{"id":"https://openalex.org/W2755005395","doi":"https://doi.org/10.1109/embc.2017.8036976","title":"Robust tracking of dexterous continuum robots: Fusing FBG shape sensing and stereo vision","display_name":"Robust tracking of dexterous continuum robots: Fusing FBG shape sensing and stereo vision","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2755005395","doi":"https://doi.org/10.1109/embc.2017.8036976","mag":"2755005395","pmid":"https://pubmed.ncbi.nlm.nih.gov/29060024"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2017.8036976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2017.8036976","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5038239372","display_name":"Rumei Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Rumei Zhang","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082274282","display_name":"Hao Liu","orcid":"https://orcid.org/0000-0002-8278-1263"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Liu","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100439073","display_name":"Jianda Han","orcid":"https://orcid.org/0000-0002-9664-4534"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Han","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5038239372"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.12438685,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"2017","issue":null,"first_page":"925","last_page":"928"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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":0.9990000128746033,"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/T11569","display_name":"Optical Coherence Tomography Applications","score":0.9933000206947327,"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/T11826","display_name":"Ocular Infections and Treatments","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2731","display_name":"Ophthalmology"},"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/computer-vision","display_name":"Computer vision","score":0.7913764715194702},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7668581008911133},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.710706353187561},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6099110841751099},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5987368226051331},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5249238610267639},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4212718605995178},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.1509857177734375}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7913764715194702},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7668581008911133},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.710706353187561},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6099110841751099},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5987368226051331},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5249238610267639},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4212718605995178},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.1509857177734375},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014785","descriptor_name":"Vision, Ocular","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014785","descriptor_name":"Vision, Ocular","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014785","descriptor_name":"Vision, Ocular","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc.2017.8036976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2017.8036976","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:29060024","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29060024","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1567569284","https://openalex.org/W1586443804","https://openalex.org/W2001104271","https://openalex.org/W2030276001","https://openalex.org/W2063461953","https://openalex.org/W2082823589","https://openalex.org/W2104410139","https://openalex.org/W2122667561","https://openalex.org/W2129935047","https://openalex.org/W2295380675","https://openalex.org/W2322287462"],"related_works":["https://openalex.org/W2394134009","https://openalex.org/W2158788032","https://openalex.org/W1971984615","https://openalex.org/W2046099857","https://openalex.org/W2806679586","https://openalex.org/W4315836311","https://openalex.org/W2393252924","https://openalex.org/W2787600244","https://openalex.org/W2186532442","https://openalex.org/W2354867839"],"abstract_inverted_index":{"Robust":[0],"and":[1,45,65,94,111,147,166,179,190],"efficient":[2],"tracking":[3,35,57,97,149],"of":[4,52,63,197],"continuum":[5,53,198],"robots":[6],"is":[7,87,106,123,169,188],"important":[8],"for":[9,26,91,176,194],"improving":[10],"patient":[11],"safety":[12],"during":[13],"space-confined":[14],"minimally":[15],"invasive":[16],"surgery,":[17],"however,":[18],"it":[19],"has":[20],"been":[21],"a":[22,33],"particularly":[23],"challenging":[24],"task":[25],"researchers.":[27],"In":[28],"this":[29],"paper,":[30],"we":[31],"present":[32],"novel":[34],"scheme":[36],"by":[37,108,113,120,157],"fusing":[38],"fiber":[39],"Bragg":[40],"grating":[41],"(FBG)":[42],"shape":[43,72,79,118,164],"sensing":[44,165],"stereo":[46,114,167],"vision":[47,168],"to":[48,67,89,131],"estimate":[49],"the":[50,61,70,77,96,103,132,159,185],"position":[51,128],"robots.":[54,199],"Previous":[55],"visual":[56],"easily":[58],"suffers":[59],"from":[60],"lack":[62],"robustness":[64],"leads":[66],"failure,":[68],"while":[69],"FBG":[71,121],"sensor":[73,122],"can":[74,191],"only":[75],"reconstruct":[76],"local":[78],"with":[80,129],"integral":[81],"cumulative":[82],"error.":[83],"The":[84,117,154],"proposed":[85,186],"fusion":[86,187],"anticipated":[88],"compensate":[90],"their":[92],"shortcomings":[93],"improve":[95],"accuracy.":[98],"To":[99],"verify":[100],"its":[101],"effectiveness,":[102],"robots'":[104],"centerline":[105],"recognized":[107],"morphology":[109],"operation":[110],"reconstructed":[112],"matching":[115],"algorithm.":[116],"obtained":[119],"transformed":[124],"into":[125],"distal":[126],"tip":[127],"respect":[130],"camera":[133],"coordinate":[134],"system":[135],"through":[136],"previously":[137],"calibrated":[138],"registration":[139],"matrices.":[140],"An":[141],"experimental":[142],"platform":[143],"was":[144],"set":[145],"up":[146],"repeated":[148],"experiments":[150],"were":[151],"carried":[152],"out.":[153],"accuracy":[155],"estimated":[156],"averaging":[158],"absolute":[160],"positioning":[161],"errors":[162],"between":[163],"0.67\u00b10.65":[170],"mm,":[171,173],"0.41\u00b10.25":[172],"0.72\u00b10.43":[174],"mm":[175],"x,":[177],"y":[178],"z,":[180],"respectively.":[181],"Results":[182],"indicate":[183],"that":[184],"feasible":[189],"be":[192],"used":[193],"closed-loop":[195],"control":[196]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
