{"id":"https://openalex.org/W4400679822","doi":"https://doi.org/10.1109/tie.2024.3413816","title":"Novel Noise-Tolerant Recurrent Neural Network Adaptive Control of Preoperative Pose for Cranial Neurosurgery Robot With Physical Constraints","display_name":"Novel Noise-Tolerant Recurrent Neural Network Adaptive Control of Preoperative Pose for Cranial Neurosurgery Robot With Physical Constraints","publication_year":2024,"publication_date":"2024-07-16","ids":{"openalex":"https://openalex.org/W4400679822","doi":"https://doi.org/10.1109/tie.2024.3413816"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3413816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3413816","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/A5054138357","display_name":"Zhiwei Cui","orcid":"https://orcid.org/0000-0003-1876-6648"},"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/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhiwei Cui","raw_affiliation_strings":["Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science &#x0026; Innovation, Chinese Academy of Sciences, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-1876-6648","affiliations":[{"raw_affiliation_string":"Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science &#x0026; Innovation, Chinese Academy of Sciences, Hong Kong, China","institution_ids":["https://openalex.org/I4210116924","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100415063","display_name":"Zheng Li","orcid":"https://orcid.org/0000-0003-4455-0808"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zheng Li","raw_affiliation_strings":["Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-4455-0808","affiliations":[{"raw_affiliation_string":"Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013169403","display_name":"Mingcong Chen","orcid":"https://orcid.org/0000-0001-9544-2589"},"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/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingcong Chen","raw_affiliation_strings":["Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science &#x0026; Innovation, Chinese Academy of Sciences, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0001-9544-2589","affiliations":[{"raw_affiliation_string":"Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science &#x0026; Innovation, Chinese Academy of Sciences, Hong Kong, China","institution_ids":["https://openalex.org/I4210116924","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100608776","display_name":"Zhongkai Zhang","orcid":"https://orcid.org/0000-0003-3910-1055"},"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/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongkai Zhang","raw_affiliation_strings":["Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science &#x0026; Innovation, Chinese Academy of Sciences, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-3910-1055","affiliations":[{"raw_affiliation_string":"Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science &#x0026; Innovation, Chinese Academy of Sciences, Hong Kong, China","institution_ids":["https://openalex.org/I4210116924","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004659892","display_name":"Hongbin Liu","orcid":"https://orcid.org/0000-0002-4315-7556"},"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/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbin Liu","raw_affiliation_strings":["Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science &#x0026; Innovation, Chinese Academy of Sciences, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-4315-7556","affiliations":[{"raw_affiliation_string":"Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science &#x0026; Innovation, Chinese Academy of Sciences, Hong Kong, China","institution_ids":["https://openalex.org/I4210116924","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5054138357"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210116924"],"apc_list":null,"apc_paid":null,"fwci":0.707,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.66195904,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"72","issue":"2","first_page":"1673","last_page":"1683"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.979200005531311,"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":0.979200005531311,"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":0.9785000085830688,"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"}},{"id":"https://openalex.org/T12476","display_name":"Intraoperative Neuromonitoring and Anesthetic Effects","score":0.9072999954223633,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/neurosurgery","display_name":"Neurosurgery","score":0.6914466619491577},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5409356951713562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5338989496231079},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4916864037513733},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4551134705543518},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4485546052455902},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.42666518688201904},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42305320501327515},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3866146206855774},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.3208352327346802},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28597837686