{"id":"https://openalex.org/W4392345134","doi":"https://doi.org/10.1002/aisy.202300434","title":"A Markerless 3D Tracking Framework for Continuum Surgical Tools Using a Surgical Tool Partial Pose Estimation Network Based on Domain Randomization","display_name":"A Markerless 3D Tracking Framework for Continuum Surgical Tools Using a Surgical Tool Partial Pose Estimation Network Based on Domain Randomization","publication_year":2024,"publication_date":"2024-03-01","ids":{"openalex":"https://openalex.org/W4392345134","doi":"https://doi.org/10.1002/aisy.202300434"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202300434","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300434","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300434","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300434","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086911532","display_name":"Chang Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Zhou","raw_affiliation_strings":["School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai 200240 China","School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai 200240 China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100447580","display_name":"Longfei Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longfei Wang","raw_affiliation_strings":["School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai 200240 China","School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai 200240 China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031530982","display_name":"Baibo Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baibo Wu","raw_affiliation_strings":["School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai 200240 China","School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai 200240 China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031386469","display_name":"Kai Xu","orcid":"https://orcid.org/0000-0003-1690-3370"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kai Xu","raw_affiliation_strings":["School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai 200240 China","School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai 200240 China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031386469"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":{"value":2750,"currency":"USD","value_usd":2750},"apc_paid":{"value":2750,"currency":"USD","value_usd":2750},"fwci":1.679,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.81958406,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"6","issue":"4","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9977999925613403,"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"}},"topics":[{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9977999925613403,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9973000288009644,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9884999990463257,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/randomization","display_name":"Randomization","score":0.5511035919189453},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5301880240440369},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4898924231529236},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.47505947947502136},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46694767475128174},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.45516905188560486},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4413111209869385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43821272253990173},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33649373054504395},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3021509647369385},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.19999831914901733},{"id":"https://openalex.org/keywords/randomized-controlled-trial","display_name":"Randomized controlled trial","score":0.19727617502212524},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.19296938180923462},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.12385779619216919},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07002836465835571}],"concepts":[{"id":"https://openalex.org/C204243189","wikidata":"https://www.wikidata.org/wiki/Q1363085","display_name":"Randomization","level":3,"score":0.5511035919189453},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5301880240440369},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4898924231529236},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.47505947947502136},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46694767475128174},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.45516905188560486},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4413111209869385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43821272253990173},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33649373054504395},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3021509647369385},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.19999831914901733},{"id":"https://openalex.org/C168563851","wikidata":"https://www.wikidata.org/wiki/Q1436668","display_name":"Randomized controlled trial","level":2,"score":0.19727617502212524},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.19296938180923462},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.12385779619216919},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07002836465835571},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/aisy.202300434","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300434","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300434","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:62be4e19dc4e4ebab1a2ae1d5f8755ef","is_oa":true,"landing_page_url":"https://doaj.org/article/62be4e19dc4e4ebab1a2ae1d5f8755ef","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 6, Iss 4, Pp n/a-n/a (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202300434","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300434","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300434","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7099999785423279,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G1121271761","display_name":null,"funder_award_id":"Program","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6716219785","display_name":null,"funder_award_id":"51722507","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392345134.pdf","grobid_xml":"https://content.openalex.org/works/W4392345134.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1970557511","https://openalex.org/W2013681472","https://openalex.org/W2051460003","https://openalex.org/W2101667962","https://openalex.org/W2132363464","https://openalex.org/W2155343350","https://openalex.org/W2184993170","https://openalex.org/W2603097910","https://openalex.org/W2792810896","https://openalex.org/W2946147945","https://openalex.org/W2962569326","https://openalex.org/W2986023562","https://openalex.org/W3003607036","https://openalex.org/W3036440991","https://openalex.org/W3045573862","https://openalex.org/W3126655046","https://openalex.org/W3127268207","https://openalex.org/W3130170116","https://openalex.org/W3134247921","https://openalex.org/W3184175112","https://openalex.org/W3204157319","https://openalex.org/W3205724495","https://openalex.org/W4223931121","https://openalex.org/W4225304466"],"related_works":["https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W2520316949","https://openalex.org/W2084086966","https://openalex.org/W2894986065","https://openalex.org/W4387967917","https://openalex.org/W4287600488","https://openalex.org/W4386925306","https://openalex.org/W4387968151","https://openalex.org/W3132124459"],"abstract_inverted_index":{"3D":[0,50],"tracking":[1,51,193],"of":[2,81,155,167,190],"single\u2010port":[3,18,180],"continuum":[4,54,196],"surgical":[5,55,60,116,197],"tools":[6,19,38,56],"is":[7,87,112,129],"an":[8,178],"essential":[9],"step":[10],"toward":[11],"their":[12],"closed\u2010loop":[13],"control":[14,123],"in":[15,40],"robot\u2010assisted\u2010laparoscopy,":[16],"since":[17],"possess":[20],"multiple":[21],"degrees\u2010of\u2010freedom":[22],"(DoFs)":[23],"without":[24],"distal":[25],"joint":[26],"sensors":[27],"and":[28,70,77,100,148,162,188],"hence":[29],"have":[30],"lower":[31],"motion":[32],"precision":[33,166],"compared":[34],"to":[35],"rigid":[36],"straight\u2010stemmed":[37],"used":[39],"multi\u2010port":[41],"robotic":[42],"laparoscopy.":[43],"This":[44,85],"work":[45],"proposes":[46],"a":[47,58,78,91,133],"novel":[48],"markerless":[49],"framework":[52,170,194],"for":[53,195],"using":[57],"proposed":[59,169,192],"tool":[61,83,117,142],"partial":[62],"pose":[63,80,107,128,164],"estimation":[64,108,165],"network":[65,86],"(STPPE\u2010Net)":[66],"based":[67,95],"on":[68,96,173],"U\u2010Net":[69],"ResNet.":[71],"The":[72,105,159,182],"STPPE\u2010Net":[73,111,147],"estimates":[74],"the":[75,82,110,115,121,126,138,141,146,152,156,168,174,186,191],"segmentation":[76,144,160],"5\u2010DoF":[79,106],"end\u2010effector.":[84],"entirely":[88],"trained":[89],"by":[90],"synthetic":[92],"data":[93],"generator":[94],"domain":[97],"randomization":[98],"(DR)":[99],"requires":[101],"zero":[102],"manual":[103],"annotation.":[104],"from":[109,120,145,177],"combined":[113],"with":[114],"axial":[118],"rotation":[119],"robot":[122],"system.":[124,181],"Then,":[125],"entire":[127],"further":[130],"refined":[131],"via":[132],"region\u2010based":[134],"optimization":[135],"that":[136],"maximizes":[137],"overlap":[139],"between":[140],"end\u2010effector":[143],"its":[149],"projection":[150],"onto":[151],"image":[153],"plane":[154],"endoscopic":[157,179],"camera.":[158],"accuracy":[161],"6\u2010DoF":[163],"are":[171],"validated":[172],"images":[175],"captured":[176],"experimental":[183],"results":[184],"show":[185],"effectiveness":[187],"robustness":[189],"tools.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}