{"id":"https://openalex.org/W4404132652","doi":"https://doi.org/10.1109/tii.2024.3477549","title":"Ultrasound-Guided Robotic Autonomous Operation Based on Real-Time Deformation Tracking and Prediction","display_name":"Ultrasound-Guided Robotic Autonomous Operation Based on Real-Time Deformation Tracking and Prediction","publication_year":2024,"publication_date":"2024-11-07","ids":{"openalex":"https://openalex.org/W4404132652","doi":"https://doi.org/10.1109/tii.2024.3477549"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2024.3477549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2024.3477549","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","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/A5070103407","display_name":"Teru Chen","orcid":"https://orcid.org/0000-0002-5795-7730"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Teru Chen","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047436259","display_name":"Xingwei Zhao","orcid":"https://orcid.org/0000-0002-4568-6814"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingwei Zhao","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-4568-6814","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069081041","display_name":"Yuhao Zhang","orcid":"https://orcid.org/0000-0002-2929-030X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhao Zhang","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-2929-030X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101506715","display_name":"Guo Zheng","orcid":"https://orcid.org/0009-0007-0644-2626"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guo Zheng","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031730158","display_name":"Licheng Hou","orcid":"https://orcid.org/0009-0000-0969-0544"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Licheng Hou","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076083702","display_name":"Qing Ling","orcid":"https://orcid.org/0000-0002-5839-348X"},"institutions":[{"id":"https://openalex.org/I4210160344","display_name":"Tongji Hospital","ror":"https://ror.org/04xy45965","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210160344"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Ling","raw_affiliation_strings":["Department of Urology, Tongji Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Urology, Tongji Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I4210160344","https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083041554","display_name":"Bo Tao","orcid":"https://orcid.org/0000-0002-4058-6128"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Tao","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-4058-6128","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053892414","display_name":"Zhouping Yin","orcid":"https://orcid.org/0000-0001-5766-2337"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhouping Yin","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-5766-2337","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6249,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.61603949,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"21","issue":"2","first_page":"1369","last_page":"1378"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.5317000150680542,"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":0.5317000150680542,"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/T13382","display_name":"Robotics and Automated Systems","score":0.48910000920295715,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.46810001134872437,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/tracking","display_name":"Tracking (education)","score":0.5524861812591553},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5480177998542786},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5287159085273743},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5211515426635742},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.48135238885879517},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.4412304759025574},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.10043013095855713},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.08716356754302979},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08648958802223206}],"concepts":[{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5524861812591553},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5480177998542786},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5287159085273743},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5211515426635742},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.48135238885879517},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.4412304759025574},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.10043013095855713},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.08716356754302979},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08648958802223206},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2024.3477549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2024.3477549","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G234177690","display_name":null,"funder_award_id":"52188102","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4008206038","display_name":null,"funder_award_id":"92048204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4675998261","display_name":null,"funder_award_id":"52422501","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1965248653","https://openalex.org/W1989169659","https://openalex.org/W2109814287","https://openalex.org/W2123722473","https://openalex.org/W2157380596","https://openalex.org/W2165050132","https://openalex.org/W2535888521","https://openalex.org/W2548353158","https://openalex.org/W2598070036","https://openalex.org/W2886933858","https://openalex.org/W2893379190","https://openalex.org/W2982313557","https://openalex.org/W3003235888","https://openalex.org/W3044812225","https://openalex.org/W3094275772","https://openalex.org/W3109702511","https://openalex.org/W3120283405","https://openalex.org/W3152679494","https://openalex.org/W3184740287","https://openalex.org/W3186292497","https://openalex.org/W3211763588","https://openalex.org/W4205387087","https://openalex.org/W4210656112","https://openalex.org/W4210656949","https://openalex.org/W4213178370","https://openalex.org/W4214834979","https://openalex.org/W4225960034","https://openalex.org/W4293704400","https://openalex.org/W4323913780","https://openalex.org/W4362500678","https://openalex.org/W4375798887","https://openalex.org/W4375957612","https://openalex.org/W4385691121","https://openalex.org/W4391164414","https://openalex.org/W4392114241"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Robotic":[0],"ultrasound":[1],"(US)-guided":[2],"surgery":[3],"is":[4,18,64,83,109,141],"one":[5],"of":[6,50,129],"the":[7,47,86,94,113,116,127,130,159],"most":[8],"common":[9],"clinical":[10],"workflows":[11],"for":[12,92,123,163],"many":[13],"diseases.":[14],"Intraoperative":[15],"tissue":[16,68,164],"deformation":[17,40,55,71,79,96,165],"a":[19,32,54,78,103,133,146,169],"key":[20],"challenge":[21],"faced":[22],"by":[23,85],"robots":[24],"in":[25,72,145,166],"realizing":[26],"autonomous":[27,35],"surgery.":[28],"This":[29],"study":[30],"develops":[31],"US-guided":[33],"robotic":[34,135],"operation":[36],"scheme":[37],"based":[38,58],"on":[39,59],"tracking":[41,56],"and":[42,69],"prediction,":[43],"which":[44],"can":[45,157],"overcome":[46],"adverse":[48],"effects":[49],"intraoperative":[51],"deformation.":[52,124],"First,":[53],"method":[57,156],"real-time":[60,167],"nonrigid":[61],"image":[62],"registration":[63],"proposed":[65,131],"to":[66,98,111,161],"track":[67],"path":[70,171],"real":[73],"time.":[74],"Simultaneously,":[75],"we":[76],"propose":[77],"prediction":[80],"model":[81],"that":[82,154],"updated":[84],"forgetting":[87],"factor":[88],"recursive":[89],"least":[90],"squares":[91],"predicting":[93],"next":[95],"according":[97],"historical":[99],"tracked":[100],"data.":[101],"Then,":[102],"time-varying":[104],"vector":[105],"field":[106],"navigation":[107,138],"law":[108],"incorporated":[110],"guide":[112,158],"robot":[114,160],"following":[115,172],"dynamically":[117],"deformed":[118],"surgical":[119,137],"path,":[120],"therefore":[121],"compensating":[122],"To":[125],"verify":[126],"performance":[128],"method,":[132],"dual-arm":[134],"US":[136],"system":[139],"prototype":[140],"constructed,":[142],"andin":[143],"vitroexperiments":[144],"deformable":[147],"environment":[148],"are":[149],"conducted.":[150],"The":[151],"results":[152],"demonstrated":[153],"our":[155],"compensate":[162],"with":[168],"dynamic":[170],"error":[173],"within":[174],"1":[175],"mm.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
