{"id":"https://openalex.org/W4404627902","doi":"https://doi.org/10.1109/tsmc.2024.3492324","title":"An Accelerated Anti-Noise Adaptive Neural Network for Robotic Flexible Endoscope With Multitype Surgical Objectives and Constraints","display_name":"An Accelerated Anti-Noise Adaptive Neural Network for Robotic Flexible Endoscope With Multitype Surgical Objectives and Constraints","publication_year":2024,"publication_date":"2024-11-22","ids":{"openalex":"https://openalex.org/W4404627902","doi":"https://doi.org/10.1109/tsmc.2024.3492324"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2024.3492324","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tsmc.2024.3492324","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tsmc.2024.3492324","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074161936","display_name":"Yisen Huang","orcid":"https://orcid.org/0000-0002-1307-8187"},"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":true,"raw_author_name":"Yisen Huang","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Shatin, NT, Hong Kong","Department of Surgery, The Chinese University of Hong Kong, Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Shatin, NT, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100773858","display_name":"Jian Li","orcid":"https://orcid.org/0000-0001-7196-1050"},"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":"Jian Li","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Shatin, NT, Hong Kong","Department of Surgery, The Chinese University of Hong Kong, Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Shatin, NT, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"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, Sun Yat-sen University, Guangzhou, China"],"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/A5100445831","display_name":"Xue Zhang","orcid":"https://orcid.org/0000-0001-9639-1453"},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xue Zhang","raw_affiliation_strings":["College of Health Science and Environmental Engineering, Shenzhen Technology University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Health Science and Environmental Engineering, Shenzhen Technology University, Shenzhen, China","institution_ids":["https://openalex.org/I4210152380"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009033168","display_name":"Yichong Sun","orcid":"https://orcid.org/0000-0001-9813-9702"},"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":"Yichong Sun","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Shatin, NT, Hong Kong","Department of Surgery, The Chinese University of Hong Kong, Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Shatin, NT, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101860508","display_name":"Ke Xie","orcid":"https://orcid.org/0000-0001-5974-5224"},"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":"Ke Xie","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Shatin, NT, Hong Kong","Department of Surgery, The Chinese University of Hong Kong, Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Shatin, NT, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101760892","display_name":"Yingbai Hu","orcid":"https://orcid.org/0000-0003-2452-3570"},"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":"Yingbai Hu","raw_affiliation_strings":["Department of Surgery, The Chinese University of Hong Kong, Shatin, NT, Hong Kong","Department of Surgery, The Chinese University of Hong Kong, Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Shatin, NT, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Surgery, The Chinese University of Hong Kong, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079884638","display_name":"Philip Wai Yan Chiu","orcid":"https://orcid.org/0000-0001-9292-112X"},"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":"Philip Wai Yan Chiu","raw_affiliation_strings":["Department of Surgery, the Chow Yuk Ho Technology Center for Innovative Medicine, and the Multiscale Medical Robotics Ltd., The Chinese University of Hong Kong, Suntec City, Hong Kong","Department of Surgery, the Chow Yuk Ho Technology Center for Innovative Medicine, and the Multiscale Medical Robotics Ltd, The Chinese University of Hong Kong, Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Surgery, the Chow Yuk Ho Technology Center for Innovative Medicine, and the Multiscale Medical Robotics Ltd., The Chinese University of Hong Kong, Suntec City, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Surgery, the Chow Yuk Ho Technology Center for Innovative Medicine, and the Multiscale Medical Robotics Ltd, The Chinese University of Hong Kong, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","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":["Department of Surgery, the Chow Yuk Ho Technology Center of Innovative Medicine, the Li Ka Shing Institute of Health Science, and the Multiscale Medical Robotics Ltd., The Chinese University of Hong Kong, Suntec City, Hong Kong","Department of Surgery, the Chow Yuk Ho Technology Center of Innovative Medicine, the Li Ka Shing Institute of Health Science, and the Multiscale Medical Robotics Ltd, The Chinese University of Hong Kong, Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Surgery, the Chow Yuk Ho Technology Center of Innovative Medicine, the Li Ka Shing Institute of Health Science, and the Multiscale Medical Robotics Ltd., The Chinese University of Hong Kong, Suntec City, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Surgery, the Chow Yuk Ho Technology Center of Innovative Medicine, the Li Ka Shing Institute of Health Science, and the Multiscale Medical Robotics Ltd, The Chinese University of Hong