{"id":"https://openalex.org/W4386051056","doi":"https://doi.org/10.3390/s23167307","title":"Force-Position Hybrid Compensation Control for Path Deviation in Robot-Assisted Bone Drilling","display_name":"Force-Position Hybrid Compensation Control for Path Deviation in Robot-Assisted Bone Drilling","publication_year":2023,"publication_date":"2023-08-21","ids":{"openalex":"https://openalex.org/W4386051056","doi":"https://doi.org/10.3390/s23167307","pmid":"https://pubmed.ncbi.nlm.nih.gov/37631841"},"language":"en","primary_location":{"id":"doi:10.3390/s23167307","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23167307","pdf_url":"https://www.mdpi.com/1424-8220/23/16/7307/pdf?version=1692626205","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/16/7307/pdf?version=1692626205","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100669328","display_name":"Shibo Li","orcid":"https://orcid.org/0000-0001-8398-4102"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shibo Li","raw_affiliation_strings":["Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China"],"affiliations":[{"raw_affiliation_string":"Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101741208","display_name":"Xin Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"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"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Zhong","raw_affiliation_strings":["Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China","School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China"],"affiliations":[{"raw_affiliation_string":"Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101669696","display_name":"Yuanyuan Yang","orcid":"https://orcid.org/0000-0002-0623-636X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanyuan Yang","raw_affiliation_strings":["Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China"],"affiliations":[{"raw_affiliation_string":"Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022292402","display_name":"Xiaozhi Qi","orcid":"https://orcid.org/0000-0001-6010-3974"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaozhi Qi","raw_affiliation_strings":["Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China"],"affiliations":[{"raw_affiliation_string":"Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100668236","display_name":"Ying Hu","orcid":"https://orcid.org/0000-0002-3807-3649"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Hu","raw_affiliation_strings":["Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China"],"affiliations":[{"raw_affiliation_string":"Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100540835","display_name":"Xiaojun Yang","orcid":null},"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":true,"raw_author_name":"Xiaojun Yang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100540835"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.3846,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.5547178,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"23","issue":"16","first_page":"7307","last_page":"7307"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10188","display_name":"Advanced machining processes and optimization","score":0.9822999835014343,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10188","display_name":"Advanced machining processes and optimization","score":0.9822999835014343,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10359","display_name":"Dental Implant Techniques and Outcomes","score":0.9818999767303467,"subfield":{"id":"https://openalex.org/subfields/3504","display_name":"Oral Surgery"},"field":{"id":"https://openalex.org/fields/35","display_name":"Dentistry"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10536","display_name":"Endodontics and Root Canal Treatments","score":0.9646999835968018,"subfield":{"id":"https://openalex.org/subfields/3504","display_name":"Oral Surgery"},"field":{"id":"https://openalex.org/fields/35","display_name":"Dentistry"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.663460910320282},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6169664859771729},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6009053587913513},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5763519406318665},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5399842262268066},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5239884257316589},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5099087953567505},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.490234911441803},{"id":"https://openalex.org/keywords/standard-deviation","display_name":"Standard deviation","score":0.4583195745944977},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.45139002799987793},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4487237334251404},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4157540798187256},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3557709753513336},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21555402874946594},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20251235365867615},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.20109876990318298},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12281090021133423},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09247294068336487}],"concepts":[{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.663460910320282},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6169664859771729},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6009053587913513},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5763519406318665},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5399842262268066},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5239884257316589},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5099087953567505},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.490234911441803},{"id":"https://openalex.org/C22679943","wikidata":"https://www.wikidata.org/wiki/Q159375","display_name":"Standard deviation","level":2,"score":0.4583195745944977},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.45139002799987793},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4487237334251404},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4157540798187256},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3557709753513336},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21555402874946594},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20251235365867615},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.20109876990318298},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12281090021133423},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09247294068336487},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D009985","descriptor_name":"Orthopedics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009985","descriptor_name":"Orthopedics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009985","descriptor_name":"Orthopedics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019637","descriptor_name":"Orthopedic Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019637","descriptor_name":"Orthopedic Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019637","descriptor_name":"Orthopedic Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.3390/s23167307","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23167307","pdf_url":"https://www.mdpi.com/1424-8220/23/16/7307/pdf?version=1692626205","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:37631841","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37631841","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10458884","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10458884","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10458884/pdf/sensors-23-07307.