{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T15:36:10Z","timestamp":1772120170984,"version":"3.50.1"},"reference-count":31,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2025,7,17]],"date-time":"2025-07-17T00:00:00Z","timestamp":1752710400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,7,17]],"date-time":"2025-07-17T00:00:00Z","timestamp":1752710400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"name":"the Key Common Technology Research and Development Project of Hefei","award":["GJ2022SH17"],"award-info":[{"award-number":["GJ2022SH17"]}]},{"name":"the Key Common Technology Research and Development Project of Hefei","award":["GJ2022SH17"],"award-info":[{"award-number":["GJ2022SH17"]}]},{"name":"the Key Common Technology Research and Development Project of Hefei","award":["GJ2022SH17"],"award-info":[{"award-number":["GJ2022SH17"]}]},{"name":"the Key Common Technology Research and Development Project of Hefei","award":["GJ2022SH17"],"award-info":[{"award-number":["GJ2022SH17"]}]},{"name":"the Key Common Technology Research and Development Project of Hefei","award":["GJ2022SH17"],"award-info":[{"award-number":["GJ2022SH17"]}]},{"name":"the Key Common Technology Research and Development Project of Hefei","award":["GJ2022SH17"],"award-info":[{"award-number":["GJ2022SH17"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J Intell Robot Appl"],"published-print":{"date-parts":[[2025,12]]},"DOI":"10.1007\/s41315-025-00477-9","type":"journal-article","created":{"date-parts":[[2025,7,17]],"date-time":"2025-07-17T16:41:36Z","timestamp":1752770496000},"page":"1884-1897","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Circular path planning and adaptive force control for breast ultrasound autonomous scanning"],"prefix":"10.1007","volume":"9","author":[{"given":"Le","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dapeng","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haonan","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Baoshan","family":"Niu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qi","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hong","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,7,17]]},"reference":[{"issue":"8","key":"477_CR1","doi-asserted-by":"publisher","first-page":"1330","DOI":"10.1109\/TUFFC.2005.1509791","volume":"52","author":"MR Burcher","year":"2005","unstructured":"Burcher, M.R., Noble, J.A., Man, L., Gooding, M.: A system for simultaneously measuring contact force, ultrasound, and position information for use in force-based correction of freehand scanning. IEEE Trans. Ultrason. Ferroelectr. Freq. Control 52(8), 1330\u20131342 (2005)","journal-title":"IEEE Trans. Ultrason. Ferroelectr. Freq. Control"},{"key":"477_CR2","doi-asserted-by":"crossref","unstructured":"Chatelain, P., Krupa, A., Navab, N.: Confidence-driven control of an ultrasound probe: Target-specific acoustic window optimization. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 3441\u20133446 (2016). IEEE","DOI":"10.1109\/ICRA.2016.7487522"},{"key":"477_CR3","doi-asserted-by":"crossref","unstructured":"Coffin, C.T.: Work-related musculoskeletal disorders in sonographers: a review of causes and types of injury and best practices for reducing injury risk. Reports in Medical Imaging, 15\u201326 (2014)","DOI":"10.2147\/RMI.S34724"},{"issue":"2","key":"477_CR4","first-page":"241","volume":"58","author":"M Dhyani","year":"2017","unstructured":"Dhyani, M., Roll, S.C., Gilbertson, M.W., Orlowski, M., Anvari, A., Li, Q., Anthony, B., Samir, A.E.: A pilot study to precisely quantify forces applied by sonographers while scanning: A step toward reducing ergonomic injury. Work 58(2), 241\u2013247 (2017)","journal-title":"Work"},{"issue":"4","key":"477_CR5","doi-asserted-by":"publisher","first-page":"2660","DOI":"10.1002\/rcs.2660","volume":"20","author":"H Du","year":"2024","unstructured":"Du, H., Zhang, X., Zhang, Y., Zhang, F., Lin, L., Huang, T.: A review of