{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,15]],"date-time":"2026-09-15T12:59:53Z","timestamp":1789477193407,"version":"build-2803163510"},"reference-count":21,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T00:00:00Z","timestamp":1778284800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T00:00:00Z","timestamp":1778284800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62373352"],"award-info":[{"award-number":["62373352"]}],"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":[[2026,6]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Background<\/jats:title>\n                    <jats:p>To overcome key challenges in traditional moxibustion, such as the shortage of skilled practitioners, time\u2010consuming and labour\u2010intensive procedures, this study developed an intelligent robotic system for automated acupoint positioning and moxibustion execution.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>The system established a standardised acupoint coordinate map utilising DensePose\u2010based body normalisation and statistical modelling from 50 subjects. A hybrid serial\u2010parallel robot design enabled large workspace and high precision for bedside application. Safety was ensured by a Model Predictive Controller utilising real\u2010time thermal feedback for dynamic distance adjustment.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>Experimental validation demonstrated precise spatial positioning, with mean errors of  mm (back),  mm (abdomen),  mm (upper limbs), and  mm (lower limbs). The system responded to temperature changes within 0.25\u00a0s, limiting overshoot to below 0.8\u00b0C.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>This integrated robotic system provides a precise and scalable solution for automated moxibustion, particularly valuable for resource\u2010limited clinical environments.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Trial Registration<\/jats:title>\n                    <jats:p>It was an investigational clinical study, not a registrational clinical trial<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70177","type":"journal-article","created":{"date-parts":[[2026,5,10]],"date-time":"2026-05-10T03:00:16Z","timestamp":1778382016000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Portable Moxibustion Robot With Intelligent Acupoint Positioning Guided by Visual Sensing"],"prefix":"10.1002","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-2403-8545","authenticated-orcid":false,"given":"Lanhui","family":"Wang","sequence":"first","affiliation":[{"name":"Department of Medical Engineering Medical Supplies Center of PLA General Hospital  Beijing China"},{"name":"National Key Laboratory for Multi\u2010modal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences  Beijing China"},{"name":"School of Artificial Intelligence University of Chinese Academy of Sciences  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-8796-500X","authenticated-orcid":false,"given":"Pengcheng","family":"Zhang","sequence":"additional","affiliation":[{"name":"National Key Laboratory for Multi\u2010modal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences  Beijing China"},{"name":"School of Artificial Intelligence University of Chinese Academy of Sciences  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ziqi","family":"Wang","sequence":"additional","affiliation":[{"name":"National Key Laboratory for Multi\u2010modal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mingrui","family":"Hao","sequence":"additional","affiliation":[{"name":"National Key Laboratory for Multi\u2010modal Artificial Intelligence Systems Institute of Automation Chinese 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