{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T17:53:27Z","timestamp":1780509207226,"version":"3.54.1"},"reference-count":30,"publisher":"Springer Science and Business Media LLC","issue":"12","license":[{"start":{"date-parts":[[2021,8,9]],"date-time":"2021-08-09T00:00:00Z","timestamp":1628467200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,8,9]],"date-time":"2021-08-09T00:00:00Z","timestamp":1628467200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["82027807"],"award-info":[{"award-number":["82027807"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["81771940"],"award-info":[{"award-number":["81771940"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005089","name":"Beijing Municipal Natural Science Foundation","doi-asserted-by":"publisher","award":["7212202"],"award-info":[{"award-number":["7212202"]}],"id":[{"id":"10.13039\/501100005089","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J CARS"],"published-print":{"date-parts":[[2021,12]]},"DOI":"10.1007\/s11548-021-02462-6","type":"journal-article","created":{"date-parts":[[2021,8,9]],"date-time":"2021-08-09T18:32:40Z","timestamp":1628533960000},"page":"2189-2199","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":29,"title":["Force-guided autonomous robotic ultrasound scanning control method for soft uncertain environment"],"prefix":"10.1007","volume":"16","author":[{"given":"Guochen","family":"Ning","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiaqi","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xinran","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3847-9347","authenticated-orcid":false,"given":"Hongen","family":"Liao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2021,8,9]]},"reference":[{"key":"2462_CR1","doi-asserted-by":"publisher","first-page":"507","DOI":"10.1109\/TUFFC.2013.2593","volume":"60","author":"A Priester","year":"2013","unstructured":"Priester A, Natarajan S, Culjat M (2013) Robotic ultrasound systems in medicine. IEEE Trans Ultrason Ferroelect Freq Contr 60:507\u2013523. https:\/\/doi.org\/10.1109\/TUFFC.2013.2593","journal-title":"IEEE Trans Ultrason Ferroelect Freq Contr"},{"key":"2462_CR2","doi-asserted-by":"publisher","first-page":"61","DOI":"10.5772\/60133","volume":"12","author":"M Hoeckelmann","year":"2015","unstructured":"Hoeckelmann M, Rudas IJ, Fiorini P, Kirchner F, Haidegger T (2015) Current capabilities and development potential in surgical robotics. Int J Adv Robot Syst 12:61. https:\/\/doi.org\/10.5772\/60133","journal-title":"Int J Adv Robot Syst"},{"key":"2462_CR3","doi-asserted-by":"publisher","first-page":"1077","DOI":"10.1109\/TBME.2014.2367233","volume":"62","author":"G Li","year":"2015","unstructured":"Li G, Su H, Cole GA, Shang W, Harrington K, Camilo A, Pilitsis JG, Fischer GS (2015) Robotic system for MRI-guided stereotactic neurosurgery. IEEE Trans Biomed Eng 62:1077\u20131088. https:\/\/doi.org\/10.1109\/TBME.2014.2367233","journal-title":"IEEE Trans Biomed Eng"},{"key":"2462_CR4","doi-asserted-by":"publisher","first-page":"2365","DOI":"10.1109\/TII.2016.2576960","volume":"12","author":"KC Lau","year":"2016","unstructured":"Lau KC, Leung EYY, Chiu PWY, Yam Y, Lau JYW, Poon CCY (2016) A flexible surgical robotic system for removal of early-stage gastrointestinal cancers by endoscopic submucosal dissection. IEEE Trans Ind Inf 12:2365\u20132374. https:\/\/doi.org\/10.1109\/TII.2016.2576960","journal-title":"IEEE Trans Ind Inf"},{"key":"2462_CR5","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2017\/6027029","volume":"2017","author":"Q Huang","year":"2017","unstructured":"Huang Q, Zeng Z (2017) A review on real-time 3D ultrasound imaging technology. Biomed Res Int 2017:1\u201320. https:\/\/doi.org\/10.1155\/2017\/6027029","journal-title":"Biomed Res