robot-assisted ultrasound examination: Systems and technology. Int. J. Med. Robot. Comput. Assist. Surg 20(4), 2660 (2024)","journal-title":"Int. J. Med. Robot. Comput. Assist. Surg"},{"key":"477_CR6","doi-asserted-by":"crossref","unstructured":"Dyck, M., Weld, A., Klodmann, J., Kirst, A., Dixon, L., Anichini, G., Camp, S., Albu-Sch\u00e4ffer, A., Giannarou, S.: Towards safe and collaborative robotic ultrasound tissue scanning in neurosurgery. IEEE Transactions on Medical Robotics and Bionics (2024)","DOI":"10.1109\/TMRB.2024.3349626"},{"key":"477_CR7","doi-asserted-by":"publisher","first-page":"449","DOI":"10.1007\/s13244-018-0636-z","volume":"9","author":"A Evans","year":"2018","unstructured":"Evans, A., Trimboli, R.M., Athanasiou, A., Balleyguier, C., Baltzer, P.A., Bick, U., Camps Herrero, J., Clauser, P., Colin, C., Cornford, E., et al.: Breast ultrasound: recommendations for information to women and referring physicians by the european society of breast imaging. Insights Imaging 9, 449\u2013461 (2018)","journal-title":"Insights Imaging"},{"issue":"4","key":"477_CR8","doi-asserted-by":"publisher","first-page":"835","DOI":"10.1109\/TRO.2015.2429051","volume":"31","author":"MW Gilbertson","year":"2015","unstructured":"Gilbertson, M.W., Anthony, B.W.: Force and position control system for freehand ultrasound. IEEE Trans. Rob. 31(4), 835\u2013849 (2015)","journal-title":"IEEE Trans. Rob."},{"key":"477_CR9","doi-asserted-by":"crossref","unstructured":"Graumann, C., Fuerst, B., Hennersperger, C., Bork, F., Navab, N.: Robotic ultrasound trajectory planning for volume of interest coverage. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 736\u2013741 (2016). IEEE","DOI":"10.1109\/ICRA.2016.7487201"},{"issue":"4","key":"477_CR10","doi-asserted-by":"publisher","first-page":"224","DOI":"10.1177\/1742271X15593575","volume":"23","author":"G Harrison","year":"2015","unstructured":"Harrison, G., Harris, A.: Work-related musculoskeletal disorders in ultrasound: Can you reduce risk? Ultrasound 23(4), 224\u2013230 (2015)","journal-title":"Ultrasound"},{"key":"477_CR11","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1007\/s43154-020-00037-y","volume":"2","author":"F Haxthausen","year":"2021","unstructured":"Haxthausen, F., B\u00f6ttger, S., Wulff, D., Hagenah, J., Garc\u00eda-V\u00e1zquez, V., Ipsen, S.: Medical robotics for ultrasound imaging: current systems and future trends. Curr. Robot. Rep. 2, 55\u201371 (2021)","journal-title":"Curr. Robot. Rep."},{"issue":"2","key":"477_CR12","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.: Fully automatic three-dimensional ultrasound imaging based on conventional b-scan. IEEE Trans. Biomed. Circuits Syst. 12(2), 426\u2013436 (2018)","journal-title":"IEEE Trans. Biomed. Circuits Syst."},{"issue":"2","key":"477_CR13","doi-asserted-by":"publisher","first-page":"1173","DOI":"10.1109\/TII.2018.2871864","volume":"15","author":"Q Huang","year":"2019","unstructured":"Huang, Q., Lan, J., Li, X.: Robotic arm based automatic ultrasound scanning for three-dimensional imaging. IEEE Trans. Industr. Inf. 15(2), 1173\u20131182 (2019)","journal-title":"IEEE Trans. Industr. Inf."},{"key":"477_CR14","doi-asserted-by":"crossref","unstructured":"Jiang, Z., Wang, H., Li, Z., Grimm, M., Zhou, M., Eck, U., Brecht, S.V., Lueth, T.C., Wendler, T., Navab, N.: Motion-aware robotic 3d ultrasound. In: 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 12494\u201312500 (2021). IEEE","DOI":"10.1109\/ICRA48506.2021.9561487"},{"issue":"11","key":"477_CR15","doi-asserted-by":"publisher","first-page":"11200","DOI":"10.1109\/TIE.2020.3036215","volume":"68","author":"Z Jiang","year":"2020","unstructured":"Jiang, Z., Grimm, M., Zhou, M., Hu, Y., Esteban, J., Navab, N.: Automatic force-based probe positioning for precise robotic ultrasound acquisition. IEEE Trans. Industr. Electron. 68(11), 11200\u201311211 (2020)","journal-title":"IEEE Trans. Industr. Electron."