{"id":"https://openalex.org/W7133131103","doi":"https://doi.org/10.3390/robotics15030052","title":"Rough Sets Meta-Heuristic Schema for Inverse Kinematics and Path Planning of Surgical Robotic Arms","display_name":"Rough Sets Meta-Heuristic Schema for Inverse Kinematics and Path Planning of Surgical Robotic Arms","publication_year":2026,"publication_date":"2026-02-28","ids":{"openalex":"https://openalex.org/W7133131103","doi":"https://doi.org/10.3390/robotics15030052"},"language":"en","primary_location":{"id":"doi:10.3390/robotics15030052","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15030052","pdf_url":"https://www.mdpi.com/2218-6581/15/3/52/pdf?version=1772282040","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/15/3/52/pdf?version=1772282040","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045537190","display_name":"Nizar Rokbani","orcid":"https://orcid.org/0000-0003-4848-5855"},"institutions":[{"id":"https://openalex.org/I142608572","display_name":"Prince Sattam Bin Abdulaziz University","ror":"https://ror.org/04jt46d36","country_code":"SA","type":"education","lineage":["https://openalex.org/I142608572"]}],"countries":["SA"],"is_corresponding":true,"raw_author_name":"Nizar Rokbani","raw_affiliation_strings":["Department of Biomedical Technology, College of Applied Medical Sciences in Al Kharj, Prince Sattam Bin Abdulaziz University, Al Kharj 11942, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0003-4848-5855","affiliations":[{"raw_affiliation_string":"Department of Biomedical Technology, College of Applied Medical Sciences in Al Kharj, Prince Sattam Bin Abdulaziz University, Al Kharj 11942, Saudi Arabia","institution_ids":["https://openalex.org/I142608572"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5045537190"],"corresponding_institution_ids":["https://openalex.org/I142608572"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39638593,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"15","issue":"3","first_page":"52","last_page":"52"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.7562000155448914,"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":0.7562000155448914,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.05040000006556511,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.03669999912381172,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.637499988079071},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6055999994277954},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.5892000198364258},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5702000260353088},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5072000026702881},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4885999858379364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4715000092983246},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3560999929904938}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.637499988079071},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6055999994277954},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.5892000198364258},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5706999897956848},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5702000260353088},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.531499981880188},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5072000026702881},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4885999858379364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4715000092983246},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3560999929904938},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.3379000127315521},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.3312999904155731},{"id":"https://openalex.org/C67953723","wikidata":"https://www.wikidata.org/wiki/Q192525","display_name":"Workstation","level":2,"score":0.3156999945640564},{"id":"https://openalex.org/C2779370443","wikidata":"https://www.wikidata.org/wiki/Q1776627","display_name":"Surgical planning","level":2,"score":0.30660000443458557},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.29679998755455017},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29670000076293945},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.2948000133037567},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.28929999470710754},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2872999906539917},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C74261601","wikidata":"https://www.wikidata.org/wiki/Q40112","display_name":"Ellipse","level":2,"score":0.25769999623298645},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.25360000133514404},{"id":"https://openalex.org/C52146309","wikidata":"https://www.wikidata.org/wiki/Q7431116","display_name":"Schema (genetic algorithms)","level":2,"score":0.25200000405311584}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics15030052","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15030052","pdf_url":"https://www.mdpi.com/2218-6581/15/3/52/pdf?version=1772282040","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:10744e2a364a44d097c411e70e909d64","is_oa":true,"landing_page_url":"https://doaj.org/article/10744e2a364a44d097c411e70e909d64","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 15, Iss 3, p 52 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics15030052","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15030052","pdf_url":"https://www.mdpi.com/2218-6581/15/3/52/pdf?version=1772282040","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/1","display_name":"No poverty","score":0.7473570704460144}],"awards":[{"id":"https://openalex.org/G1584271631","display_name":null,"funder_award_id":"(2025/01/33726)","funder_id":"https://openalex.org/F4320311227","funder_display_name":"Prince Sattam bin Abdulaziz University"},{"id":"https://openalex.org/G6544825420","display_name":null,"funder_award_id":"2025/01/33726","funder_id":"https://openalex.org/F4320311227","funder_display_name":"Prince Sattam bin Abdulaziz University"}],"funders":[{"id":"https://openalex.org/F4320311227","display_name":"Prince Sattam bin Abdulaziz University","ror":"https://ror.org/04jt46d36"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7133131103.pdf","grobid_xml":"https://content.openalex.org/works/W7133131103.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Surgical":[0],"robots":[1],"require":[2],"sub-millimeter":[3],"accuracy":[4],"and":[5,53,73,82,106,124,133,143,157,192,201],"reliable":[6],"inverse":[7,79],"kinematics":[8,80],"across":[9],"anatomies.":[10],"Population-based":[11],"metaheuristics":[12],"address":[13],"this,":[14],"but":[15],"static":[16],"parameters":[17],"may":[18],"limit":[19],"achieving":[20],"the":[21,30,63,95,98,166,176,189],"needed":[22],"precision":[23],"for":[24,36,159,198],"clinical":[25,152],"use.":[26],"This":[27],"study":[28],"introduces":[29],"Rough":[31,47],"Sets":[32],"Meta-Heuristic":[33],"Schema":[34],"(RSMS)":[35],"dynamic,":[37],"context-aware":[38],"control.":[39],"RSMS":[40,66],"categorizes":[41],"agents":[42],"(Elite,":[43],"Boundary,":[44],"Poor)":[45],"via":[46],"Set":[48],"discretization":[49],"based":[50],"on":[51],"fitness":[52],"distribution,":[54],"allocating":[55],"resources":[56],"accordingly":[57],"without":[58],"problem-specific":[59],"heuristics.":[60],"To":[61],"demonstrate":[62,151],"approach\u2019s":[64],"effectiveness,":[65],"was":[67],"implemented":[68],"within":[69],"Particle":[70],"Swarm":[71],"Optimization":[72],"evaluated":[74],"as":[75,182],"a":[76,118,183],"surgical":[77,89,125,147,199],"robotics":[78,200],"solver":[81],"path":[83],"planner.":[84],"In":[85],"simulations":[86],"using":[87],"three":[88],"problems,":[90],"RS-PSO":[91,136,170],"allowed":[92],"upgrading":[93],"of":[94,97,103,127,140,169,194],"performance":[96],"standard":[99],"PSO":[100],"in":[101,108,154],"terms":[102],"consistent":[104],"convergence":[105],"success":[107,138],"tight":[109],"search":[110],"spaces.":[111],"Statistical":[112],"tests":[113],"confirmed":[114],"these":[115],"improvements.":[116],"Using":[117],"7-DOF":[119],"KUKA":[120],"LBR":[121],"iiwa":[122],"robot":[123],"benchmarks":[126],"landmark":[128],"acquisition,":[129],"spiral":[130],"trajectory":[131],"tracking,":[132],"constrained":[134],"path,":[135],"achieved":[137],"rates":[139],"100%,":[141,144],"67%,":[142],"respectively,":[145],"meeting":[146],"requirements.":[148],"The":[149],"results":[150],"gains":[153],"accuracy,":[155],"consistency,":[156],"reproducibility":[158,193],"minimally":[160],"invasive":[161],"surgery.":[162],"These":[163],"findings":[164],"support":[165],"practical":[167],"advantages":[168],"and,":[171],"more":[172],"importantly,":[173],"show":[174],"that":[175],"RS-MH":[177],"framework":[178],"can":[179],"be":[180],"used":[181],"general,":[184],"reusable":[185],"tool":[186],"to":[187],"improve":[188],"robustness,":[190],"precision,":[191],"many":[195],"swarm-based":[196],"meta-heuristics":[197],"other":[202],"applications.":[203]},"counts_by_year":[],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2026-03-02T00:00:00"}
