{"id":"https://openalex.org/W7213439631","doi":"https://doi.org/10.1109/tro.2026.3749080","title":"Occupancy Network-Guided Autonomous Robotic Partial Nephrectomy","display_name":"Occupancy Network-Guided Autonomous Robotic Partial Nephrectomy","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7213439631","doi":"https://doi.org/10.1109/tro.2026.3749080"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2026.3749080","doi":"https://doi.org/10.1109/tro.2026.3749080","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2026.3749080","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-b","cwts-core","dongbi-a","jufo-3","norway-2","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tro.2026.3749080","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5115648074","display_name":"Ethan Kilmer","orcid":"https://orcid.org/0009-0003-1399-2811","observed_orcids":["https://orcid.org/0009-0003-1399-2811"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ethan Kilmer","raw_affiliation_strings":["Johns Hopkins University"],"raw_orcid":"https://orcid.org/0009-0003-1399-2811","affiliations":[{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067556504","display_name":"Pit Henrich","orcid":"https://orcid.org/0000-0002-4913-5040","observed_orcids":["https://orcid.org/0000-0002-4913-5040"]},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Pit Henrich","raw_affiliation_strings":["Friedrich-Alexander University Erlangen-N\u00fcrnberg (FAU)"],"raw_orcid":"https://orcid.org/0000-0002-4913-5040","affiliations":[{"raw_affiliation_string":"Friedrich-Alexander University Erlangen-N\u00fcrnberg (FAU)","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040819294","display_name":"Jiawei Ge","orcid":"https://orcid.org/0000-0001-8336-1837","observed_orcids":["https://orcid.org/0000-0001-8336-1837"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiawei Ge","raw_affiliation_strings":["Johns Hopkins University"],"raw_orcid":"https://orcid.org/0000-0001-8336-1837","affiliations":[{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085474167","display_name":"Paul Maria Scheikl","orcid":"https://orcid.org/0000-0002-8079-1425","observed_orcids":["https://orcid.org/0000-0002-8079-1425"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul M. Scheikl","raw_affiliation_strings":["Johns Hopkins University"],"raw_orcid":"https://orcid.org/0000-0002-8079-1425","affiliations":[{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046717505","display_name":"Laura Connolly","orcid":"https://orcid.org/0009-0005-8675-160X","observed_orcids":["https://orcid.org/0009-0005-8675-160X"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laura Connolly","raw_affiliation_strings":["Johns Hopkins University"],"raw_orcid":"https://orcid.org/0009-0005-8675-160X","affiliations":[{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027932092","display_name":"Soum D. Lokeshwar","orcid":"https://orcid.org/0000-0002-5260-766X","observed_orcids":["https://orcid.org/0000-0002-5260-766X"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Soum D. Lokeshwar","raw_affiliation_strings":["Johns Hopkins University"],"raw_orcid":"https://orcid.org/0000-0002-5260-766X","affiliations":[{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100644992","display_name":"Joseph Chen","orcid":"https://orcid.org/0000-0002-7585-0662","observed_orcids":["https://orcid.org/0000-0002-7585-0662"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph Chen","raw_affiliation_strings":["Johns Hopkins University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024528396","display_name":"Justin David Opfermann","orcid":"https://orcid.org/0000-0002-1079-3986","observed_orcids":["https://orcid.org/0000-0002-1079-3986"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Justin D. Opfermann","raw_affiliation_strings":["Johns Hopkins University"],"raw_orcid":"https://orcid.org/0000-0002-1079-3986","affiliations":[{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5151893774","display_name":"Kaitlyn Kumar","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaitlyn Kumar","raw_affiliation_strings":["Johns Hopkins University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077027255","display_name":"Lauren M. Shepard","orcid":"https://orcid.org/0000-0002-0926-1587","observed_orcids":["https://orcid.org/0000-0002-0926-1587"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lauren Shepard","raw_affiliation_strings":["Johns Hopkins University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136845363","display_name":"Ahmed Ghazi","orcid":"https://orcid.org/0000-0002-4325-1446","observed_orcids":["https://orcid.org/0000-0002-4325-1446"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ahmed Ghazi","raw_affiliation_strings":["Johns Hopkins University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5151919406","display_name":"Nirmish Singla","orcid":"https://orcid.org/0000-0001-9495-6983","observed_orcids":["https://orcid.org/0000-0001-9495-6983"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nirmish Singla","raw_affiliation_strings":["Johns Hopkins University"],"raw_orcid":"https://orcid.org/0000-0001-9495-6983","affiliations":[{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116726789","display_name":"Richard