Kong, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5074161936"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":4.5194,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.95306674,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"55","issue":"2","first_page":"990","last_page":"1003"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9569000005722046,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9569000005722046,"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/endoscope","display_name":"Endoscope","score":0.5631452202796936},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.547601580619812},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5287829637527466},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5174087285995483},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.46009793877601624},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4022231101989746},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3434348702430725},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2961508631706238},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.2380349040031433}],"concepts":[{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.5631452202796936},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.547601580619812},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5287829637527466},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5174087285995483},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.46009793877601624},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4022231101989746},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3434348702430725},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2961508631706238},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.2380349040031433},{"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/tsmc.2024.3492324","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tsmc.2024.3492324","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tsmc.2024.3492324","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tsmc.2024.3492324","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1985463596","https://openalex.org/W2013439434","https://openalex.org/W2015113370","https://openalex.org/W2133450663","https://openalex.org/W2591985941","https://openalex.org/W2598070036","https://openalex.org/W2964608116","https://openalex.org/W2965637422","https://openalex.org/W2970514507","https://openalex.org/W2972173944","https://openalex.org/W2982651265","https://openalex.org/W3003406779","https://openalex.org/W3128534189","https://openalex.org/W3128605815","https://openalex.org/W3135121854","https://openalex.org/W3186610744","https://openalex.org/W3190880521","https://openalex.org/W3201305170","https://openalex.org/W3206811192","https://openalex.org/W4206211217","https://openalex.org/W4250589301","https://openalex.org/W4312986307","https://openalex.org/W4367663131","https://openalex.org/W4380078449","https://openalex.org/W4383097616","https://openalex.org/W4383427999","https://openalex.org/W4383752712","https://openalex.org/W4386902731","https://openalex.org/W4387789915","https://openalex.org/W4388208314","https://openalex.org/W4399179612","https://openalex.org/W4400726757"],"related_works":["https://openalex.org/W2925090727","https://openalex.org/W3211638357","https://openalex.org/W2351909712","https://openalex.org/W2369735957","https://openalex.org/W2980372563","https://openalex.org/W2137055573","https://openalex.org/W4280634683","https://openalex.org/W2373354423","https://openalex.org/W2325135661","https://openalex.org/W1979551339"],"abstract_inverted_index":{"In":[0],"minimally":[1],"invasive":[2],"surgery":[3],"(MIS),":[4],"the":[5,31,47,59,64,79,106,121,134,155,197,200,205,208,212],"field":[6],"of":[7,78,199,207,220],"view":[8],"(FOV)":[9],"control":[10,214],"is":[11,117],"crucial.":[12],"Autonomous":[13],"endoscope":[14,60,80,107,209],"robots":[15],"have":[16],"been":[17],"developed":[18],"to":[19,72,104,119,130],"facilitate":[20],"MIS":[21],"procedures":[22],"by":[23],"enabling":[24],"autonomous":[25,43,125,217],"surgical":[26,172],"target":[27,39,126,218],"tracking,":[28],"thus":[29],"reducing":[30],"workload":[32],"on":[33],"surgeons.":[34],"However,":[35],"existing":[36,189],"visual":[37],"servoing-based":[38],"tracking":[40,127,219],"methods":[41],"for":[42,168],"endoscopes":[44,222],"often":[45],"overlook":[46],"insecurity":[48],"stemming":[49],"from":[50],"restricted":[51,100],"workspace":[52,101,206],"conditions.":[53],"Instances,":[54],"such":[55],"as":[56],"collisions":[57],"between":[58],"robot\u2019s":[61,108,122],"tip":[62],"and":[63,160,170,176,226],"patient\u2019s":[65],"chest":[66],"or":[67],"abdominal":[68],"wall":[69],"pose":[70],"risks":[71],"patient":[73],"tissue,":[74],"while":[75,128,211],"extensive":[76],"motion":[77],"shaft":[81],"may":[82],"damage":[83],"incision":[84],"port":[85],"tissue.":[86],"Addressing":[87],"these":[88],"security":[89],"concerns,":[90],"this":[91],"article":[92],"proposes":[93],"a":[94,146],"novel":[95],"approach":[96],"called":[97],"virtual":[98],"fixture-based":[99],"constraint":[102],"(RWSC)":[103],"reconstruct":[105],"movement":[109],"range.":[110],"A":[111],"quadratic":[112],"programming":[113],"(QP)":[114],"optimization":[115],"framework":[116],"employed":[118],"govern":[120],"motion,":[123],"ensuring":[124],"adhering":[129],"RWSCs.":[131],"To":[132],"solve":[133],"QP":[135,192],"problem,":[136],"we":[137],"propose":[138],"an":[139],"adaptive":[140,182],"zeroing":[141],"neural":[142,190],"network":[143],"(ZNN)":[144],"featuring":[145],"newly":[147],"designed":[148],"activation":[149],"function":[150],"(AF).":[151],"This":[152],"AF":[153],"enhances":[154],"ZNN":[156,183],"with":[157],"predefined-time":[158],"convergence":[159,186],"noise":[161],"rejection":[162],"capabilities,":[163],"making":[164],"it":[165],"especially":[166],"suitable":[167],"time-sensitive":[169],"noise-prone":[171],"applications.":[173],"Theoretical":[174],"analysis":[175],"experimental":[177],"results":[178],"demonstrate":[179],"that":[180],"our":[181],"achieves":[184],"shorter":[185],"times":[187],"than":[188],"dynamic-based":[191],"solvers.":[193],"Physical":[194],"validations":[195],"show":[196],"efficacy":[198],"proposed":[201],"RWSCs":[202],"in":[203],"limiting":[204],"robot,":[210],"FOV":[213],"strategy":[215],"enables":[216],"flexible":[221],"under":[223],"diverse":[224],"constraints":[225],"objectives.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}