{"id":"https://openalex.org/W2466427463","doi":"https://doi.org/10.1088/0031-9155/61/14/5128","title":"Fast vision-based catheter 3D reconstruction","display_name":"Fast vision-based catheter 3D reconstruction","publication_year":2016,"publication_date":"2016-06-28","ids":{"openalex":"https://openalex.org/W2466427463","doi":"https://doi.org/10.1088/0031-9155/61/14/5128","mag":"2466427463","pmid":"https://pubmed.ncbi.nlm.nih.gov/27352011"},"language":"en","primary_location":{"id":"doi:10.1088/0031-9155/61/14/5128","doi":"https://doi.org/10.1088/0031-9155/61/14/5128","is_oa":false,"landing_page_url":"https://doi.org/10.1088/0031-9155/61/14/5128","pdf_url":null,"source":{"id":"https://openalex.org/S20241394","display_name":"Physics in Medicine and Biology","issn_l":"0031-9155","issn":["0031-9155","1361-6560"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","doyens","jufo-2","ki-jl-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320083","host_organization_name":"IOP Publishing","host_organization_lineage":["https://openalex.org/P4310320083","https://openalex.org/P4310311669"],"host_organization_lineage_names":["IOP Publishing","Institute of Physics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Physics in Medicine & Biology","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/Fast_vision-based_catheter_3D_reconstruction/20877937","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084359797","display_name":"Mohsen Moradi Dalvand","orcid":"https://orcid.org/0000-0001-8498-3865","observed_orcids":["https://orcid.org/0000-0001-8498-3865"]},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]},{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU","US"],"is_corresponding":true,"raw_author_name":"Mohsen Moradi Dalvand","raw_affiliation_strings":["Deakin University","Harvard Paulson School of Engineering and Applied Sciences","Harvard Paulson School of Engineering and Applied Sciences, Cambridge, MA 02138, USA","Institute for Intelligent Systems Research and Innovation (IISRI), Deakin University, Victoria 3216, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Deakin University","institution_ids":["https://openalex.org/I149704539"]},{"raw_affiliation_string":"Harvard Paulson School of Engineering and Applied Sciences","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Harvard Paulson School of Engineering and Applied Sciences, Cambridge, MA 02138, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Institute for Intelligent Systems Research and Innovation (IISRI), Deakin University, Victoria 3216, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015293969","display_name":"Saeid Nahavandi","orcid":"https://orcid.org/0000-0002-0360-5270","observed_orcids":["https://orcid.org/0000-0002-0360-5270"]},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Saeid Nahavandi","raw_affiliation_strings":["Deakin University","Institute for Intelligent Systems Research and Innovation (IISRI), Deakin University, Victoria 3216, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Deakin University","institution_ids":["https://openalex.org/I149704539"]},{"raw_affiliation_string":"Institute for Intelligent Systems Research and Innovation (IISRI), Deakin University, Victoria 3216, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061751542","display_name":"Robert D. Howe","orcid":"https://orcid.org/0000-0002-1392-227X","observed_orcids":["https://orcid.org/0000-0002-1392-227X"]},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert D Howe","raw_affiliation_strings":["Harvard Paulson School of Engineering and Applied Sciences","Harvard Paulson School of Engineering and Applied Sciences, Cambridge, MA 02138, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard Paulson School of Engineering and Applied Sciences","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Harvard Paulson School of Engineering and Applied Sciences, Cambridge, MA 02138, USA","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5084359797"],"corresponding_institution_ids":["https://openalex.org/I136199984","https://openalex.org/I149704539"],"apc_list":{"value":3325,"currency":"USD","value_usd":3325},"apc_paid":null,"fwci":0.8687,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.7104218,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"61","issue":"14","first_page":"5128","last_page":"5148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9434000253677368,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9434000253677368,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.02879999950528145,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.008500000461935997,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/continuum-robots","display_name":"continuum robots","score":0.9649999737739563},{"id":"https://openalex.org/keywords/catheters","display_name":"catheters","score":0.7950000166893005},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.9810000061988831},{"id":"https://openalex.org/keywords/perspective-projection","display_name":"perspective projection","score":0.5830000042915344},{"id":"https://openalex.org/keywords/high-speed-image-processing","display_name":"high-speed image processing","score":0.7889999747276306},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"image segmentation","score":0.8759999871253967},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"feature extraction","score":0.9800000190734863},{"id":"https://openalex.org/keywords/sensitivity-analysis","display_name":"sensitivity analysis","score":0.7009999752044678},{"id":"https://openalex.org/keywords/surgical-robotics","display_name":"surgical robotics","score":0.5860000252723694}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7461508512496948},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6377978324890137},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6029602885246277},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5714240074157715},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5209257006645203},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.43623289465904236},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41975340247154236},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D002404","descriptor_name":"Catheterization","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007091","descriptor_name":"Image