J. Cha","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1336742384","display_name":"Children's National","ror":"https://ror.org/03wa2q724","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1336742384"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard J. Cha","raw_affiliation_strings":["Children's National Hospital"],"raw_orcid":"https://orcid.org/0000-0003-2169-1464","affiliations":[{"raw_affiliation_string":"Children's National Hospital","institution_ids":["https://openalex.org/I1336742384"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025749015","display_name":"Kevin Cleary","orcid":"https://orcid.org/0000-0001-9809-4823","observed_orcids":["https://orcid.org/0000-0001-9809-4823"]},"institutions":[{"id":"https://openalex.org/I1336742384","display_name":"Children's National","ror":"https://ror.org/03wa2q724","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1336742384"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Cleary","raw_affiliation_strings":["Children's National Hospital"],"raw_orcid":"https://orcid.org/0000-0001-9809-4823","affiliations":[{"raw_affiliation_string":"Children's National Hospital","institution_ids":["https://openalex.org/I1336742384"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039110908","display_name":"Franziska Mathis-Ullrich","orcid":"https://orcid.org/0000-0001-5239-5305","observed_orcids":["https://orcid.org/0000-0001-5239-5305"]},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Franziska Mathis-Ullrich","raw_affiliation_strings":["Friedrich-Alexander University Erlangen-N\u00fcrnberg (FAU)"],"raw_orcid":"https://orcid.org/0000-0001-5239-5305","affiliations":[{"raw_affiliation_string":"Friedrich-Alexander University Erlangen-N\u00fcrnberg (FAU)","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008331040","display_name":"Axel Krieger","orcid":"https://orcid.org/0000-0001-8169-075X","observed_orcids":["https://orcid.org/0000-0001-8169-075X"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Axel Krieger","raw_affiliation_strings":["Johns Hopkins University"],"raw_orcid":"https://orcid.org/0000-0001-8169-075X","affiliations":[{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":{"value":2645,"currency":"USD","value_usd":2645},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.55520086,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"20"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.5009999871253967,"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":0.5009999871253967,"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/T10916","display_name":"Surgical Simulation and Training","score":0.17319999635219574,"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"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.08659999817609787,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/autonomous-robotic-surgery","display_name":"autonomous robotic surgery","score":0.6359999775886536},{"id":"https://openalex.org/keywords/partial-nephrectomy","display_name":"partial nephrectomy","score":0.9950000047683716},{"id":"https://openalex.org/keywords/occupancy-networks","display_name":"occupancy networks","score":0.718999981880188},{"id":"https://openalex.org/keywords/hydrogel-phantom","display_name":"hydrogel phantom","score":0.7239999771118164},{"id":"https://openalex.org/keywords/point-cloud-reconstruction","display_name":"point cloud reconstruction","score":0.5789999961853027},{"id":"https://openalex.org/keywords/tissue-deformation","display_name":"tissue deformation","score":0.5960000157356262},{"id":"https://openalex.org/keywords/surgical-margin-control","display_name":"surgical margin control","score":0.4729999899864197},{"id":"https://openalex.org/keywords/physics-based-simulation","display_name":"physical simulation","score":0.6740000247955322}],"concepts":[{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.5631999969482422},{"id":"https://openalex.org/C2780227381","wikidata":"https://www.wikidata.org/wiki/Q1357376","display_name":"Nephrectomy","level":3,"score":0.4878000020980835},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.46810001134872437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42289999127388},{"id":"https://openalex.org/C2778913397","wikidata":"https://www.wikidata.org/wiki/Q7646216","display_name":"Surgical margin","level":3,"score":0.414900004863739},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.4036000072956085},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4027999937534332},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3828999996185303},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.37700000405311584},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3750999867916107},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.35740000009536743},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3425999879837036},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3353999853134155},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.33309999108314514},{"id":"https://openalex.org/C3017985614","wikidata":"https://www.wikidata.org/wiki/Q149377","display_name":"Operation