{"id":"https://openalex.org/W4388208314","doi":"https://doi.org/10.1109/tie.2023.3322010","title":"A Noniterative Neural Algorithm Involving Dini Derivatives for Visual Servoing of Joint-Constrained Robotic Endoscope","display_name":"A Noniterative Neural Algorithm Involving Dini Derivatives for Visual Servoing of Joint-Constrained Robotic Endoscope","publication_year":2023,"publication_date":"2023-10-26","ids":{"openalex":"https://openalex.org/W4388208314","doi":"https://doi.org/10.1109/tie.2023.3322010"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2023.3322010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3322010","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/A5062678624","display_name":"Biao Song","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Biao Song","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5039-5264","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063378661","display_name":"Weibing Li","orcid":"https://orcid.org/0000-0002-7970-9076"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weibing Li","raw_affiliation_strings":["School of Computer Science and Engineering, and the Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-7970-9076","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, and the Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015092734","display_name":"Yongping Pan","orcid":"https://orcid.org/0000-0002-8587-6065"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongping Pan","raw_affiliation_strings":["School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-8587-6065","affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":0.8837,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.72349832,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"71","issue":"8","first_page":"9520","last_page":"9529"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9993000030517578,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9993000030517578,"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":0.9986000061035156,"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":0.9958000183105469,"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/visual-servoing","display_name":"Visual servoing","score":0.7176942229270935},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.62227463722229},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.6193366050720215},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5749271512031555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5269939303398132},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45919856429100037},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.44889479875564575},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4402039349079132},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4362819194793701},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.432323157787323},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27996671199798584},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2495710253715515}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7176942229270935},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.62227463722229},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.6193366050720215},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5749271512031555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5269939303398132},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45919856429100037},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.44889479875564575},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4402039349079132},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4362819194793701},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.432323157787323},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27996671199798584},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2495710253715515},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2023.3322010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3322010","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1064544311","display_name":null,"funder_award_id":"2022A1515012186","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G5222414796","display_name":null,"funder_award_id":"23lgzy004","funder_id":"https://openalex.org/F4320321160","funder_display_name":"Sun Yat-sen University"},{"id":"https://openalex.org/G5358768144","display_name":null,"funder_award_id":"62206317","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/F4320321160","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1964649988","https://openalex.org/W1989169659","https://openalex.org/W1990881389","https://openalex.org/W1996673354","https://openalex.org/W2013439434","https://openalex.org/W2101482846","https://openalex.org/W2129485278","https://openalex.org/W2166374794","https://openalex.org/W2345244325","https://openalex.org/W2595448953","https://openalex.org/W2769646558","https://openalex.org/W2786720294","https://openalex.org/W2890509291","https://openalex.org/W2891576042","https://openalex.org/W2934060014","https://openalex.org/W2968043153","https://openalex.org/W2975370440","https://openalex.org/W2996469688","https://openalex.org/W2996951424","https://openalex.org/W3012093354","https://openalex.org/W3025022150","https://openalex.org/W3093134870","https://openalex.org/W3101798601","https://openalex.org/W3139432614","https://openalex.org/W3196560067","https://openalex.org/W3202175197","https://openalex.org/W4223560790","https://openalex.org/W4250589301","https://openalex.org/W4312608988","https://openalex.org/W4362692863"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W3024380338","https://openalex.org/W4317830657","https://openalex.org/W2127866683","https://openalex.org/W2065095941","https://openalex.org/W110066474"],"abstract_inverted_index":{"In":[0],"minimally":[1],"invasive":[2],"surgery":[3],"(MIS),":[4],"surgical":[5],"endoscope":[6],"can":[7,103],"be":[8,68,113],"automated":[9],"using":[10],"visual":[11,56,143],"servoing":[12,57,144],"by":[13,72,91],"incorporating":[14],"motion":[15],"constraints":[16,45,106],"into":[17],"a":[18,28,47,82,93],"time-variant":[19],"quadratic":[20],"programming":[21],"(TVQP).":[22],"Zeroing":[23],"neural":[24,31],"network":[25,32],"(ZNN)":[26],"is":[27,124,139],"superior":[29,146],"recurrent":[30],"(RNN)":[33],"for":[34],"solving":[35],"TVQP":[36,48,90],"in":[37,46,77],"real":[38],"time.":[39],"However,":[40],"ZNNs":[41],"cannot":[42,67],"handle":[43,104],"bound":[44,105],"directly":[49,107],"and":[50,108,127,131],"require":[51],"differentiable":[52,117],"elements,":[53],"meaning":[54],"that":[55,135],"requires":[58],"the":[59,73,98,101,122,136],"accelerations":[60,65,76],"of":[61,121],"feature":[62],"points.":[63],"Unfortunately,":[64],"usually":[66],"accurately":[69],"retrieved.":[70],"Motivated":[71],"expected":[74],"low":[75],"MIS,":[78],"this":[79],"article":[80],"proposes":[81],"novel":[83],"noniterative":[84],"algorithm":[85],"termed":[86],"Dini-RNN":[87,102,123,137],"to":[88,112,141],"solve":[89],"introducing":[92],"Dini":[94],"derivative":[95],"operator.":[96],"Unlike":[97],"existing":[99],"ZNNs,":[100],"allows":[109],"partial":[110],"elements":[111],"continuous":[114],"but":[115],"not":[116],"everywhere.":[118],"The":[119],"convergence":[120],"theoretically":[125],"analyzed":[126],"proved.":[128],"Subsequently,":[129],"simulative":[130],"experimental":[132],"results":[133],"show":[134],"solution":[138],"effective":[140],"achieve":[142],"with":[145],"performance.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-16T13:24:37.021932","created_date":"2025-10-10T00:00:00"}
