{"id":"https://openalex.org/W7147387014","doi":"https://doi.org/10.1117/12.3087552","title":"Endoscope tracking in surgical navigation: preliminary comparison of da Vinci Xi kinematics and optical tracking","display_name":"Endoscope tracking in surgical navigation: preliminary comparison of da Vinci Xi kinematics and optical tracking","publication_year":2026,"publication_date":"2026-04-01","ids":{"openalex":"https://openalex.org/W7147387014","doi":"https://doi.org/10.1117/12.3087552"},"language":"en","primary_location":{"id":"doi:10.1117/12.3087552","doi":"https://doi.org/10.1117/12.3087552","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.3087552","pdf_url":null,"source":{"id":"https://openalex.org/S7407086293","display_name":"SPIE Medical Imaging: Image-Guided Procedures, Robotic Interventions, and Modeling","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"Medical Imaging 2026: Image-Guided Procedures, Robotic Interventions, and Modeling","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/A5123697155","display_name":"Yi Zheng","orcid":"https://orcid.org/0000-0002-1830-0680","observed_orcids":["https://orcid.org/0000-0002-1830-0680"]},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yi Zheng","raw_affiliation_strings":["Dartmouth College (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dartmouth College (United States)","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104278213","display_name":"Ehsan Nasiri","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ehsan Nasiri","raw_affiliation_strings":["Dartmouth College (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dartmouth College (United States)","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132609960","display_name":"Jacob R. Markus","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacob R. Markus","raw_affiliation_strings":["Dartmouth College (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dartmouth College (United States)","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017617870","display_name":"Haley E. Stoner","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haley E. Stoner","raw_affiliation_strings":["Dartmouth College (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dartmouth College (United States)","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025873196","display_name":"Michael A. Kokko","orcid":"https://orcid.org/0000-0003-4530-1918","observed_orcids":["https://orcid.org/0000-0003-4530-1918"]},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael A. Kokko","raw_affiliation_strings":["Dartmouth College (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dartmouth College (United States)","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031035271","display_name":"Xiaoyao Fan","orcid":"https://orcid.org/0000-0003-0576-0087","observed_orcids":["https://orcid.org/0000-0003-0576-0087"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaoyao Fan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016359425","display_name":"Keith D. Paulsen","orcid":"https://orcid.org/0000-0002-6692-3196","observed_orcids":["https://orcid.org/0000-0002-6692-3196"]},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]},{"id":"https://openalex.org/I1289422878","display_name":"Dartmouth\u2013Hitchcock Medical Center","ror":"https://ror.org/00d1dhh09","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I107672454","https://openalex.org/I1289422878","https://openalex.org/I4390039337"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Keith D. Paulsen","raw_affiliation_strings":["Dartmouth College (United States)","Dartmouth-Hitchcock Medical Ctr. (United States)","Geisel School of Medicine at Dartmouth (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dartmouth College (United States)","institution_ids":["https://openalex.org/I107672454"]},{"raw_affiliation_string":"Dartmouth-Hitchcock Medical Ctr. (United States)","institution_ids":["https://openalex.org/I1289422878"]},{"raw_affiliation_string":"Geisel School of Medicine at Dartmouth (United States)","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049384673","display_name":"Ryan J. Halter","orcid":"https://orcid.org/0000-0003-0222-3948","observed_orcids":["https://orcid.org/0000-0003-0222-3948"]},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan J. Halter","raw_affiliation_strings":["Dartmouth College (United States)","Geisel School of Medicine at Dartmouth (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dartmouth College (United States)","institution_ids":["https://openalex.org/I107672454"]},{"raw_affiliation_string":"Geisel School of Medicine at Dartmouth (United States)","institution_ids":["https://openalex.org/I107672454"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18544137,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.17399999499320984,"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":0.17399999499320984,"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/T10052","display_name":"Medical Image Segmentation Techniques","score":0.1574999988079071,"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/T10916","display_name":"Surgical Simulation and Training","score":0.14000000059604645,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/endoscope-tracking","display_name":"endoscope