{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,6]],"date-time":"2026-07-06T21:08:18Z","timestamp":1783372098465,"version":"3.54.6"},"reference-count":29,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2022,1,15]],"date-time":"2022-01-15T00:00:00Z","timestamp":1642204800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,1,15]],"date-time":"2022-01-15T00:00:00Z","timestamp":1642204800000},"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":["51975409"],"award-info":[{"award-number":["51975409"]}],"id":[{"id":"10.13039\/501100001809","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":[[2022,4]]},"DOI":"10.1007\/s11548-021-02547-2","type":"journal-article","created":{"date-parts":[[2022,1,15]],"date-time":"2022-01-15T11:02:27Z","timestamp":1642244547000},"page":"731-744","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Preoperative planning method based on a MOPSO algorithm for robot-assisted cholecystectomy"],"prefix":"10.1007","volume":"17","author":[{"given":"Yan","family":"Yang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shuai","family":"Han","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0619-6668","authenticated-orcid":false,"given":"Hongqiang","family":"Sang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fen","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2022,1,15]]},"reference":[{"key":"2547_CR1","first-page":"189","volume":"52","author":"S Miyamoto","year":"2003","unstructured":"Miyamoto S, Sugiura M, Watanabe S, Oyama K (2003) Development of minimally invasive surgery systems. Hitachi Rev 52:189\u2013195","journal-title":"Hitachi Rev"},{"key":"2547_CR2","doi-asserted-by":"crossref","first-page":"1636","DOI":"10.1007\/s00464-018-6079-2","volume":"32","author":"BS Peters","year":"2018","unstructured":"Peters BS, Armijo PR, Krause C, Choudhury SA, Oleynikov D (2018) Review of emerging surgical robotic technology. Surg Endosc 32:1636\u20131655","journal-title":"Surg Endosc"},{"key":"2547_CR3","doi-asserted-by":"crossref","first-page":"111","DOI":"10.1109\/RBME.2012.2236311","volume":"6","author":"V Vitiello","year":"2013","unstructured":"Vitiello V, Lee SL, Cundy TP, Yang GZ (2013) Emerging robotic platforms for minimally invasive surgery. IEEE Rev Biomed 6:111\u2013126","journal-title":"IEEE Rev Biomed"},{"issue":"1","key":"2547_CR4","doi-asserted-by":"crossref","first-page":"48","DOI":"10.1055\/s-2004-814113","volume":"36","author":"TN Robinson","year":"2004","unstructured":"Robinson TN, Stiegmann GV (2004) Minimally invasive surgery. J Endosc 36(1):48\u201351","journal-title":"J Endosc"},{"issue":"5","key":"2547_CR5","doi-asserted-by":"crossref","first-page":"854","DOI":"10.1109\/TRA.2003.817061","volume":"19","author":"L Adhami","year":"2003","unstructured":"Adhami L, Coste-Maniere E (2003) Optimal planning for minimally invasive surgical robots. IEEE Trans Robot Automat 19(5):854\u2013863","journal-title":"IEEE Trans Robot Automat"},{"issue":"4","key":"2547_CR6","doi-asserted-by":"crossref","first-page":"355","DOI":"10.1002\/rcs.158","volume":"3","author":"AL Trejos","year":"2007","unstructured":"Trejos AL, Patel RV, Ross I, Kiaii B (2007) Optimizing port placement for robot-assisted minimally invasive cardiac surgery. Int J Med Robot Comput Assist Surg 3(4):355\u2013364","journal-title":"Int J Med Robot Comput Assist Surg"},{"key":"2547_CR7","doi-asserted-by":"crossref","unstructured":"Zhang F, Yan Z, Du Z (2016) Preoperative setup planning for robotic surgery based on a simulation platform and Gaussian process. In: IEEE International Conference on Mechatronics and Automation; August 7\u201310; Harbin, China, 902\u2013907","DOI":"10.1109\/ICMA.2016.7558682"},{"issue":"12","key":"2547_CR8","doi-asserted-by":"crossref","first-page":"1703","DOI":"10.1007\/s12541-016-0197-3","volume":"17","author":"QC Nguyen","year":"2016","unstructured":"Nguyen QC, Kim Y, Park S, Kwon HD (2016) End-effector path planning and collision avoidance for robot-assisted surgery. Int J Precis Eng Man 17(12):1703\u20131709","journal-title":"Int J Precis Eng Man"},{"key":"2547_CR9","unstructured":"Trejos AL, Patel RV (2005) Port placement for endoscopic cardiac surgery based on robot dexterity optimization. In: International Conference on Robotics and Automation (ICRA); April; Barcelona, Spain, 