":null,"funder_award_id":"203148/Z/16/Z","funder_id":"https://openalex.org/F4320311904","funder_display_name":"Wellcome Trust"},{"id":"https://openalex.org/G1350670276","display_name":null,"funder_award_id":"20200116","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"},{"id":"https://openalex.org/G1567490120","display_name":null,"funder_award_id":"20200116","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1814604835","display_name":null,"funder_award_id":"102431","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G1938145382","display_name":null,"funder_award_id":"WT 203148/Z/16/Z","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G2272191900","display_name":"A computer-guided imaging system for prenatal screening and comprehensive diagnosis of fetal abnormalities.","funder_award_id":"102431","funder_id":"https://openalex.org/F4320311904","funder_display_name":"Wellcome Trust"},{"id":"https://openalex.org/G5296857752","display_name":null,"funder_award_id":"203148/Z/16/Z","funder_id":"https://openalex.org/F4320337314","funder_display_name":"Centre For Medical Engineering, King\u2019s College London"},{"id":"https://openalex.org/G5907639349","display_name":"King's College London Medical Engineering Centre of Research Excellence","funder_award_id":"203148","funder_id":"https://openalex.org/F4320311904","funder_display_name":"Wellcome Trust"},{"id":"https://openalex.org/G7082644654","display_name":null,"funder_award_id":"102431","funder_id":"https://openalex.org/F4320319990","funder_display_name":"National Institute for Health and Care Research"},{"id":"https://openalex.org/G7967443389","display_name":null,"funder_award_id":"WT 203148/Z/16/Z","funder_id":"https://openalex.org/F4320311904","funder_display_name":"Wellcome Trust"},{"id":"https://openalex.org/G8215791725","display_name":null,"funder_award_id":"WT 203148/Z/16/Z","funder_id":"https://openalex.org/F4320320285","funder_display_name":"King's College London"},{"id":"https://openalex.org/G8303168876","display_name":null,"funder_award_id":"WT 203148/Z/16/","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8775246936","display_name":null,"funder_award_id":"203148/Z/16/Z","funder_id":"https://openalex.org/F4320319990","funder_display_name":"National Institute for Health and Care Research"},{"id":"https://openalex.org/G8787748348","display_name":null,"funder_award_id":"203148/Z/16/Z","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G961285871","display_name":null,"funder_award_id":"WT 203148/Z/16/Z","funder_id":"https://openalex.org/F4320337314","funder_display_name":"Centre For Medical Engineering, King\u2019s College London"}],"funders":[{"id":"https://openalex.org/F4320311196","display_name":"King\u2019s College London","ror":"https://ror.org/0220mzb33"},{"id":"https://openalex.org/F4320311904","display_name":"Wellcome Trust","ror":"https://ror.org/029chgv08"},{"id":"https://openalex.org/F4320315071","display_name":"NIHR Biomedical Research Centre, Royal Marsden NHS Foundation Trust/Institute of Cancer Research","ror":"https://ror.org/0187kwz08"},{"id":"https://openalex.org/F4320319990","display_name":"National Institute for Health and Care Research","ror":"https://ror.org/0187kwz08"},{"id":"https://openalex.org/F4320320285","display_name":"King's College London","ror":"https://ror.org/0220mzb33"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320337314","display_name":"Centre For Medical Engineering, King\u2019s College London","ror":"https://ror.org/04s9kfd63"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312892945.pdf","grobid_xml":"https://content.openalex.org/works/W4312892945.