{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T21:06:10Z","timestamp":1774991170097,"version":"3.50.1"},"reference-count":29,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"5","license":[{"start":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T00:00:00Z","timestamp":1777593600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T00:00:00Z","timestamp":1777593600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T00:00:00Z","timestamp":1777593600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100003475","name":"Hasler Stiftung","doi-asserted-by":"publisher","award":["21039"],"award-info":[{"award-number":["21039"]}],"id":[{"id":"10.13039\/501100003475","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2026,5]]},"DOI":"10.1109\/lra.2026.3673984","type":"journal-article","created":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T19:55:25Z","timestamp":1773431725000},"page":"5638-5645","source":"Crossref","is-referenced-by-count":0,"title":["Robust-Sub-Gaussian Model Predictive Control for Safe Ultrasound-Image-Guided Robotic Spinal Surgery"],"prefix":"10.1109","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-8857-9526","authenticated-orcid":false,"given":"Yunke","family":"Ao","sequence":"first","affiliation":[{"name":"ROCS Team at Balgrist University Hospital and University of Zurich, Z&#x00FC;rich, Switzerland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3867-4575","authenticated-orcid":false,"given":"Manish","family":"Prajapat","sequence":"additional","affiliation":[{"name":"Department of Computer Science, ETH Zurich, Z&#x00FC;rich, Switzerland"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-1685-4099","authenticated-orcid":false,"given":"Yarden","family":"As","sequence":"additional","affiliation":[{"name":"Department of Computer Science, ETH Zurich, Z&#x00FC;rich, Switzerland"}]},{"given":"Yassine","family":"Taoudi-Benchekroun","sequence":"additional","affiliation":[{"name":"Institute of Neuroinformatics, ETH Zurich, Z&#x00FC;rich, Switzerland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0942-0277","authenticated-orcid":false,"given":"Fabio","family":"Carrillo","sequence":"additional","affiliation":[{"name":"OR-X Translational Center for Surgery, Balgrist University Hospital, University of Zurich, Z&#x00FC;rich, Switzerland"}]},{"given":"Hooman","family":"Esfandiari","sequence":"additional","affiliation":[{"name":"ROCS Team at Balgrist University Hospital and University of Zurich, Z&#x00FC;rich, Switzerland"}]},{"given":"Benjamin F.","family":"Grewe","sequence":"additional","affiliation":[{"name":"Institute of Neuroinformatics, ETH Zurich, Z&#x00FC;rich, Switzerland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7260-9673","authenticated-orcid":false,"given":"Andreas","family":"Krause","sequence":"additional","affiliation":[{"name":"Department of Computer Science, ETH Zurich, Z&#x00FC;rich, Switzerland"}]},{"given":"Philipp","family":"F\u00fcrnstahl","sequence":"additional","affiliation":[{"name":"ROCS Team at Balgrist University Hospital and University of Zurich, Z&#x00FC;rich, Switzerland"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1227\/01.NEU.0000229055.00829.5B"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.2106\/JBJS.ST.19.00020"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.3171\/2011.6.SPINE10721"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.3389\/fsurg.2021.578674"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2024.3385793"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.3390\/jimaging8100271"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.media.2024.103322"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.3390\/jimaging7090164"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.3390\/robotics11060139"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.media.2024.103345"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-023-02932-z"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2006.03.005"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2020.109095"},{"key":"ref14","article-title":"Stochastic model predictive control for sub-gaussian noise","author":"Ao","year":"2025"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3270034"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1088\/0031-9155\/59\/18\/5287"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-24571-3_61"},{"key":"ref18","article-title":"Localising under the drape: Proprioception in the era of distributed surgical robotic system","author":"Huber","year":"2025"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2024.3385793"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.106"},{"key":"ref21","article-title":"Segmentation models pytorch","author":"Iakubovskii","year":"2019"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.90"},{"key":"ref23","article-title":"NeuralBoneReg: A novel self-supervised method for robust and accurate multi-modal bone surface registration","author":"Wu","year":"2025"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.23919\/ECC57647.2023.10178356"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2025.3541577"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1097\/00007632-199001000-00004"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.31139\/chnriop.2023.88.4.2"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s00586-015-3853-x"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1007\/s00586-011-2011-3"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/11435997\/11433764.pdf?arnumber=11433764","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T19:53:45Z","timestamp":1774986825000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11433764\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,5]]},"references-count":29,"journal-issue":{"issue":"5"},"URL":"https:\/\/doi.org\/10.1109\/lra.2026.3673984","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,5]]}}}