{"id":"https://openalex.org/W4411408751","doi":"https://doi.org/10.1109/tim.2025.3580873","title":"Robotic Intracorporeal Palpation With a Miniature Force-Sensing Probe for Minimally Invasive Surgery","display_name":"Robotic Intracorporeal Palpation With a Miniature Force-Sensing Probe for Minimally Invasive Surgery","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411408751","doi":"https://doi.org/10.1109/tim.2025.3580873"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2025.3580873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3580873","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5021877591","display_name":"Tangyou Liu","orcid":"https://orcid.org/0000-0001-6445-1933"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tangyou Liu","raw_affiliation_strings":["School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney, NSW, Australia","School of Mechanical &#x0026; Manufacturing Engineering, The University of New South Wales, Sydney, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0001-6445-1933","affiliations":[{"raw_affiliation_string":"School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I31746571"]},{"raw_affiliation_string":"School of Mechanical &#x0026; Manufacturing Engineering, The University of New South Wales, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109087375","display_name":"Xiaowen Zhang","orcid":"https://orcid.org/0009-0001-0468-4839"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaowen Zhang","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","School of Robotics and Advanced Manufacturing, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0001-0468-4839","affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Robotics and Advanced Manufacturing, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100606788","display_name":"Chao Zhang","orcid":"https://orcid.org/0000-0003-1840-3011"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Zhang","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","School of Robotics and Advanced Manufacturing, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-1840-3011","affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Robotics and Advanced Manufacturing, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tiantian Wang","orcid":"https://orcid.org/0009-0007-3088-8660"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiantian Wang","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","School of Robotics and Advanced Manufacturing, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0007-3088-8660","affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Robotics and Advanced Manufacturing, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100731554","display_name":"Shuang Song","orcid":"https://orcid.org/0000-0002-3490-9752"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Song","raw_affiliation_strings":["School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","School of Robotics and Advanced Manufacturing, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-3490-9752","affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Robotics and Advanced Manufacturing, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048709541","display_name":"Jiaole Wang","orcid":"https://orcid.org/0000-0002-0941-8003"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaole Wang","raw_affiliation_strings":["School of Biomedical Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-0941-8003","affiliations":[{"raw_affiliation_string":"School of Biomedical Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001051207","display_name":"Liao Wu","orcid":"https://orcid.org/0000-0002-4554-7638"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Liao Wu","raw_affiliation_strings":["School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney, NSW, Australia","School of Mechanical &#x0026; Manufacturing Engineering, The University of New South Wales, Sydney, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-4554-7638","affiliations":[{"raw_affiliation_string":"School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I31746571"]},{"raw_affiliation_string":"School of Mechanical &#x0026; Manufacturing Engineering, The University of New South Wales, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I31746571"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.2078,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.94087841,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"74","issue":null,"first_page":"1","last_page":"10"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12476","display_name":"Intraoperative Neuromonitoring and Anesthetic Effects","score":0.9936000108718872,"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"}},"topics":[{"id":"https://openalex.org/T12476","display_name":"Intraoperative Neuromonitoring and Anesthetic Effects","score":0.9936000108718872,"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"}},{"id":"https://openalex.org/T12459","display_name":"Nerve Injury and Rehabilitation","score":0.9900000095367432,"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"}},{"id":"https://openalex.org/T10832","display_name":"Pituitary Gland Disorders and Treatments","score":0.9886000156402588,"subfield":{"id":"https://openalex.org/subfields/2712","display_name":"Endocrinology, Diabetes and Metabolism"},"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/palpation","display_name":"Palpation","score":0.8624062538146973},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.7560192942619324},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.5790231823921204},{"id":"https://openalex.org/keywords/minimally-invasive-procedures","display_name":"Minimally invasive procedures","score":0.5571552515029907},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.5270312428474426},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.46437469124794006},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.42521944642066956},{"id":"https://openalex.org/keywords/medical-physics","display_name":"Medical