planning","level":2,"score":0.32429999113082886},{"id":"https://openalex.org/C159110652","wikidata":"https://www.wikidata.org/wiki/Q17078201","display_name":"Resection","level":2,"score":0.3043000102043152},{"id":"https://openalex.org/C2987804222","wikidata":"https://www.wikidata.org/wiki/Q5376582","display_name":"End point","level":2,"score":0.28189998865127563},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C121608353","wikidata":"https://www.wikidata.org/wiki/Q12078","display_name":"Cancer","level":2,"score":0.2694000005722046},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.26440000534057617},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.2603999972343445},{"id":"https://openalex.org/C2781068499","wikidata":"https://www.wikidata.org/wiki/Q3242950","display_name":"Kidney cancer","level":3,"score":0.2556000053882599},{"id":"https://openalex.org/C2780352672","wikidata":"https://www.wikidata.org/wiki/Q504775","display_name":"Bladder cancer","level":3,"score":0.25459998846054077}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2026.3749080","doi":"https://doi.org/10.1109/tro.2026.3749080","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2026.3749080","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-b","cwts-core","dongbi-a","jufo-3","norway-2","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2609.16186","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.16186","pdf_url":"https://arxiv.org/pdf/2609.16186","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2609.16186","doi":"https://doi.org/10.48550/arxiv.2609.16186","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2609.16186","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.1109/tro.2026.3749080","doi":"https://doi.org/10.1109/tro.2026.3749080","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2026.3749080","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-b","cwts-core","dongbi-a","jufo-3","norway-2","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6240000128746033,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"study_designs":[],"awards":[{"id":"https://openalex.org/G2420243850","display_name":"CAREER: Advancing Autonomy for Soft Tissue Robotic Surgery and Interventions","funder_award_id":"2144348","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5610814772","display_name":null,"funder_award_id":"AY1AX000023","funder_id":"https://openalex.org/F4320332815","funder_display_name":"Advanced Research Projects Agency"},{"id":"https://openalex.org/G6671297155","display_name":null,"funder_award_id":"CAREER","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332815","display_name":"Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7213439631.pdf","grobid_xml":"https://content.openalex.org/works/W7213439631.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4411497438","https://openalex.org/W4389610034","https://openalex.org/W2346178339","https://openalex.org/W7129107024","https://openalex.org/W4200467713","https://openalex.org/W2081941497","https://openalex.org/W2612732584","https://openalex.org/W4392470444","https://openalex.org/W7134020716","https://openalex.org/W3181022941"],"abstract_inverted_index":{"Maintaining":[0],"anatomical":[1],"guidance":[2],"during":[3],"tissue":[4,77,107],"deformation":[5],"and":[6,62,80,85,105,109,146],"cutting":[7,104],"remains":[8],"a":[9,34,51,91,160],"challenge":[10],"for":[11,94,102,114,156,162],"autonomous":[12,21,111,132,164],"softtissue":[13],"tumor":[14,27,115,133,168],"resection.":[15,116],"We":[16],"introduce":[17],"the":[18,127,157],"first":[19,158],"vision-guided":[20],"system":[22,43],"capable":[23],"of":[24],"performing":[25],"complete":[26],"resections":[28,134],"in":[29,50,170],"patient-derived":[30],"hydrogel":[31,119],"phantoms":[32,120],"within":[33],"benchtop":[35],"setup":[36],"that":[37,54],"mimics":[38],"open":[39,123],"partial":[40,66,124],"nephrectomy.":[41],"Our":[42],"integrates":[44],"conditional":[45],"occupancy":[46,70],"networks,":[47],"trained":[48],"entirely":[49],"physics-based":[52],"simulation,":[53],"infer":[55],"full":[56],"3-D":[57],"anatomy":[58],"(tumor,":[59],"margin":[60,151],"tissue,":[61],"kidney)":[63],"from":[64],"single-view":[65],"point":[67,97],"clouds.":[68],"These":[69],"networks":[71],"maintain":[72],"intraoperative":[73],"tracking":[74],"even":[75],"as":[76],"is":[78],"cut":[79],"deformed,":[81],"enabling":[82],"adaptive":[83],"planning":[84],"execution.":[86],"The":[87],"surgical":[88,144],"platform":[89],"combines":[90],"depth":[92],"camera":[93],"capturing":[95],"surface":[96],"clouds,":[98],"dual":[99],"robotic":[100],"arms":[101],"electrosurgical":[103,137],"vacuum-based":[106],"manipulation,":[108],"an":[110,122],"control":[112],"strategy":[113],"In":[117],"patientderived":[118],"under":[121],"nephrectomy":[125],"setting,":[126],"robot":[128],"performed":[129],"eight":[130],"consecutive":[131],"comprising":[135],"77":[136],"cuts,":[138],"with":[139],"all":[140],"cuts":[141],"achieving":[142],"negative":[143],"margins":[145],"1.61$\\pm$0.48":[147],"mm":[148],"mean":[149],"absolute":[150],"error.":[152],"This":[153],"work":[154],"demonstrates,":[155],"time,":[159],"foundation":[161],"supervised":[163],"closed-loop,":[165],"imagingdriven,":[166],"margin-negative":[167],"removal":[169],"phantoms.":[171]},"counts_by_year":[],"updated_date":"2026-11-08T12:12:28.789561","created_date":"2026-09-17T00:00:00"}
