{"id":"https://openalex.org/W2910149883","doi":"https://doi.org/10.1109/iros.2018.8594428","title":"Comparison of 3D Surgical Tool Segmentation Procedures with Robot Kinematics Prior","display_name":"Comparison of 3D Surgical Tool Segmentation Procedures with Robot Kinematics Prior","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910149883","doi":"https://doi.org/10.1109/iros.2018.8594428","mag":"2910149883"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594428","doi":"https://doi.org/10.1109/iros.2018.8594428","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594428","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030494145","display_name":"Yun-Hsuan Su","orcid":"https://orcid.org/0000-0002-9122-7264","observed_orcids":["https://orcid.org/0000-0002-9122-7264"]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yun-Hsuan Su","raw_affiliation_strings":["Dept. of Electrical Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033432856","display_name":"Issac Huang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Issac Huang","raw_affiliation_strings":["Dept. of Electrical Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062032121","display_name":"Kevin Huang","orcid":"https://orcid.org/0000-0002-0300-9911","observed_orcids":["https://orcid.org/0000-0002-0300-9911"]},"institutions":[{"id":"https://openalex.org/I56722557","display_name":"Trinity College","ror":"https://ror.org/03j3dbz94","country_code":"US","type":"education","lineage":["https://openalex.org/I56722557"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Huang","raw_affiliation_strings":["Dept. of Engineering, Trinity College, Hartford, CT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Engineering, Trinity College, Hartford, CT, USA","institution_ids":["https://openalex.org/I56722557"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074967911","display_name":"Blake Hannaford","orcid":"https://orcid.org/0000-0001-7370-4920","observed_orcids":["https://orcid.org/0000-0001-7370-4920"]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Blake Hannaford","raw_affiliation_strings":["Dept. of Electrical Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9645,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.8696995,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.4787999987602234,"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"}},"topics":[{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.4787999987602234,"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/T10868","display_name":"Soft Robotics and Applications","score":0.1460999995470047,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.12129999697208405,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.9490000009536743},{"id":"https://openalex.org/keywords/robot-assisted-laparoscopic-surgery","display_name":"robot-assisted laparoscopic surgery","score":0.9399999976158142},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"robot kinematics","score":0.8820000290870667},{"id":"https://openalex.org/keywords/surgical-guidance","display_name":"surgical guidance","score":0.7710000276565552},{"id":"https://openalex.org/keywords/image-registration","display_name":"image registration","score":0.6610000133514404},{"id":"https://openalex.org/keywords/time-complexity","display_name":"time complexity","score":0.4230000078678131}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6636531949043274},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6477446556091309},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.62781822681427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5838298201560974},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5228688716888428},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5067031979560852},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4228658080101013},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06836456060409546},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8594428","doi":"https://doi.org/10.1109/iros.2018.8594428","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594428","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","score":0.4000000059604645,"id":"https://metadata.un.org/sdg/3"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W72393350","https://openalex.org/W169869043","https://openalex.org/W1497260915","https://openalex.org/W1506289843","https://openalex.org/W1528736491","https://openalex.org/W1543640497","https://openalex.org/W1590518343","https://openalex.org/W1974236932","https://openalex.org/W1999722113","https://openalex.org/W2007473929","https://openalex.org/W2024492937","https://openalex.org/W2041025444","https://openalex.org/W2055989512","https://openalex.org/W2058790081","https://openalex.org/W2091790851","https://openalex.org/W2097490787","https://openalex.org/W2105303354","https://openalex.org/W2110371667","https://openalex.org/W2111901347","https://openalex.org/W2163394682","https://openalex.org/W2167917243","https://openalex.org/W2168676389","https://openalex.org/W2410733220","https://openalex.org/W2535547924","https://openalex.org/W2588253737","https://openalex.org/W2604690505","https://openalex.org/W2691673827","https://openalex.org/W2798221358"],"related_works":["https://openalex.org/W2798221358","https://openalex.org/W3043288819","https://openalex.org/W3011834599","https://openalex.org/W4226269254","https://openalex.org/W7110997834","https://openalex.org/W2098074239","https://openalex.org/W4223545025","https://openalex.org/W6892615206","https://openalex.org/W4389689629","https://openalex.org/W2916253547"],"abstract_inverted_index":{"3D":[0,72,85,91,107],"reconstruction":[1,73,92,148],"and":[2,24,87,121,123,149,152],"surgical":[3,22,62,96,101,118],"tool":[4,63,102],"segmentation":[5,64,103,150],"are":[6,37,157],"necessary":[7],"for":[8,126,146,154],"several":[9],"advanced":[10],"tasks":[11,17],"in":[12,42,159],"robot-assisted":[13],"laparoscopic":[14],"surgery.":[15],"These":[16],"include":[18],"vision-based":[19],"force":[20],"estimation,":[21],"guidance,":[23],"medical":[25],"image":[26,35],"registration":[27],"where":[28],"pre-operative":[29],"data":[30],"(CT":[31],"or":[32],"MRI":[33],"scan":[34],"slices)":[36],"overlaid":[38],"on":[39,114,139],"patient":[40],"anatomy":[41],"real-time":[43],"during":[44],"surgery":[45],"[1]":[46],"to":[47,70],"name":[48],"a":[49],"few.":[50],"In":[51],"this":[52,143],"work,":[53,144],"two":[54],"main":[55],"strategies":[56,151],"were":[57,112,129],"considered:":[58],"(1)":[59],"initialize":[60,89],"with":[61,90],"from":[65,104],"2D":[66],"images,":[67],"then":[68],"proceed":[69],"local":[71],"near":[74],"the":[75,81,94,106,115,140],"tool-tissue":[76],"interaction":[77],"region":[78],"by":[79,100],"projecting":[80],"segmented":[82],"result":[83],"into":[84],"space,":[86,98],"(2)":[88],"of":[93,142],"entire":[95],"task":[97,135],"followed":[99],"within":[105],"reconstructed":[108],"model.":[109],"Both":[110],"methods":[111,128],"implemented":[113],"Raven":[116],"II":[117],"robot":[119],"system,":[120],"accuracy":[122],"time":[124],"complexity":[125],"both":[127],"comparatively":[130],"analyzed":[131],"while":[132],"considering":[133],"various":[134],"parameters.":[136],"Finally,":[137],"based":[138],"results":[141],"guidelines":[145],"selecting":[147],"procedure":[153],"particular":[155],"situations":[156],"outlined":[158],"Section":[160],"V.":[161]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":4}],"updated_date":"2026-11-03T10:50:19.383937","created_date":"2019-01-25T00:00:00"}