physics","score":0.40802544355392456},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.3213994801044464},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.27878111600875854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2698690891265869},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17475974559783936}],"concepts":[{"id":"https://openalex.org/C2781167935","wikidata":"https://www.wikidata.org/wiki/Q795090","display_name":"Palpation","level":2,"score":0.8624062538146973},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.7560192942619324},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.5790231823921204},{"id":"https://openalex.org/C2778643591","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Minimally invasive procedures","level":2,"score":0.5571552515029907},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.5270312428474426},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.46437469124794006},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.42521944642066956},{"id":"https://openalex.org/C19527891","wikidata":"https://www.wikidata.org/wiki/Q1120908","display_name":"Medical physics","level":1,"score":0.40802544355392456},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.3213994801044464},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.27878111600875854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2698690891265869},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17475974559783936}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2025.3580873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3580873","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Zero hunger","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/2"}],"awards":[{"id":"https://openalex.org/G708668482","display_name":"Accurate and fast 3D stiffness mapping via vision-guided robotic probing","funder_award_id":"DP250102489","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"}],"funders":[{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1646289414","https://openalex.org/W1986339804","https://openalex.org/W1989354800","https://openalex.org/W2019690914","https://openalex.org/W2034374737","https://openalex.org/W2036754385","https://openalex.org/W2039692967","https://openalex.org/W2089913832","https://openalex.org/W2111417878","https://openalex.org/W2120502847","https://openalex.org/W2128409098","https://openalex.org/W2137522761","https://openalex.org/W2531786952","https://openalex.org/W2556348820","https://openalex.org/W2788102027","https://openalex.org/W2892067018","https://openalex.org/W2955283178","https://openalex.org/W3005718900","https://openalex.org/W3008592843","https://openalex.org/W3029219473","https://openalex.org/W3043982061","https://openalex.org/W3211084754","https://openalex.org/W3211763588","https://openalex.org/W4205999925","https://openalex.org/W4301519568","https://openalex.org/W4321376164","https://openalex.org/W4324116464","https://openalex.org/W4384159652","https://openalex.org/W4386883629","https://openalex.org/W4388739130","https://openalex.org/W4388797635","https://openalex.org/W4390988260","https://openalex.org/W4391128973","https://openalex.org/W4392309324","https://openalex.org/W4399241376","https://openalex.org/W4400510844","https://openalex.org/W4400678974","https://openalex.org/W4401751859","https://openalex.org/W4403721722","https://openalex.org/W4404520512"],"related_works":["https://openalex.org/W2388610448","https://openalex.org/W2371817293","https://openalex.org/W2417075988","https://openalex.org/W4250162207","https://openalex.org/W72327695","https://openalex.org/W2373218989","https://openalex.org/W264303348","https://openalex.org/W4411408751","https://openalex.org/W73793441","https://openalex.org/W2104370419"],"abstract_inverted_index":{"Intraoperative":[0],"tissue":[1,28,65,94,141,149],"palpation":[2,46,107,178],"is":[3],"crucial":[4],"in":[5,187],"surgical":[6],"procedures":[7],"to":[8,86,100,138,159],"ensure":[9,87],"operational":[10],"safety":[11],"and":[12,148,179],"clinical":[13,168],"outcomes.":[14],"However,":[15],"current":[16],"robotic":[17,45,77,176],"minimally":[18],"invasive":[19],"surgery":[20],"(MIS)":[21],"fundamentally":[22],"decouples":[23],"surgeons\u2019":[24],"haptic":[25,185],"perception":[26],"from":[27],"interaction,":[29],"posing":[30],"substantial":[31],"challenges":[32],"for":[33,175,183],"intracorporeal":[34,44,177],"stiffness":[35,103,114,142],"assessment.":[36],"To":[37],"address":[38],"this":[39],"limitation,":[40],"we":[41],"present":[42],"an":[43],"framework":[47,158],"integrating":[48],"our":[49],"team\u2019s":[50],"recently":[51],"developed":[52],"vision-based":[53],"multi-axis":[54],"force":[55,67],"sensing":[56,60],"module.":[57],"This":[58],"miniature":[59,172],"module":[61,174],"(\u03c65mm)":[62],"enables":[63],"real-time":[64],"interaction":[66],"measurement":[68],"during":[69],"endoscopic":[70],"operations.":[71],"The":[72,135],"proposed":[73,157],"system":[74,110],"employs":[75],"teleoperated":[76],"control":[78],"with":[79,97],"remote":[80],"center":[81],"of":[82,116,155,170],"motion":[83],"(RCM)":[84],"constraints":[85],"safe":[88],"instrument":[89],"manipulation.":[90],"It":[91],"continuously":[92],"correlates":[93],"deformation":[95,150],"data":[96],"contact":[98,146],"forces":[99,147],"reconstruct":[101,139],"spatial":[102],"distributions.":[104],"Through":[105],"iterative":[106],"maneuvers,":[108],"the":[109,113,156,167,171],"dynamically":[111],"updates":[112],"map":[115],"target":[117],"anatomical":[118],"regions.":[119],"Comprehensive":[120],"validation":[121],"experiments":[122],"were":[123],"conducted":[124],"using":[125],"ex-vivo":[126],"chicken":[127],"tissues":[128],"under":[129],"simulated":[130],"MIS":[131,160,188],"conditions,":[132],"demonstrating:":[133],"1)":[134],"system\u2019s":[136],"capability":[137],"heterogeneous":[140],"distributions":[143],"by":[144],"resolving":[145],"estimation;":[151],"2)":[152],"Effective":[153],"implementation":[154],"considering":[161],"RCM":[162],"constraint.":[163],"These":[164],"results":[165],"substantiate":[166],"viability":[169],"force-sensing":[173],"establish":[180],"a":[181],"paradigm":[182],"enhancing":[184],"feedback":[186],"applications.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}