},{"issue":"2","key":"477_CR16","doi-asserted-by":"publisher","first-page":"1342","DOI":"10.1109\/LRA.2020.2967682","volume":"5","author":"Z Jiang","year":"2020","unstructured":"Jiang, Z., Grimm, M., Zhou, M., Esteban, J., Simson, W., Zahnd, G., Navab, N.: Automatic normal positioning of robotic ultrasound probe based only on confidence map optimization and force measurement. IEEE Robotics and Automation Letters 5(2), 1342\u20131349 (2020)","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"2","key":"477_CR17","doi-asserted-by":"publisher","first-page":"1756","DOI":"10.1002\/rcs.1756","volume":"13","author":"YJ Kim","year":"2017","unstructured":"Kim, Y.J., Seo, J.H., Kim, H.R., Kim, K.G.: Development of a control algorithm for the ultrasound scanning robot (nccusr) using ultrasound image and force feedback. Int. J. Med. Robot. Comput. Assist. Surg. 13(2), 1756 (2017)","journal-title":"Int. J. Med. Robot. Comput. Assist. Surg."},{"key":"477_CR18","doi-asserted-by":"publisher","first-page":"845","DOI":"10.1007\/s40846-019-00483-w","volume":"39","author":"C-Y Lee","year":"2019","unstructured":"Lee, C.-Y., Li, P.-C.: Automatic conformal anti-radial ultrasound scanning for whole breast screening. J. of Med. and Biol. Eng. 39, 845\u2013854 (2019)","journal-title":"J. of Med. and Biol. Eng."},{"issue":"2","key":"477_CR19","doi-asserted-by":"publisher","first-page":"510","DOI":"10.1109\/TMRB.2021.3072190","volume":"3","author":"K Li","year":"2021","unstructured":"Li, K., Xu, Y., Meng, M.Q.-H.: An overview of systems and techniques for autonomous robotic ultrasound acquisitions. IEEE Trans. Med. Robot. Bionics 3(2), 510\u2013524 (2021)","journal-title":"IEEE Trans. Med. Robot. Bionics"},{"issue":"3","key":"477_CR20","doi-asserted-by":"publisher","first-page":"2491","DOI":"10.1002\/rcs.2491","volume":"19","author":"B Niu","year":"2023","unstructured":"Niu, B., Yang, D., Wang, P., Yang, H., Zhang, L., Gu, Y., Jiang, L.: Virtual-force-guided intraoperative ultrasound scanning with online lesion location prediction: A phantom study. Int. J. Med. Robot. Comput. Assist. Surg. 19(3), 2491 (2023)","journal-title":"Int. J. Med. Robot. Comput. Assist. Surg."},{"key":"477_CR21","doi-asserted-by":"crossref","unstructured":"Ott, C., Mukherjee, R., Nakamura, Y.: Unified impedance and admittance control. In: 2010 IEEE International Conference on Robotics and Automation, pp. 554\u2013561 (2010). IEEE","DOI":"10.1109\/ROBOT.2010.5509861"},{"key":"477_CR22","doi-asserted-by":"crossref","unstructured":"Rusinkiewicz, S., Levoy, M.: Efficient variants of the icp algorithm. In: Proceedings Third International Conference on 3-D Digital Imaging and Modeling, pp. 145\u2013152 (2001). IEEE","DOI":"10.1109\/IM.2001.924423"},{"issue":"1","key":"477_CR23","doi-asserted-by":"publisher","first-page":"8253","DOI":"10.1038\/s41598-023-35189-2","volume":"13","author":"A Sathish Kumar","year":"2023","unstructured":"Sathish Kumar, A., Naveen, S., Vijayakumar, R., Suresh, V., Asary, A.R., Madhu, S., Palani, K.: An intelligent fuzzy-particle swarm optimization supervisory-based control of robot manipulator for industrial welding applications. Sci. Rep. 13(1), 8253 (2023)","journal-title":"Sci. Rep."},{"issue":"4","key":"477_CR24","doi-asserted-by":"publisher","first-page":"976","DOI":"10.1109\/TMRB.2022.3214493","volume":"4","author":"J Tan","year":"2022","unstructured":"Tan, J., Li, Y., Li, B., Leng, Y., Peng, J., Wu, J., Luo, B., Chen, X., Rong, Y., Fu, C.: Automatic generation of autonomous ultrasound scanning trajectory based on 3-d point cloud. IEEE Trans. Med. Robot. Bionics 4(4), 976\u2013990 (2022)","journal-title":"IEEE Trans. Med. Robot. Bionics"},{"issue":"3","key":"477_CR25","doi-asserted-by":"publisher","first-page":"1920","DOI":"10.1109\/TASE.2022.3189339","volume":"20","author":"J Tan","year":"2022","unstructured":"Tan, J., Li, B., Li, Y., Li, B., Chen, X., Wu, J., Luo, B., Leng, Y., Rong, Y., Fu, C.: A flexible and fully autonomous breast ultrasound scanning system. IEEE