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W189486789","https://openalex.org/W1524365300","https://openalex.org/W1993187570","https://openalex.org/W2004154491","https://openalex.org/W2027937759","https://openalex.org/W2040921290","https://openalex.org/W2090647837","https://openalex.org/W2100183235","https://openalex.org/W2105846955","https://openalex.org/W2120415087","https://openalex.org/W2141878121","https://openalex.org/W2296301176","https://openalex.org/W2419124466","https://openalex.org/W2588712908","https://openalex.org/W2610121792","https://openalex.org/W2753975130","https://openalex.org/W2893379190","https://openalex.org/W2943999241","https://openalex.org/W2966176395","https://openalex.org/W2979535588","https://openalex.org/W2993611986","https://openalex.org/W3002801921","https://openalex.org/W3008583927","https://openalex.org/W3080743383","https://openalex.org/W3090509004","https://openalex.org/W3118911932","https://openalex.org/W3127418615","https://openalex.org/W3130510843","https://openalex.org/W3206166730","https://openalex.org/W4244661515","https://openalex.org/W4285194566","https://openalex.org/W6607713723"],"related_works":["https://openalex.org/W1997122515","https://openalex.org/W2393977490","https://openalex.org/W2366856298","https://openalex.org/W4234825356","https://openalex.org/W2166323405","https://openalex.org/W2038930466","https://openalex.org/W2376007266","https://openalex.org/W2695075568","https://openalex.org/W2185220635","https://openalex.org/W2159353126"],"abstract_inverted_index":{"Robotic":[0],"ultrasonography":[1],"potentially":[2],"acts":[3],"as":[4,119],"an":[5],"essential":[6],"aid":[7],"to":[8,38,40,66,83,85,90,139,161,176,185,195,208],"medical":[9,213],"diagnosis.":[10],"To":[11],"overcome":[12],"the":[13,33,80,92,115,141,148,151,156,159,172],"limitations":[14],"in":[15,18],"robotic":[16],"ultrasonography,":[17],"this":[19],"paper,":[20],"we":[21,101],"proposed":[22,65],"a":[23,103,186],"novel":[24,60],"self-adaptive":[25],"parallel":[26,61],"manipulator":[27],"(SAPM)":[28],"that":[29,110,198],"can":[30,111],"automatically":[31,170],"adjust":[32,171],"ultrasound":[34],"(US)":[35],"probe":[36,82,174],"pose":[37,69,175],"adapt":[39,84],"various":[41],"contours":[42],"of":[43,74,150,158,180],"scanned":[44,87],"areas,":[45],"provide":[46,162],"approximate":[47,95],"constant":[48,96],"operating":[49,131,166],"forces/torques,":[50],"achieve":[51],"mechanical":[52,104],"measurement,":[53],"and":[54,89,98,106,117,123,133,143,146,165,169,204],"cushion":[55],"undesired":[56],"produced":[57],"forces.":[58],"A":[59],"adjustment":[62,70],"mechanism":[63,78],"is":[64],"attain":[67],"automatic":[68],"with":[71,94],"3":[72],"degrees":[73],"freedom":[75],"(DOFs).":[76],"This":[77],"enables":[79],"US":[81,173,178],"different":[86],"areas":[88],"perform":[91],"scanning":[93,127],"forces":[97,132],"torques.":[99,134],"Besides,":[100],"present":[102],"measurement":[105,142,168],"safety":[107],"protection":[108],"method":[109],"be":[112,206],"integrated":[113],"into":[114],"SAPM":[116,160],"used":[118],"operation":[120,202],"status":[121],"monitoring":[122],"early":[124],"warning":[125],"during":[126],"procedures":[128],"by":[129],"capturing":[130],"Experiments":[135],"were":[136],"carried":[137],"out":[138],"calibrate":[140],"buffer":[144],"units":[145],"evaluate":[147],"performance":[149],"SAPM.":[152],"Experimental":[153],"results":[154],"show":[155],"ability":[157],"3-DoFs":[163],"motion":[164],"force/torque":[167],"capture":[177],"images":[179],"equally":[181],"good":[182],"quality":[183],"compared":[184],"manual":[187],"sonographer":[188],"scan.":[189],"Moreover,":[190],"it":[191],"has":[192],"characteristics":[193],"similar":[194],"soft":[196],"robots":[197],"could":[199,205],"significantly":[200],"improve":[201],"safety,":[203],"extended":[207],"some":[209],"other":[210],"engineering":[211],"or":[212],"applications.":[214]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}