Processing, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1088/0031-9155/61/14/5128","doi":"https://doi.org/10.1088/0031-9155/61/14/5128","is_oa":false,"landing_page_url":"https://doi.org/10.1088/0031-9155/61/14/5128","pdf_url":null,"source":{"id":"https://openalex.org/S20241394","display_name":"Physics in Medicine and Biology","issn_l":"0031-9155","issn":["0031-9155","1361-6560"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","doyens","jufo-2","ki-jl-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320083","host_organization_name":"IOP Publishing","host_organization_lineage":["https://openalex.org/P4310320083","https://openalex.org/P4310311669"],"host_organization_lineage_names":["IOP Publishing","Institute of Physics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Physics in Medicine & Biology","raw_type":"journal-article"},{"id":"pmid:27352011","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/27352011","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Physics in medicine and biology","raw_type":"Journal Article"},{"id":"pmh:oai:figshare.com:article/20877937","doi":null,"is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Fast_vision-based_catheter_3D_reconstruction/20877937","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/20877937","doi":null,"is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Fast_vision-based_catheter_3D_reconstruction/20877937","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W1485613151","https://openalex.org/W1490446652","https://openalex.org/W1491647716","https://openalex.org/W1493760649","https://openalex.org/W1503317857","https://openalex.org/W1515683276","https://openalex.org/W1600519741","https://openalex.org/W1749651389","https://openalex.org/W1833381598","https://openalex.org/W1967194987","https://openalex.org/W1985568314","https://openalex.org/W1988767843","https://openalex.org/W1990517717","https://openalex.org/W1991723882","https://openalex.org/W1997060717","https://openalex.org/W2007386075","https://openalex.org/W2011963952","https://openalex.org/W2011972884","https://openalex.org/W2016896095","https://openalex.org/W2041356722","https://openalex.org/W2050268494","https://openalex.org/W2068437788","https://openalex.org/W2080374629","https://openalex.org/W2081427671","https://openalex.org/W2084029289","https://openalex.org/W2095614026","https://openalex.org/W2096645690","https://openalex.org/W2097202674","https://openalex.org/W2097728142","https://openalex.org/W2099745446","https://openalex.org/W2101817128","https://openalex.org/W2107550832","https://openalex.org/W2109660349","https://openalex.org/W2118152376","https://openalex.org/W2119343887","https://openalex.org/W2119744802","https://openalex.org/W2123228603","https://openalex.org/W2129935047","https://openalex.org/W2133410720","https://openalex.org/W2133758329","https://openalex.org/W2134523479","https://openalex.org/W2138072388","https://openalex.org/W2139084701","https://openalex.org/W2140650098","https://openalex.org/W2147404381","https://openalex.org/W2147492425","https://openalex.org/W2154598371","https://openalex.org/W2156171810","https://openalex.org/W2156218502","https://openalex.org/W2167629317","https://openalex.org/W2180065899","https://openalex.org/W2299778754","https://openalex.org/W2600989413","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2586915453","https://openalex.org/W3019752055","https://openalex.org/W7203628357","https://openalex.org/W2138072388","https://openalex.org/W2544641369","https://openalex.org/W2134523479","https://openalex.org/W7005911694","https://openalex.org/W2129935047","https://openalex.org/W68293139","https://openalex.org/W3202967514"],"abstract_inverted_index":{"Continuum":[0],"robots":[1,66],"offer":[2],"better":[3],"maneuverability":[4],"and":[5,8,28,110,130,132,138,166,172],"inherent":[6],"compliance":[7],"are":[9,45,105,119],"well-suited":[10],"for":[11,60,107,122,135,182],"surgical":[12],"applications":[13],"as":[14,34],"catheters,":[15],"where":[16],"gentle":[17],"interaction":[18],"with":[19],"the":[20,42,69,83,88,108,114,126,151,154,183,187],"environment":[21],"is":[22,31,76,80,145],"desired.":[23],"However,":[24],"sensing":[25,58],"their":[26],"shape":[27,57],"tip":[29,127],"position":[30],"a":[32,53],"challenge":[33],"traditional":[35],"sensors":[36],"can":[37],"not":[38],"be":[39],"employed":[40],"in":[41,46,93],"way":[43],"they":[44],"rigid":[47],"robotic":[48],"manipulators.":[49],"In":[50],"this":[51],"paper,":[52],"high":[54,189],"speed":[55,190],"vision-based":[56],"algorithm":[59,79],"real-time":[61],"3D":[62,94],"reconstruction":[63,89],"of":[64,71,87,90,153,163,177,186],"continuum":[65],"based":[67,81],"on":[68,82],"views":[70],"two":[72,97],"arbitrary":[73,98],"positioned":[74],"cameras":[75],"presented.":[77],"The":[78,116],"closed-form":[84],"analytical":[85],"solution":[86],"quadratic":[91],"curves":[92],"space":[95],"from":[96,113],"perspective":[99],"projections.":[100],"High-speed":[101],"image":[102],"processing":[103],"algorithms":[104,118],"developed":[106],"segmentation":[109],"feature":[111],"extraction":[112],"images.":[115],"proposed":[117,188],"experimentally":[120],"validated":[121],"accuracy":[123,160],"by":[124],"measuring":[125],"position,":[128],"length":[129],"bending":[131],"orientation":[133],"angles":[134],"known":[136],"circular":[137],"elliptical":[139],"catheter":[140],"shaped":[141],"tubes.":[142],"Sensitivity":[143],"analysis":[144],"also":[146],"carried":[147],"out":[148],"to":[149],"evaluate":[150],"robustness":[152,173],"algorithm.":[155],"Experimental":[156],"results":[157],"demonstrate":[158],"good":[159],"(maximum":[161,174],"errors":[162],"\u00b10.6":[164],"mm":[165],"\u00b10.5":[167],"deg),":[168],"performance":[169],"(200":[170],"Hz),":[171],"absolute":[175],"error":[176],"1.74":[178],"mm,":[179],"3.64":[180],"deg":[181],"added":[184],"noises)":[185],"algorithms.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-07-22T00:00:00"}