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:6decfa5c47fa4cdca5ceb2055fe41913","is_oa":true,"landing_page_url":"https://doaj.org/article/6decfa5c47fa4cdca5ceb2055fe41913","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":"Sensors, Vol 23, Iss 16, p 7307 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/16/7307/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23167307","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 23; Issue 16; Pages: 7307","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23167307","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23167307","pdf_url":"https://www.mdpi.com/1424-8220/23/16/7307/pdf?version=1692626205","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1477544716","display_name":null,"funder_award_id":"Guangdong","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1969632233","display_name":null,"funder_award_id":"JCYJ20220818101608019","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2981938667","display_name":null,"funder_award_id":"Shenzhen","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3085993365","display_name":null,"funder_award_id":"(Grant No.","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3757194791","display_name":null,"funder_award_id":"JCYJ20","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5249178904","display_name":null,"funder_award_id":"Grant No. 6","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5267426585","display_name":null,"funder_award_id":"U21A20489","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5570204100","display_name":null,"funder_award_id":"U21A204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5939423041","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6163091765","display_name":null,"funder_award_id":"2020010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G666489999","display_name":null,"funder_award_id":"JCYJ20200109114233670","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6951309194","display_name":null,"funder_award_id":"62003330","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7308347224","display_name":null,"funder_award_id":"U21A2048","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7726157001","display_name":null,"funder_award_id":"Grant No.","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":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4386051056.pdf"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1720752806","https://openalex.org/W1989166568","https://openalex.org/W1990961525","https://openalex.org/W2013210651","https://openalex.org/W2054812653","https://openalex.org/W2072578400","https://openalex.org/W2142235107","https://openalex.org/W2153038083","https://openalex.org/W2155313079","https://openalex.org/W2531996871","https://openalex.org/W2578214457","https://openalex.org/W2606510896","https://openalex.org/W2726415347","https://openalex.org/W2789026309","https://openalex.org/W2802040446","https://openalex.org/W2802726018","https://openalex.org/W2908838439","https://openalex.org/W2955189674","https://openalex.org/W2968304512","https://openalex.org/W3006108556","https://openalex.org/W3015800067","https://openalex.org/W3022094286","https://openalex.org/W3047568415","https://openalex.org/W3103856428","https://openalex.org/W3137669920","https://openalex.org/W3175631179","https://openalex.org/W3198514961","https://openalex.org/W3214396588","https://openalex.org/W4206787248","https://openalex.org/W4220913611","https://openalex.org/W4224310967","https://openalex.org/W4225730604","https://openalex.org/W6786312802"],"related_works":["https://openalex.org/W2736215363","https://openalex.org/W2009474255","https://openalex.org/W2002528379","https://openalex.org/W2084054625","https://openalex.org/W2152602653","https://openalex.org/W2116823784","https://openalex.org/W2043707300","https://openalex.org/W2029701323","https://openalex.org/W4378875665","https://openalex.org/W1973773193"],"abstract_inverted_index":{"Bone":[0],"drilling":[1,17],"is":[2,10,104,121,151,161,169],"a":[3,83,92,99,115,129,179],"common":[4],"procedure":[5],"in":[6,29,111],"orthopedic":[7],"surgery":[8],"and":[9,21,53,66,90,128,165,183,193],"frequently":[11,27],"attempted":[12],"using":[13],"robot-assisted":[14,30,112,196],"techniques.":[15],"However,":[16],"on":[18,48,124,178],"rigid,":[19],"slippery,":[20],"steep":[22],"cortical":[23],"surfaces,":[24],"which":[25],"are":[26],"encountered":[28],"operations":[31],"due":[32],"to":[33,38,74],"limited":[34],"workspace,":[35],"can":[36,44,188],"lead":[37],"tool":[39,65,160],"path":[40,75,109,133,149],"deviation.":[41,76],"Path":[42],"deviation":[43,110,150],"have":[45],"significant":[46],"impacts":[47],"positioning":[49],"accuracy,":[50],"hole":[51,167],"quality,":[52],"surgical":[54],"safety.":[55],"In":[56],"this":[57,79],"paper,":[58],"we":[59,81],"consider":[60],"the":[61,64,67,70,96,125,139,142,148,156,159,166,191],"deformation":[62],"of":[63,87,95,132,141,158,195],"robot":[68],"as":[69],"main":[71],"factors":[72],"contributing":[73],"To":[77,106],"address":[78],"issue,":[80],"establish":[82],"multi-stage":[84,180],"mechanistic":[85,181],"model":[86,94,182],"tool-bone":[88],"interaction":[89],"develop":[91],"stiffness":[93,101,185],"robot.":[97],"Additionally,":[98],"joint":[100,184],"identification":[102,186],"method":[103,176,187],"proposed.":[105],"compensate":[107],"for":[108],"bone":[113,197],"drilling,":[114],"force-position":[116],"hybrid":[117],"compensation":[118,130,144,174],"control":[119,145,175],"framework":[120],"proposed":[122,143,173],"based":[123,177],"derived":[126],"models":[127],"strategy":[131],"prediction.":[134],"Our":[135],"experimental":[136],"results":[137],"validate":[138],"effectiveness":[140],"method.":[146],"Specifically,":[147],"significantly":[152,189],"reduced":[153,162],"by":[154,163],"56.6%,":[155],"force":[157],"38.5%,":[164],"quality":[168],"substantially":[170],"improved.":[171],"The":[172],"improve":[190],"accuracy":[192],"safety":[194],"drilling.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2025-10-10T00:00:00"}