tracking","score":0.9990000128746033},{"id":"https://openalex.org/keywords/surgical-navigation","display_name":"surgical navigation","score":0.8429999947547913},{"id":"https://openalex.org/keywords/da-vinci-xi","display_name":"da Vinci Xi","score":0.8790000081062317},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"robot kinematics","score":0.9539999961853027},{"id":"https://openalex.org/keywords/optical-tracking","display_name":"optical tracking","score":0.9860000014305115},{"id":"https://openalex.org/keywords/checkerboard-pattern","display_name":"checkerboard pattern","score":0.7360000014305115},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"reprojection error","score":0.8980000019073486},{"id":"https://openalex.org/keywords/3d-model-registration","display_name":"3D model registration","score":0.7020000219345093},{"id":"https://openalex.org/keywords/camera-calibration","display_name":"camera calibration","score":0.40299999713897705}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.873199999332428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.815500020980835},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.7433000206947327},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.722000002861023},{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.6425999999046326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5960999727249146},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5218999981880188},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.5108000040054321},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5005999803543091},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.44929999113082886},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.36239999532699585},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.34929999709129333},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.32739999890327454},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.3133000135421753},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.31139999628067017},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30799999833106995},{"id":"https://openalex.org/C3018868555","wikidata":"https://www.wikidata.org/wiki/Q2918907","display_name":"Single camera","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C138395690","wikidata":"https://www.wikidata.org/wiki/Q376733","display_name":"Cardinal point","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.26339998841285706},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2522999942302704}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1117/12.3087552","doi":"https://doi.org/10.1117/12.3087552","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.3087552","pdf_url":null,"source":{"id":"https://openalex.org/S7407086293","display_name":"SPIE Medical Imaging: Image-Guided Procedures, Robotic Interventions, and Modeling","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"Medical Imaging 2026: Image-Guided Procedures, Robotic Interventions, and Modeling","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","score":0.4043000042438507,"display_name":"Good health and well-being"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1979971530","https://openalex.org/W1981857103","https://openalex.org/W2007015180","https://openalex.org/W2018106286","https://openalex.org/W2042469970","https://openalex.org/W2109297031","https://openalex.org/W4391908800","https://openalex.org/W4406372121"],"related_works":["https://openalex.org/W2890456155","https://openalex.org/W2104745838","https://openalex.org/W2402155357","https://openalex.org/W2046911101","https://openalex.org/W1994258027","https://openalex.org/W7095238646","https://openalex.org/W2782148348","https://openalex.org/W3022580094","https://openalex.org/W4396877655","https://openalex.org/W4312850109"],"abstract_inverted_index":{"Accurate":[0],"endoscope":[1,49],"tracking":[2,26,40,105],"is":[3],"essential":[4],"for":[5,28,104],"registering":[6],"reconstructed":[7],"3D":[8],"models":[9],"to":[10],"the":[11,75,84],"surgical":[12,109],"view":[13],"in":[14,107],"image-guided":[15],"robotic":[16],"procedures.":[17],"In":[18],"this":[19],"preliminary":[20],"study,":[21],"we":[22],"quantitatively":[23],"evaluated":[24],"two":[25],"methods":[27,57],"a":[29],"da":[30],"Vinci":[31],"Xi":[32],"endoscope:":[33],"robot":[34],"kinematics":[35,92],"and":[36,58,69],"an":[37],"external":[38],"optical":[39,85],"system.":[41],"A":[42],"known":[43],"checkerboard":[44],"pattern":[45],"was":[46,72],"transformed":[47],"into":[48],"left-eye":[50],"frame":[51],"using":[52,66],"transformations":[53],"derived":[54],"from":[55],"both":[56],"then":[59],"reprojected":[60],"onto":[61],"left-eye\u2019s":[62],"2D":[63],"image":[64],"plane":[65],"camera":[67],"parameters,":[68],"reprojection":[70],"error":[71],"computed":[73],"against":[74],"ground":[76],"truth":[77],"detected":[78],"by":[79],"OpenCV.":[80],"Results":[81],"demonstrate":[82],"that":[83],"tracker":[86],"achieves":[87],"significantly":[88],"higher":[89],"accuracy":[90],"than":[91],"(RMSE:":[93],"2.952":[94],"pixels":[95],"<":[96],"5.692":[97],"pixels,":[98],"p":[99],"=":[100],"0.0163),":[101],"providing":[102],"guidance":[103],"strategies":[106],"future":[108],"systems.":[110]},"counts_by_year":[],"updated_date":"2026-10-28T10:33:24.094632","created_date":"2026-04-02T00:00:00"}