Int"},{"key":"2462_CR6","doi-asserted-by":"publisher","first-page":"1003","DOI":"10.1007\/s11548-017-1561-1","volume":"12","author":"R Kojcev","year":"2017","unstructured":"Kojcev R, Khakzar A, Fuerst B, Zettinig O, Fahkry C, DeJong R, Richmon J, Taylor R, Sinibaldi E, Navab N (2017) On the reproducibility of expert-operated and robotic ultrasound acquisitions. Int J CARS 12:1003\u20131011. https:\/\/doi.org\/10.1007\/s11548-017-1561-1","journal-title":"Int J CARS"},{"key":"2462_CR7","doi-asserted-by":"publisher","unstructured":"Pan Z, Tian S, Guo M, Zhang J, Yu N, Xin Y (2017) Comparison of medical image 3D reconstruction rendering methods for robot-assisted surgery. In: IEEE 2017 2nd international conference on advanced robotics and mechatronics-ICARM 2019, vol 6, p 94. https:\/\/doi.org\/10.1109\/ICARM.2017.8273141","DOI":"10.1109\/ICARM.2017.8273141"},{"key":"2462_CR8","doi-asserted-by":"publisher","unstructured":"Koizumi N, Joonho S, Deukhee L, Nomiya A, Yoshinaka K, Sugita N, Matsumoto Y, Homma Y, Mitsuishi M (2010) Integration of diagnostics and therapy by ultrasound and robot technology. In: IEEE 2010 international symposium on micro-nanomechatronics and human science -MHS 2010, pp 53\u201358. https:\/\/doi.org\/10.1109\/MHS.2010.5669577","DOI":"10.1109\/MHS.2010.5669577"},{"issue":"3","key":"2462_CR9","doi-asserted-by":"publisher","first-page":"55","DOI":"10.4103\/0973-6042.76960","volume":"4","author":"A Boezaart","year":"2010","unstructured":"Boezaart A, Ihnatsenka B (2010) Ultrasound: basic understanding and learning the language. Int J Shoulder Surg 4(3):55. https:\/\/doi.org\/10.4103\/0973-6042.76960","journal-title":"Int J Shoulder Surg"},{"issue":"6","key":"2462_CR10","doi-asserted-by":"publisher","first-page":"1410","DOI":"10.1109\/TRO.2017.2723618","volume":"33","author":"P Chatelain","year":"2017","unstructured":"Chatelain P, Krupa A, Navab N (2017) Confidence-driven control of an ultrasound probe. IEEE Trans Robot 33(6):1410\u20131424. https:\/\/doi.org\/10.1109\/TRO.2017.2723618","journal-title":"IEEE Trans Robot"},{"issue":"2","key":"2462_CR11","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1109\/TMRB.2019.2913282","volume":"1","author":"T Haidegger","year":"2019","unstructured":"Haidegger T (2019) Autonomy for surgical robots: concepts and paradigms. IEEE Trans Med Robot Bionics 1(2):65\u201376. https:\/\/doi.org\/10.1109\/TMRB.2019.2913282","journal-title":"IEEE Trans Med Robot Bionics"},{"key":"2462_CR12","doi-asserted-by":"publisher","DOI":"10.1109\/SMC.2017.8122869","author":"R Elek","year":"2017","unstructured":"Elek R, Nagy TD, Nagy DA, Takacs B, Galambos P, Rudas I, Haidegger T (2017) Robotic platforms for ultrasound diagnostics and treatment. IEEE Trans Syst Man Cybern. https:\/\/doi.org\/10.1109\/SMC.2017.8122869","journal-title":"IEEE Trans Syst Man Cybern"},{"issue":"2","key":"2462_CR13","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1109\/tmi.2016.2620723","volume":"36","author":"C Hennersperger","year":"2017","unstructured":"Hennersperger C, Fuerst B, Virga S, Zettinig O, Frisch B, Neff T, Navab N (2017) Towards MRI-based autonomous robotic US acquisitions: a first feasibility study. IEEE Trans Med Imaging 36(2):11. https:\/\/doi.org\/10.1109\/tmi.2016.2620723","journal-title":"IEEE Trans Med Imaging"},{"issue":"2","key":"2462_CR14","doi-asserted-by":"publisher","first-page":"426","DOI":"10.1109\/TBCAS.2017.2782815","volume":"12","author":"Q Huang","year":"2018","unstructured":"Huang Q, Wu B, Lan J, Li X (2018) Fully automatic three-dimensional ultrasound imaging based on conventional B-Scan. IEEE Trans Biomed Circuits Syst 12(2):426\u2013436. https:\/\/doi.org\/10.1109\/TBCAS.2017.2782815","journal-title":"IEEE Trans Biomed Circuits Syst"},{"issue":"2","key":"2462_CR15","doi-asserted-by":"publisher","first-page":"10","DOI":"10.1109\/tii.2018.2871864","volume":"15","author":"Q