{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,28]],"date-time":"2026-10-28T04:36:05Z","timestamp":1793162165729,"version":"4.5.0"},"reference-count":37,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2026,9,10]],"date-time":"2026-09-10T00:00:00Z","timestamp":1788998400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,9,10]],"date-time":"2026-09-10T00:00:00Z","timestamp":1788998400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100003453","name":"Natural Science Foundation of Guangdong Province","doi-asserted-by":"publisher","award":["2025A1515012038"],"award-info":[{"award-number":["2025A1515012038"]}],"id":[{"id":"10.13039\/501100003453","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100007129","name":"Natural Science Foundation of Shandong Province","doi-asserted-by":"publisher","award":["ZR2024MF076"],"award-info":[{"award-number":["ZR2024MF076"]}],"id":[{"id":"10.13039\/501100007129","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100018532","name":"Major Scientific and Technological Innovation Project of Shandong Province","doi-asserted-by":"publisher","award":["2024CXGC010321"],"award-info":[{"award-number":["2024CXGC010321"]}],"id":[{"id":"10.13039\/501100018532","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":[[2026,10]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Background<\/jats:title>\n                    <jats:p>Accurate entry point localisation is critical for the safety of robot\u2010assisted percutaneous interventions (RAPI). However, medical optical tracking systems for the traditional fiducial patch are cost\u2010prohibitive. To address these challenges, this paper proposes a robust entry point and gesture localisation framework based on an inexpensive concentric fiducial patch and robust surface fitting.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>We introduce an anisotropic iteratively reweighted least squares (IRLS) algorithm integrated with a Tukey biweight M\u2010estimator, employing a deterministic soft\u2010weighting strategy to effectively suppress gross outliers and smooth out high\u2010frequency sensor noise.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>Experimental results demonstrate that the proposed method has high accuracy and robustness, achieving an MAE of 1.47\u00a0mm in dynamic respiratory tracking and maintains stable detection even under 60% occlusion and low\u2010light conditions.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>The results suggest that this framework provides a reliable and low\u2010cost solution for surgical navigation in unstructured clinical environments.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70232","type":"journal-article","created":{"date-parts":[[2026,9,10]],"date-time":"2026-09-10T08:42:31Z","timestamp":1789029751000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Entry Point Localisation for Percutaneous Surgical Robots Based on Concentric Fiducial Patches and Robust Surface Fitting"],"prefix":"10.1002","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0009-0007-1199-3772","authenticated-orcid":false,"given":"Youming","family":"Deng","sequence":"first","affiliation":[{"name":"School of Control 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China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,9,10]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.irbm.2020.06.005"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.asjsur.2025.05.074"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2025.3604086"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.surg.2025.109587"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2021.3077319"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2023.120134"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3063058"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMI.2024.3520992"},{"key":"e_1_2_10_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2020.3022619"},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3382528"},{"key":"e_1_2_10_12_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2026.108509"},{"key":"e_1_2_10_13_1","doi-asserted-by":"publisher","DOI":"10.3390\/mi11020194"},{"key":"e_1_2_10_14_1","doi-asserted-by":"publisher","DOI":"10.3390\/jpm13050727"},{"key":"e_1_2_10_15_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2025.118319"},{"key":"e_1_2_10_16_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.craph.2025.100015"},{"key":"e_1_2_10_17_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00542\u2010024\u201005668\u20101"},{"key":"e_1_2_10_18_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2023.113651"},{"key":"e_1_2_10_19_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2025.116769"},{"key":"e_1_2_10_20_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361\u20106501\/adcc49"},{"key":"e_1_2_10_21_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2024.116009"},{"key":"e_1_2_10_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2021.3130924"},{"key":"e_1_2_10_23_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.isprsjprs.2024.05.005"},{"key":"e_1_2_10_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.optlastec.2025.113978"},{"key":"e_1_2_10_25_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijleo.2013.05.032"},{"key":"e_1_2_10_26_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2025.105083"},{"key":"e_1_2_10_27_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.apergo.2017.01.012"},{"key":"e_1_2_10_28_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmsy.2014.07.011"},{"key":"e_1_2_10_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2020.2978617"},{"key":"e_1_2_10_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVW54120.2021.00105"},{"key":"e_1_2_10_31_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jobe.2024.109238"},{"key":"e_1_2_10_32_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.csi.2021.103608"},{"key":"e_1_2_10_33_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.gmod.2025.101289"},{"key":"e_1_2_10_34_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2026.103513"},{"key":"e_1_2_10_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICIP.2017.8296246"},{"key":"e_1_2_10_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.67"},{"key":"e_1_2_10_37_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2023.112464"},{"key":"e_1_2_10_38_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10147\u2010025\u201002874\u20103"}],"container-title":["The 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