912\u2013917"},{"issue":"3","key":"2547_CR10","doi-asserted-by":"crossref","first-page":"507","DOI":"10.1089\/end.2007.0228","volume":"22","author":"KK Badani","year":"2008","unstructured":"Badani KK, Muhletaler F, Fumo M, Kaul S, Peabody JO, Bhandari M, Menon M (2008) Optimizing robotic renal surgery: the lateral camera port placement technique and current results. J Endourol 22(3):507\u2013510","journal-title":"J Endourol"},{"key":"2547_CR11","doi-asserted-by":"crossref","first-page":"1020","DOI":"10.1016\/S0531-5131(01)00179-0","volume":"1230","author":"A Austad","year":"2001","unstructured":"Austad A, Elle OJ, Rotnes JS (2001) Computer-aid planning of trocar placement and robot setting in robot-assisted surgery. Int Congr Series 1230:1020\u20131026","journal-title":"Int Congr Series"},{"key":"2547_CR12","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1016\/j.jamcollsurg.2003.08.010","volume":"198","author":"GS Ferzli","year":"2004","unstructured":"Ferzli GS, Fingerhut A (2004) Trocar placement for laparoscopic abdominal procedures: a simple standardized method. J Am Coll Surg 198:163\u2013173","journal-title":"J Am Coll Surg"},{"issue":"2","key":"2547_CR13","doi-asserted-by":"crossref","first-page":"76","DOI":"10.1002\/rcs.18","volume":"1","author":"M Hayashibe","year":"2005","unstructured":"Hayashibe M, Suzuki N, Hashizume M, Kakeji Y, Konishi K, Suzuki S, Hattori A (2005) Preoperative planning system for surgical robotics setup with kinematics and haptics. Int J Med Robot Comput Assist Surg 1(2):76\u201385","journal-title":"Int J Med Robot Comput Assist Surg"},{"key":"2547_CR14","first-page":"616","volume":"1","author":"D Liu","year":"2011","unstructured":"Liu D, Li J, He C, Kong K (2011) Workspace analysis based port placement planning in robotic-assisted cholecystectomy. Proc Int Symposium IT Med Educ 1:616\u2013620","journal-title":"Proc Int Symposium IT Med Educ"},{"issue":"5","key":"2547_CR15","doi-asserted-by":"crossref","first-page":"912","DOI":"10.1109\/TRA.2003.817502","volume":"19","author":"JW Cannon","year":"2003","unstructured":"Cannon JW, Stoll JA, Sellha SD, Dupont PE, Howe RD, Torchiana DF (2003) Port placement planning in robot-assisted coronary artery bypass. IEEE Trans Robot Automat 19(5):912\u2013917","journal-title":"IEEE Trans Robot Automat"},{"key":"2547_CR16","doi-asserted-by":"crossref","unstructured":"Zhang F, Yan Z, Du Z (2017) Preoperative planning for the multi-arm surgical robot using PSO-GP-based performance optimization. In: IEEE International Conference on Robotics and Automation (ICRA), Singapore, 4208\u20134214","DOI":"10.1109\/ICRA.2017.7989484"},{"issue":"4","key":"2547_CR17","first-page":"1","volume":"13","author":"M Feng","year":"2017","unstructured":"Feng M, Jin X, Tong W, Guo X, Zhao J, Fu Y (2017) Pose optimization and incision placement for robot-assisted minimally invasive surgery in cholecystectomy. Int J Med Robot Comput Assist Surg 13(4):1\u20139","journal-title":"Int J Med Robot Comput Assist Surg"},{"key":"2547_CR18","doi-asserted-by":"crossref","unstructured":"Adhami L, Coste-Maniere E (2002) A versatile system for computer integrated mini-invasive robotic surgery. Lecture Notes In Computer Science, Proceedings of the 5th International Conference on Medical Image Computing and Computer-Assisted Intervention, 2488: 272\u2013281","DOI":"10.1007\/3-540-45786-0_34"},{"issue":"10","key":"2547_CR19","doi-asserted-by":"crossref","first-page":"853","DOI":"10.1177\/0037549717719336","volume":"93","author":"Z Du","year":"2017","unstructured":"Du Z, Wang W, Wang W, Dong W (2017) Preoperative planning for a multi-arm robot-assisted minimally invasive surgery system. SIMULATION 93(10):853\u2013867","journal-title":"SIMULATION"},{"issue":"22","key":"2547_CR20","doi-asserted-by":"crossref","first-page":"48655","DOI":"10.1109\/ACCESS.2019.2910016","volume":"4","author":"W Wang","year":"2019","unstructured":"Wang W, Du C, Wang W, Du Z (2019) A pso-optimized fuzzy reinforcement learning method for making the minimally invasive surgical arm cleverer. IEEE Acess 4(22):48655\u201348670","journal-title":"IEEE Acess"},{"issue":"3","key":"2547_CR21","doi-asserted-by":"crossref","first-page":"245","DOI":"10.1002\/rcs.139","volume":"3","author":"LW Sun","year":"2007","unstructured":"Sun LW, Van Meer F, Schmid J, Bailly Y, Thakre AA, Yeung CK (2007) Advanced da Vinci surgical