538696},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2507140636444092},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1661236584186554}],"concepts":[{"id":"https://openalex.org/C12770488","wikidata":"https://www.wikidata.org/wiki/Q188449","display_name":"Neurosurgery","level":2,"score":0.6914466619491577},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5409356951713562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5338989496231079},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4916864037513733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4551134705543518},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4485546052455902},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.42666518688201904},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42305320501327515},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3866146206855774},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3208352327346802},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28597837686538696},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2507140636444092},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1661236584186554},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2024.3413816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3413816","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W405308472","https://openalex.org/W1560270123","https://openalex.org/W1973446088","https://openalex.org/W1979517588","https://openalex.org/W1984401712","https://openalex.org/W1985463596","https://openalex.org/W1993301221","https://openalex.org/W2070721072","https://openalex.org/W2105893395","https://openalex.org/W2108005770","https://openalex.org/W2130317597","https://openalex.org/W2169316154","https://openalex.org/W2290545100","https://openalex.org/W2400049928","https://openalex.org/W2500498978","https://openalex.org/W2503967141","https://openalex.org/W2530592706","https://openalex.org/W2591985941","https://openalex.org/W2616170934","https://openalex.org/W2696256157","https://openalex.org/W2772030069","https://openalex.org/W2887202718","https://openalex.org/W2888103493","https://openalex.org/W2964682962","https://openalex.org/W2973843340","https://openalex.org/W2996334366","https://openalex.org/W3003406779","https://openalex.org/W3081506817","https://openalex.org/W3087926553","https://openalex.org/W3174783425","https://openalex.org/W3202175197","https://openalex.org/W4231419254","https://openalex.org/W4250589301","https://openalex.org/W4285197395","https://openalex.org/W4297919728","https://openalex.org/W4380078449"],"related_works":["https://openalex.org/W2443919745","https://openalex.org/W4246973704","https://openalex.org/W4298287631","https://openalex.org/W2953061907","https://openalex.org/W2418798809","https://openalex.org/W2014425043","https://openalex.org/W2171912896","https://openalex.org/W2542723153","https://openalex.org/W2021541810","https://openalex.org/W2133150803"],"abstract_inverted_index":{"The":[0,173],"preoperative":[1,98,196],"pose":[2,27,197],"manual":[3],"adjustment":[4,28,95,193],"of":[5,30,45,68,96,146,156,194,202],"the":[6,22,25,39,65,90,97,103,127,143,147,152,157,171,179,187,191,195,200,207,210],"cranial":[7],"neurosurgery":[8],"robot":[9],"(CNR)":[10],"has":[11,199],"defects":[12],"such":[13,50],"as":[14,51],"low":[15],"operation":[16],"efficiency":[17],"and":[18,21,58,87,117,133,154,170,198,220],"great":[19],"difficulty,":[20],"research":[23],"on":[24,102],"adaptive":[26],"technology":[29,44],"CNR":[31,91,188],"can":[32,184],"effectively":[33],"compensate":[34],"for":[35],"these":[36],"defects.":[37],"However,":[38],"existing":[40],"neural":[41,77,149,159,181,212],"network":[42,78],"control":[43,56,80,110,129,182,186],"robots":[46],"often":[47],"neglects":[48],"issues":[49],"noise-tolerant,":[52],"computational":[53],"burden":[54],"(CB),":[55],"accuracy,":[57],"physical":[59,83,113],"constraints,":[60],"which":[61],"are":[62,138,161],"crucial":[63],"to":[64,92,125,141,189],"stable":[66],"work":[67],"CNR.":[69,172],"To":[70],"this":[71],"end,":[72],"a":[73,107,119,165],"novel":[74],"noise-tolerant":[75,121,218],"recurrent":[76],"(RNN)":[79],"method":[81],"with":[82,112,206],"constraints":[84],"is":[85,115,123],"designed":[86,124,148,158,180,211],"successfully":[88],"controls":[89],"achieve":[93],"self-adaptive":[94,192],"pose.":[99],"First,":[100],"based":[101],"CNR\u2019s":[104,128],"kinematics":[105],"model,":[106],"quadratic":[108],"programming":[109],"scheme":[111],"constraint":[114],"designed,":[116],"then":[118],"new":[120],"RNN":[122],"resolve":[126],"scheme.":[130],"Under":[131],"noise-free":[132],"noise":[134],"conditions,":[135],"theoretical":[136],"analyses":[137],"rigorously":[139],"performed":[140],"ensure":[142],"fast":[144],"convergence":[145,222],"methods.":[150],"Finally,":[151],"practicability":[153],"correctness":[155],"methods":[160,183,213],"verified":[162],"by":[163],"using":[164],"general":[166],"numerical":[167],"test":[168],"case":[169],"experimental":[174],"analysis":[175],"results":[176],"show":[177],"that":[178],"well":[185],"complete":[190],"ability":[201],"antinoise":[203],"interference.":[204],"Compared":[205],"prior":[208],"art,":[209],"have":[214],"lower":[215],"CB,":[216],"stronger":[217],"ability,":[219],"higher":[221],"accuracy.":[223]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}