Huang","year":"2019","unstructured":"Huang Q, Lan J, Li X (2019) Robotic arm based automatic ultrasound scanning for three-dimensional imaging. IEEE Trans Industr Inform 15(2):10. https:\/\/doi.org\/10.1109\/tii.2018.2871864","journal-title":"IEEE Trans Industr Inform"},{"issue":"1","key":"2462_CR16","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1115\/1.3140702","volume":"107","author":"N Hogan","year":"1985","unstructured":"Hogan N (1985) Impedance control: an approach to manipulation. J Dyn Syst Meas Control 107(1):1\u201324","journal-title":"J Dyn Syst Meas Control"},{"issue":"2","key":"2462_CR17","doi-asserted-by":"publisher","first-page":"126","DOI":"10.1115\/1.3139652","volume":"103","author":"MH Raibert","year":"1981","unstructured":"Raibert MH, Craig JJ (1981) Hybrid position\/force control of robot manipulators. J Dyn Syst Meas Control 103(2):126\u2013133","journal-title":"J Dyn Syst Meas Control"},{"key":"2462_CR18","doi-asserted-by":"publisher","unstructured":"Gullapalli V, Grupen RA (1992) Learning reactive admittance control. In: IEEE 1992 international conference on robotics and automation-ICRA 1992, pp 1475\u20131480. https:\/\/doi.org\/10.1109\/robot.1992.220143","DOI":"10.1109\/robot.1992.220143"},{"issue":"4","key":"2462_CR19","doi-asserted-by":"publisher","first-page":"581","DOI":"10.1109\/70.508440","volume":"12","author":"H Bruyninckx","year":"1996","unstructured":"Bruyninckx H, De Schutter J (1996) Specification of force-controlled actions in the \u201ctask frame formalism\u201d\u2014a synthesis. IEEE Trans Robot Automat 12(4):581\u2013589. https:\/\/doi.org\/10.1109\/70.508440","journal-title":"IEEE Trans Robot Automat"},{"key":"2462_CR20","doi-asserted-by":"publisher","first-page":"54","DOI":"10.1016\/j.robot.2018.01.009","volume":"102","author":"J Duan","year":"2018","unstructured":"Duan J, Gan Y, Chen M, Dai X (2018) Adaptive variable impedance control for dynamic contact force tracking in uncertain environment. Robot Auton Syst 102:54\u201365. https:\/\/doi.org\/10.1016\/j.robot.2018.01.009","journal-title":"Robot Auton Syst"},{"issue":"3","key":"2462_CR21","doi-asserted-by":"publisher","first-page":"641","DOI":"10.1109\/41.847905","volume":"47","author":"K Kiguchi","year":"2000","unstructured":"Kiguchi K, Fukuda T (2000) Position\/force control of robot manipulators for geometrically unknown objects using fuzzy neural networks. IEEE Trans Ind Electron 47(3):641\u2013649. https:\/\/doi.org\/10.1109\/41.847905","journal-title":"IEEE Trans Ind Electron"},{"key":"2462_CR22","doi-asserted-by":"publisher","first-page":"432","DOI":"10.1016\/j.isatra.2017.07.029","volume":"70","author":"B Baigzadehnoe","year":"2017","unstructured":"Baigzadehnoe B, Rahmani Z, Khosravi A, Rezaie B (2017) On position\/force tracking control problem of cooperative robot manipulators using adaptive fuzzy backstepping approach. ISA Trans 70:432\u2013446. https:\/\/doi.org\/10.1016\/j.isatra.2017.07.029","journal-title":"ISA Trans"},{"key":"2462_CR23","doi-asserted-by":"publisher","unstructured":"Kronander K, Billard A (2012) Online learning of varying stiffness through physical human\u2013robot interaction. In: IEEE 2012 international conference on robotics and automation-ICRA 2012, pp 1842\u20131849. https:\/\/doi.org\/10.1109\/icra.2012.6224877","DOI":"10.1109\/icra.2012.6224877"},{"key":"2462_CR24","doi-asserted-by":"publisher","unstructured":"Calinon S, Sardellitti I, Caldwell DG (2010) Learning-based control strategy for safe human-robot interaction exploiting task and robot redundancies. In: IEEE 2010 IEEE\/RSJ international conference on intelligent robots and systems-IROS 2010, pp 249\u2013254. https:\/\/doi.org\/10.1109\/IROS.2010.5648931","DOI":"10.1109\/IROS.2010.5648931"},{"key":"2462_CR25","doi-asserted-by":"publisher","unstructured":"Mart\u00edn-Mart\u00edn