Trans. Autom. Sci. Eng. 20(3), 1920\u20131933 (2022)","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"issue":"3","key":"477_CR26","doi-asserted-by":"publisher","first-page":"4664","DOI":"10.1109\/LRA.2021.3068702","volume":"6","author":"R Tsumura","year":"2021","unstructured":"Tsumura, R., Hardin, J.W., Bimbraw, K., Grossestreuer, A.V., Odusanya, O.S., Zheng, Y., Hill, J.C., Hoffmann, B., Soboyejo, W., Zhang, H.K.: Tele-operative low-cost robotic lung ultrasound scanning platform for triage of covid-19 patients. IEEE Robot. Autom. Lett. 6(3), 4664\u20134671 (2021)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"2","key":"477_CR27","doi-asserted-by":"publisher","first-page":"2468","DOI":"10.1002\/rcs.2468","volume":"19","author":"M Victorova","year":"2023","unstructured":"Victorova, M., Lau, H.H.T., Lee, T.T.-Y., Navarro-Alarcon, D., Zheng, Y.: Comparison of ultrasound scanning for scoliosis assessment: Robotic versus manual. Int. J. Med. Robot. Comput. Assist. Surg 19(2), 2468 (2023)","journal-title":"Int. J. Med. Robot. Comput. Assist. Surg"},{"key":"477_CR28","doi-asserted-by":"crossref","unstructured":"Wang, Z., Han, Y., Zhao, B., Xie, H., Yao, L., Li, B., Meng, M.Q.-H., Hu, Y.: Autonomous robotic system for carotid artery ultrasound scanning with visual servo navigation. IEEE Transactions on Medical Robotics and Bionics (2024)","DOI":"10.1109\/TMRB.2024.3464109"},{"issue":"7","key":"477_CR29","doi-asserted-by":"publisher","first-page":"7051","DOI":"10.1109\/TIE.2022.3204967","volume":"70","author":"Z Wang","year":"2023","unstructured":"Wang, Z., Zhao, B., Zhang, P., Yao, L., Wang, Q., Li, B., Meng, M.Q.-H., Hu, Y.: Full-coverage path planning and stable interaction control for automated robotic breast ultrasound scanning. IEEE Trans. Industr. Electron. 70(7), 7051\u20137061 (2023)","journal-title":"IEEE Trans. Industr. Electron."},{"key":"477_CR30","doi-asserted-by":"crossref","unstructured":"Welleweerd, M.K., Groot, A.G., Groenhuis, V., Siepel, F.J., Stramigioli, S.: Out-of-plane corrections for autonomous robotic breast ultrasound acquisitions. In: 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 12515\u201312521 (2021). IEEE","DOI":"10.1109\/ICRA48506.2021.9560865"},{"key":"477_CR31","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2022.119024","volume":"213","author":"H Yang","year":"2023","unstructured":"Yang, H., Yang, D.: Cswin-pnet: A cnn-swin transformer combined pyramid network for breast lesion segmentation in ultrasound images. Expert Syst. Appl. 213, 119024 (2023)","journal-title":"Expert Syst. Appl."}],"container-title":["International Journal of Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-025-00477-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s41315-025-00477-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-025-00477-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,12]],"date-time":"2025-12-12T09:35:32Z","timestamp":1765532132000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s41315-025-00477-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,7,17]]},"references-count":31,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2025,12]]}},"alternative-id":["477"],"URL":"https:\/\/doi.org\/10.1007\/s41315-025-00477-9","relation":{"has-preprint":[{"id-type":"doi","id":"10.21203\/rs.3.rs-6537709\/v1","asserted-by":"object"}]},"ISSN":["2366-5971","2366-598X"],"issn-type":[{"value":"2366-5971","type":"print"},{"value":"2366-598X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,7,17]]},"assertion":[{"value":"27 April 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"8 July 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 July 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"No human involved and all the research is carried out in an ethical manner.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical Approval"}},{"value":"The authors declare no Conflict of interest.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}