{"id":"https://openalex.org/W3202674892","doi":"https://doi.org/10.1109/case49439.2021.9551453","title":"Visually Guided Needle Driving and Pull for Autonomous Suturing","display_name":"Visually Guided Needle Driving and Pull for Autonomous Suturing","publication_year":2021,"publication_date":"2021-08-23","ids":{"openalex":"https://openalex.org/W3202674892","doi":"https://doi.org/10.1109/case49439.2021.9551453","mag":"3202674892"},"language":"en","primary_location":{"id":"doi:10.1109/case49439.2021.9551453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","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/A5078026864","display_name":"Orhan Ozguner","orcid":"https://orcid.org/0000-0003-2274-6527"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Orhan Ozguner","raw_affiliation_strings":["Department of Electrical, Systems, and Computer Engineering, and Computer and Data Sciences, Case Western Reserve University, Cleveland, OH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Systems, and Computer Engineering, and Computer and Data Sciences, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030449777","display_name":"Tom Shkurti","orcid":null},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tom Shkurti","raw_affiliation_strings":["Department of Electrical, Systems, and Computer Engineering, and Computer and Data Sciences, Case Western Reserve University, Cleveland, OH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Systems, and Computer Engineering, and Computer and Data Sciences, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001461199","display_name":"Su Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Su Lu","raw_affiliation_strings":["Department of Electrical, Systems, and Computer Engineering, and Computer and Data Sciences, Case Western Reserve University, Cleveland, OH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Systems, and Computer Engineering, and Computer and Data Sciences, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028285158","display_name":"Wyatt S. Newman","orcid":"https://orcid.org/0000-0001-6489-9164"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wyatt Newman","raw_affiliation_strings":["Department of Electrical, Systems, and Computer Engineering, and Computer and Data Sciences, Case Western Reserve University, Cleveland, OH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Systems, and Computer Engineering, and Computer and Data Sciences, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073651156","display_name":"M. Cenk \u00c7avu\u015fo\u011flu","orcid":"https://orcid.org/0000-0003-2800-5922"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Cenk Cavusoglu","raw_affiliation_strings":["Department of Electrical, Systems, and Computer Engineering, and Computer and Data Sciences, Case Western Reserve University, Cleveland, OH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Systems, and Computer Engineering, and Computer and Data Sciences, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1698,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.45912085,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"242","last_page":"248"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T10888","display_name":"Augmented Reality Applications","score":0.9991000294685364,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/grasp","display_name":"GRASP","score":0.8626066446304321},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5260546207427979},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49627572298049927},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4373968243598938},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42042437195777893},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3809325695037842},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3786621391773224},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3691573739051819},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3382519483566284}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8626066446304321},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5260546207427979},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49627572298049927},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4373968243598938},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42042437195777893},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3809325695037842},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3786621391773224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3691573739051819},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3382519483566284},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case49439.2021.9551453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7114213465","display_name":null,"funder_award_id":"CISE IIS-1524363,CISE IIS-1563805,DUE-1928485","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1963716360","https://openalex.org/W2003810369","https://openalex.org/W2024406508","https://openalex.org/W2026988104","https://openalex.org/W2055185364","https://openalex.org/W2061417916","https://openalex.org/W2065883524","https://openalex.org/W2100310399","https://openalex.org/W2145023731","https://openalex.org/W2317096512","https://openalex.org/W2341108136","https://openalex.org/W2346178339","https://openalex.org/W2738671059","https://openalex.org/W2744900881","https://openalex.org/W2774216000","https://openalex.org/W2794504598","https://openalex.org/W2890456155","https://openalex.org/W2910876659","https://openalex.org/W2911049603","https://openalex.org/W2964118482","https://openalex.org/W2966907449","https://openalex.org/W3022580094"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2523147401","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"visually-guided":[4],"autonomous":[5,10],"needle":[6,15,17,22,36,38,40,42,45,78],"driving":[7,79],"algorithm":[8],"for":[9],"robotic":[11,61],"surgical":[12,60],"suturing.":[13],"Surgical":[14],"tracking,":[16],"path":[18],"planning,":[19],"and":[20,44,63],"optimum":[21],"grasp":[23],"selection":[24],"algorithms":[25],"are":[26],"employed.":[27],"The":[28,47],"procedure":[29,51],"is":[30,52],"performed":[31],"in":[32],"5":[33],"major":[34],"steps:":[35],"grasp,":[37],"hand-off,":[39],"drive,":[41],"regrasp,":[43],"pull.":[46],"performance":[48],"of":[49],"the":[50,56,73],"experimentally":[53],"evaluated":[54],"using":[55],"physical":[57],"da":[58,64],"Vinci\u00ae":[59],"system":[62],"Vinci":[65],"Research":[66],"Kit":[67],"(dVRK).":[68],"Initial":[69],"results":[70],"suggest":[71],"that":[72],"dVRK":[74],"can":[75],"successfully":[76],"perform":[77],"with":[80],"visual":[81],"guidance.":[82]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
