{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,28]],"date-time":"2025-08-28T06:40:16Z","timestamp":1756363216428,"version":"3.44.0"},"reference-count":33,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2025,8,22]],"date-time":"2025-08-22T00:00:00Z","timestamp":1755820800000},"content-version":"vor","delay-in-days":21,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2022YFB4700700"],"award-info":[{"award-number":["2022YFB4700700"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U20A20199","52375035"],"award-info":[{"award-number":["U20A20199","52375035"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Robotics Computer Surgery"],"published-print":{"date-parts":[[2025,8]]},"abstract":"<jats:title>ABSTRACT<\/jats:title><jats:sec><jats:title>Background<\/jats:title><jats:p>Robotic\u2010assisted unilateral biportal endoscopic surgery (UBE) is a more accurate and safer technique than traditional open surgical operations. The penetration recognition of ultrasonic drilling remains one of the challenging techniques of robotic\u2010assisted UBE surgery.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>We propose a force and VAE\u2010MLP\u2010based method for real\u2010time penetration recognition. During the ultrasonic drilling procedure, the force signals are collected and denoised via Kalman filtering first. The pre\u2010processed data are then used to extract hidden features and perform classification by Variational Autoencoder (VAE) and Multilayer Perceptron (MLP), respectively, ultimately achieving real\u2010time penetration recognition.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>Our method achieves superior accuracy (99.32% vs. 95.90%) and faster inference speed (17 vs. 33\u00a0ms) compared to the classic time\u2010series classification algorithm. Robotic ex vivo bone experiments further validated its efficacy.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusion<\/jats:title><jats:p>The force and VAE\u2010MLP framework enables fast and accurate penetration detection, which offers a reliable and efficient solution for minimizing nerve damage in UBE surgery.<\/jats:p><\/jats:sec>","DOI":"10.1002\/rcs.70100","type":"journal-article","created":{"date-parts":[[2025,8,23]],"date-time":"2025-08-23T02:10:57Z","timestamp":1755915057000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Breakthrough Recognition in Robotic\u2010Assisted UBE Surgery Based on Force Sensing and VAE\u2010MLP"],"prefix":"10.1002","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7348-489X","authenticated-orcid":false,"given":"Xuquan","family":"Ji","sequence":"first","affiliation":[{"name":"Key Laboratory of Biomechanics and Mechanobiology (Beihang University) Ministry of Education Key Laboratory of Innovation and Transformation of Advanced Medical Devices Ministry of Industry and Information Technology National Medical Innovation Platform for Industry\u2010Education Integration in Advanced Medical Devices (Interdiscipline of Medicine and Engineering) School of Biological Science and Medical Engineering Beihang University  Beijing China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yonghong","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mathematical Sciences Beihang University  Beijing China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-2939-6236","authenticated-orcid":false,"given":"Yuanyuan","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation Beihang University  Beijing China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Biao","family":"Yang","sequence":"additional","affiliation":[{"name":"Suzhou Zhuzheng Robot Co. Ltd.  Suzhou China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lei","family":"Hu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation Beihang University  Beijing China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Zhao","sequence":"additional","affiliation":[{"name":"Department of Orthopaedic Surgery Peking Union Medical College Hospital  Beijing China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0670-6261","authenticated-orcid":false,"given":"Wenyong","family":"Liu","sequence":"additional","affiliation":[{"name":"Key Laboratory of Biomechanics and Mechanobiology (Beihang University) Ministry of Education Key Laboratory of Innovation and Transformation of Advanced Medical Devices Ministry of Industry and Information Technology National Medical Innovation Platform for Industry\u2010Education Integration in Advanced Medical Devices (Interdiscipline of Medicine and Engineering) School of Biological Science and Medical Engineering Beihang University  Beijing China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2025,8,22]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1186\/s13018\u2010022\u201003249\u20104"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1111\/ases.12143"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jocn.2021.04.005"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1142\/9789812702678_0011"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmatprotec.2015.09.016"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.13465\/j.cnki.jvs.2015.22.004"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.1088\/0967\u20103334\/20\/4\/201"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.5137\/1019\u20105149.JTN.14185\u201015.0"},{"key":"e_1_2_10_10_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10877\u2010016\u20109915\u20108"},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10439\u2010013\u20100938\u20108"},{"key":"e_1_2_10_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/IECON.2010.5675468"},{"key":"e_1_2_10_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2015.2410287"},{"key":"e_1_2_10_14_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10439\u2010019\u201002444\u20105"},{"key":"e_1_2_10_15_1","doi-asserted-by":"publisher","DOI":"10.3969\/j.issn.1006\u20102084.2018.07.020"},{"key":"e_1_2_10_16_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ultras.2004.07.008"},{"key":"e_1_2_10_17_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.procir.2020.05.130"},{"key":"e_1_2_10_18_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmatprotec.2007.11.041"},{"key":"e_1_2_10_19_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ultrasmedbio.2005.12.012"},{"key":"e_1_2_10_20_1","doi-asserted-by":"publisher","DOI":"10.3390\/s22051710"},{"key":"e_1_2_10_21_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.proeng.2012.07.184"},{"key":"e_1_2_10_22_1","doi-asserted-by":"publisher","DOI":"10.3321\/j.issn:1002\u20100446.2007.05.009"},{"key":"e_1_2_10_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/RVSP.2011.49"},{"key":"e_1_2_10_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICInfA.2013.6720428"},{"key":"e_1_2_10_25_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2016.02.004"},{"key":"e_1_2_10_26_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.trit.2016.10.005"},{"key":"e_1_2_10_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/tase.2019.2920133"},{"key":"e_1_2_10_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/GCAT52182.2021.9587868"},{"key":"e_1_2_10_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/access.2017.2779939"},{"key":"e_1_2_10_30_1","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1312.6114"},{"volume-title":"Research on Ultrasonic Characteristic Impedance Measurement Instrument of Biomimetic Tissue Materials [D]","year":"2009","author":"Li Z.","key":"e_1_2_10_31_1"},{"volume-title":"Research on Acoustic Impedance Gradient Materials and Their Application in Ultrasonic Probes [D]","year":"2014","author":"Ye C.","key":"e_1_2_10_32_1"},{"key":"e_1_2_10_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/WRCSARA57040.2022.9903989"},{"key":"e_1_2_10_34_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10439\u2010019\u201002444\u20105"}],"container-title":["The International Journal of Medical Robotics and Computer Assisted Surgery"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rcs.70100","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,28]],"date-time":"2025-08-28T06:18:13Z","timestamp":1756361893000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rcs.70100"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,8]]},"references-count":33,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2025,8]]}},"alternative-id":["10.1002\/rcs.70100"],"URL":"https:\/\/doi.org\/10.1002\/rcs.70100","archive":["Portico"],"relation":{},"ISSN":["1478-5951","1478-596X"],"issn-type":[{"type":"print","value":"1478-5951"},{"type":"electronic","value":"1478-596X"}],"subject":[],"published":{"date-parts":[[2025,8]]},"assertion":[{"value":"2025-03-06","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-08-13","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-08-22","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"e70100"}}