{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,27]],"date-time":"2026-08-27T05:18:00Z","timestamp":1787807880879,"version":"build-2784847793"},"reference-count":27,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T00:00:00Z","timestamp":1782777600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T00:00:00Z","timestamp":1782777600000},"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":["51675142"],"award-info":[{"award-number":["51675142"]}],"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":[[2026,8]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Background<\/jats:title>\n                    <jats:p>Autonomous Robotic Ultrasound Systems (ARUS) enable standardized breast cancer screening, but accurate breast localization and the nonlinear deformation of soft tissue hinder stable contact\u2010force control.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>We propose a framework integrating visual perception with compliant control. An adaptive gradient\u2010based edge detector extracts the nipple position, and a Variable Damping Admittance Control based on a Breast Biomechanical Model (VDAC\u2010BBM) is developed, which compensates for tissue deformation via a biomechanical prior and dynamically tunes the damping parameter in real time to suppress force error.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>Phantom and human experiments showed force tracking error \u2264\u00a00.4\u00a0N, with disturbance recovery speed improved by 16.5%\u201321.3% over conventional admittance control across the tested target forces.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusion<\/jats:title>\n                    <jats:p>Embedding a biomechanical prior into the control strategy enhances force compliance and stability during robotic scanning of deformable soft tissue, providing a technical basis for clinical translation.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70197","type":"journal-article","created":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T22:24:03Z","timestamp":1782858243000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Adaptive Admittance Control for Robotic Ultrasound Examination Based on a Breast Biomechanical Model"],"prefix":"10.1002","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1390-1022","authenticated-orcid":false,"given":"Dong","family":"Guo","sequence":"first","affiliation":[{"name":"Harbin University of Science and Technology  Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4602-1563","authenticated-orcid":false,"given":"Yongde","family":"Zhang","sequence":"additional","affiliation":[{"name":"Harbin University of Science and Technology  Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fujun","family":"Zhang","sequence":"additional","affiliation":[{"name":"Sun Yat\u2010sen University Cancer Center  Guangzhou China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6750-8883","authenticated-orcid":false,"given":"Letao","family":"Lin","sequence":"additional","affiliation":[{"name":"Sun Yat\u2010sen University Cancer Center  Guangzhou China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tao","family":"Huang","sequence":"additional","affiliation":[{"name":"Sun Yat\u2010sen University Cancer Center  Guangzhou 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