system simulator for surgeon training and operation planning. Int J Med Robot Comput Assist Surg 3(3):245\u2013251","journal-title":"Int J Med Robot Comput Assist Surg"},{"issue":"1","key":"2547_CR22","doi-asserted-by":"crossref","first-page":"63","DOI":"10.1016\/j.cmpb.2006.04.010","volume":"83","author":"M Hayashibe","year":"2006","unstructured":"Hayashibe M, Suzuki N, Hashizume M, Konishi K, Hattori A (2006) Robotic surgery setup simulation with the integration of inverse-kinematics computation and medical imaging. Comput Meth Prog Biomed 83(1):63\u201372","journal-title":"Comput Meth Prog Biomed"},{"issue":"1","key":"2547_CR23","doi-asserted-by":"crossref","first-page":"172","DOI":"10.1109\/TITB.2012.2220557","volume":"17","author":"H Azimian","year":"2013","unstructured":"Azimian H, Patel RV, Naish MD, Kiaii B (2013) A semi-infinite programming approach to preoperative planning of robotic cardiac surgery under geometric uncertainty. IEEE J Biomed Health Inf 17(1):172\u2013182","journal-title":"IEEE J Biomed Health Inf"},{"key":"2547_CR24","volume-title":"Human Anatomy","author":"XC Luo","year":"2009","unstructured":"Luo XC, Wang ZR (2009) Human Anatomy. World Publishing Corporation, Beijing, China"},{"issue":"4","key":"2547_CR25","first-page":"1","volume":"13","author":"Y Gao","year":"2017","unstructured":"Gao Y, Wang S, Li J, Li A, Liu H, Xing Y (2017) Modeling and evaluation of hand-eye coordination of surgical robotic system on task performance. Int J Med Robot Comput Assist Surg 13(4):1\u20139","journal-title":"Int J Med Robot Comput Assist Surg"},{"key":"2547_CR26","doi-asserted-by":"crossref","unstructured":"Selha S, Dupont P, Howe R, Torchiana D (2002) Dexterity optimization by port placement in robot-assisted minimally invasive surgery. In: Intel systems and advanced manufacturing 4570: 97\u2013104","DOI":"10.1117\/12.454734"},{"key":"2547_CR27","doi-asserted-by":"crossref","first-page":"397","DOI":"10.1007\/s004649900374","volume":"11","author":"GB Hanna","year":"1997","unstructured":"Hanna GB, Shimi S, Cuschieri A (1997) Optimal port locations for endoscopic intracorporeal knotting. Surg Endosc 11:397\u2013401","journal-title":"Surg Endosc"},{"issue":"4","key":"2547_CR28","doi-asserted-by":"crossref","first-page":"924","DOI":"10.1007\/s00464-007-9520-5","volume":"22","author":"S Manasnayakorn","year":"2008","unstructured":"Manasnayakorn S, Curschieri A, Hanna GB (2008) Ideal manipulation angle and instrument length in hand-assisted laparoscopic surgery. Surg Endosc 22(4):924\u2013929","journal-title":"Surg Endosc"},{"key":"2547_CR29","doi-asserted-by":"crossref","unstructured":"Rosen J, Brown J, Chang L, Barreca M, Hannaford B (2002) The BlueDRAGON-A system for measuring the kinematics and the dynamics of minimally invasive surgical tools in-vivo. Proceedings 2002 IEEE\/ICRA; Washington, DC, USA, 1876\u20131881","DOI":"10.1109\/ROBOT.2002.1014814"}],"container-title":["International Journal of Computer Assisted Radiology and Surgery"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-021-02547-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11548-021-02547-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-021-02547-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,3,25]],"date-time":"2022-03-25T14:46:52Z","timestamp":1648219612000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11548-021-02547-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,1,15]]},"references-count":29,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2022,4]]}},"alternative-id":["2547"],"URL":"https:\/\/doi.org\/10.1007\/s11548-021-02547-2","relation":{},"ISSN":["1861-6429"],"issn-type":[{"value":"1861-6429","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,1,15]]},"assertion":[{"value":"28 July 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"14 December 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"15 January 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The remaining authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"This article does not contain any studies with human participants or animals performed by any of the authors.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Human and animals rights"}},{"value":"This article does not contain patient data.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Informed consent"}}]}}