{"id":"https://openalex.org/W2784185258","doi":"https://doi.org/10.1109/coase.2017.8256302","title":"3D trajectory planning algorithm for organ groups and irregular obstacles with application for prostate brachytherapy","display_name":"3D trajectory planning algorithm for organ groups and irregular obstacles with application for prostate brachytherapy","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2784185258","doi":"https://doi.org/10.1109/coase.2017.8256302","mag":"2784185258"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2017.8256302","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2017.8256302","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 13th IEEE 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/A5100453010","display_name":"Fang Liu","orcid":"https://orcid.org/0000-0001-6157-7151"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fang Liu","raw_affiliation_strings":["Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066201147","display_name":"Zhiyong Yang","orcid":"https://orcid.org/0000-0001-6581-0176"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi-Yong Yang","raw_affiliation_strings":["Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051143140","display_name":"Shan Jiang","orcid":"https://orcid.org/0000-0002-5518-5335"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shan Jiang","raw_affiliation_strings":["Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100620222","display_name":"Pan Li","orcid":"https://orcid.org/0000-0003-2672-654X"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pan Li","raw_affiliation_strings":["Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101449902","display_name":"Dong Liang","orcid":"https://orcid.org/0000-0001-8988-206X"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Liang","raw_affiliation_strings":["Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100453010"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":0.091,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.50268984,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1420","last_page":"1424"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994000196456909,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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/trajectory","display_name":"Trajectory","score":0.738078236579895},{"id":"https://openalex.org/keywords/brachytherapy","display_name":"Brachytherapy","score":0.6418730020523071},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6279155611991882},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4861116409301758},{"id":"https://openalex.org/keywords/prostate-brachytherapy","display_name":"Prostate brachytherapy","score":0.47488707304000854},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4433876574039459},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.442697674036026},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.43305426836013794},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3770997226238251},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3400912582874298},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.16686809062957764},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13809162378311157},{"id":"https://openalex.org/keywords/radiation-therapy","display_name":"Radiation therapy","score":0.11723348498344421},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11570024490356445},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09354311227798462}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.738078236579895},{"id":"https://openalex.org/C2777416452","wikidata":"https://www.wikidata.org/wiki/Q896687","display_name":"Brachytherapy","level":3,"score":0.6418730020523071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6279155611991882},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4861116409301758},{"id":"https://openalex.org/C2778648096","wikidata":"https://www.wikidata.org/wiki/Q17009878","display_name":"Prostate brachytherapy","level":4,"score":0.47488707304000854},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4433876574039459},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.442697674036026},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.43305426836013794},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3770997226238251},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3400912582874298},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.16686809062957764},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13809162378311157},{"id":"https://openalex.org/C509974204","wikidata":"https://www.wikidata.org/wiki/Q180507","display_name":"Radiation therapy","level":2,"score":0.11723348498344421},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11570024490356445},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09354311227798462},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2017.8256302","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2017.8256302","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1969969659","https://openalex.org/W1980149136","https://openalex.org/W2010288169","https://openalex.org/W2016874953","https://openalex.org/W2029990316","https://openalex.org/W2069619466","https://openalex.org/W2090415875","https://openalex.org/W2100156971","https://openalex.org/W2101817128","https://openalex.org/W2103120971","https://openalex.org/W2146593008","https://openalex.org/W2150766929","https://openalex.org/W2155512611","https://openalex.org/W2165061586","https://openalex.org/W2590805326","https://openalex.org/W4234724241"],"related_works":["https://openalex.org/W1968581313","https://openalex.org/W2903025760","https://openalex.org/W2810663015","https://openalex.org/W2597882543","https://openalex.org/W2102373670","https://openalex.org/W2809967836","https://openalex.org/W2807466365","https://openalex.org/W2133110153","https://openalex.org/W4256435254","https://openalex.org/W2408551504"],"abstract_inverted_index":{"Preoperative":[0],"planning":[1,36],"is":[2,16,38,92],"critical":[3],"when":[4],"performing":[5],"robot-assisted":[6],"prostate":[7],"brachytherapy,":[8],"in":[9,48,59,109,133,138],"which":[10],"a":[11,34,110],"smooth":[12],"surgical":[13,122],"needle":[14,123],"trajectory":[15,35],"necessary":[17],"to":[18,21,69,82,94],"avoid":[19],"harm":[20],"surrounding":[22],"organs":[23,56],"and":[24,87,98],"tissues,":[25],"thus":[26],"minimizing":[27],"any":[28],"adverse":[29],"effects.":[30],"In":[31],"this":[32],"work,":[33],"algorithm":[37],"proposed":[39],"that":[40,120],"uses":[41],"artificial":[42,106],"potential":[43,107],"field":[44,108],"with":[45,54],"high":[46,103],"efficiency":[47,104],"exploring":[49],"the":[50,74,102,116,121,126,130,134],"actual":[51],"pelvic":[52],"environment":[53,137],"typical":[55],"(called":[57],"obstacles":[58,132],"our":[60],"study).":[61],"Manually":[62],"segmented":[63],"magnetic":[64],"resonance":[65],"images":[66],"are":[67,80],"reconstructed":[68],"give":[70],"three-dimensional":[71,78],"representations":[72],"of":[73,105,115],"in-situ":[75],"organs.":[76],"These":[77],"reconstructions":[79],"used":[81],"determine":[83],"specific":[84],"organ":[85],"shapes":[86],"volumes.":[88],"A":[89],"numerical":[90,117],"simulation":[91,118],"given":[93],"prove":[95],"method":[96],"validity":[97],"it":[99],"also":[100],"confirms":[101],"standard":[111],"computer.":[112],"The":[113],"result":[114],"indicates":[119],"can":[124],"reach":[125],"target":[127],"without":[128],"touching":[129],"anatomical":[131],"complex":[135],"human":[136],"theory.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}