R, Lee MA, Gardner R, Savarese S, Bohg J, Garg A (2019) Variable impedance control in end-effector space: an action space for reinforcement learning in contact-rich tasks. In: IEEE 2019 IEEE\/RSJ international conference on intelligent robots and systems-IROS 2019, pp 1010\u20131017. https:\/\/doi.org\/10.1109\/iros40897.2019.8968201","DOI":"10.1109\/iros40897.2019.8968201"},{"key":"2462_CR26","doi-asserted-by":"publisher","unstructured":"Bence T, Tam\u00e1s H (2020) Autonomous applied robotics: ultrasound-based robot-assisted needle insertion system concept and development. In: IEEE 2020 15th international conference of system of systems engineering-SoSE 2020, pp 487\u2013492. https:\/\/doi.org\/10.1109\/SoSE50414.2020.9130499","DOI":"10.1109\/SoSE50414.2020.9130499"},{"issue":"8","key":"2462_CR27","doi-asserted-by":"publisher","first-page":"49","DOI":"10.12700\/APH.16.8.2019.8.4","volume":"16","author":"C Grace","year":"2019","unstructured":"Grace C, Nickolas E, Anton D, Peter K (2019) A compliance model to improve the accuracy of the da Vinci Research Kit (dVRK). Acta Polytech Hung 16(8):49\u201360. https:\/\/doi.org\/10.12700\/APH.16.8.2019.8.4","journal-title":"Acta Polytech Hung"},{"key":"2462_CR28","doi-asserted-by":"publisher","unstructured":"Yoshikawa T (1986) Dynamic hybrid position\/force control of robot manipulators description of hand constraints and calculation of joint driving force. In: IEEE 1986 IEEE International conference on robotics and automation-ICRA1986, pp 1393\u20131398. https:\/\/doi.org\/10.1109\/ROBOT.1986.1087420.","DOI":"10.1109\/ROBOT.1986.1087420"},{"issue":"9","key":"2462_CR29","doi-asserted-by":"publisher","first-page":"3826","DOI":"10.1109\/TCYB.2020.2977374","volume":"50","author":"TT Nguyen","year":"2020","unstructured":"Nguyen TT, Nguyen ND, Nahavandi S (2020) Deep reinforcement learning for multiagent systems: a review of challenges, solutions, and applications. IEEE Trans Cybern 50(9):3826\u20133839. https:\/\/doi.org\/10.1109\/TCYB.2020.2977374","journal-title":"IEEE Trans Cybern"},{"key":"2462_CR30","unstructured":"Schulman J, Wolski F, Dhariwal P, Radford A, Klimov O (2017) Proximal policy optimization algorithms. In: https:\/\/arxiv.org\/abs\/1707.06347"}],"container-title":["International Journal of Computer Assisted Radiology and Surgery"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-021-02462-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11548-021-02462-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-021-02462-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,11,25]],"date-time":"2021-11-25T11:29:55Z","timestamp":1637839795000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11548-021-02462-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,8,9]]},"references-count":30,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2021,12]]}},"alternative-id":["2462"],"URL":"https:\/\/doi.org\/10.1007\/s11548-021-02462-6","relation":{},"ISSN":["1861-6410","1861-6429"],"issn-type":[{"value":"1861-6410","type":"print"},{"value":"1861-6429","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,8,9]]},"assertion":[{"value":"10 January 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"14 July 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 August 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"All authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"This article does contain a study with human participants and was approved by the Tsinghua University Institutional Review Board under the number 20210074. All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional and\/or national research committee and with the 1964 Helsinki Declaration and its later amendments or comparable ethical standards.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}}]}}