{"id":"https://openalex.org/W2053554873","doi":"https://doi.org/10.1109/embc.2013.6609774","title":"Ultrasound image-based endoscope localization for minimally invasive fetoscopic surgery","display_name":"Ultrasound image-based endoscope localization for minimally invasive fetoscopic surgery","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W2053554873","doi":"https://doi.org/10.1109/embc.2013.6609774","mag":"2053554873","pmid":"https://pubmed.ncbi.nlm.nih.gov/24109961"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2013.6609774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2013.6609774","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","pubmed"],"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/A5048861559","display_name":"L. Yang","orcid":"https://orcid.org/0000-0002-3294-0879"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"L. Yang","raw_affiliation_strings":["Tokyo Daigaku, Bunkyo-ku, Tokyo, JP","Grad. Sch. of Eng., Univ. of Tokyo, Tokyo, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Daigaku, Bunkyo-ku, Tokyo, JP","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Grad. Sch. of Eng., Univ. of Tokyo, Tokyo, Japan#TAB#","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040445618","display_name":"Junchen Wang","orcid":"https://orcid.org/0000-0002-0916-9932"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"J. Wang","raw_affiliation_strings":["Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","Grad. Sch. of Eng., Univ. of Tokyo, Tokyo, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Grad. Sch. of Eng., Univ. of Tokyo, Tokyo, Japan#TAB#","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032675015","display_name":"Etsuko Kobayashi","orcid":"https://orcid.org/0000-0003-1794-0173"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"E. Kobayashi","raw_affiliation_strings":["Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","Grad. Sch. of Eng., Univ. of Tokyo, Tokyo, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Grad. Sch. of Eng., Univ. of Tokyo, Tokyo, Japan#TAB#","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018740222","display_name":"Hongen Liao","orcid":"https://orcid.org/0000-0003-3847-9347"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Liao","raw_affiliation_strings":["Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","Grad. Sch. of Eng., Univ. of Tokyo, Tokyo, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Grad. Sch. of Eng., Univ. of Tokyo, Tokyo, Japan#TAB#","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003182416","display_name":"Hiromasa Yamashita","orcid":"https://orcid.org/0000-0002-0420-3759"},"institutions":[{"id":"https://openalex.org/I4210132193","display_name":"National Center For Child Health and Development","ror":"https://ror.org/03fvwxc59","country_code":"JP","type":"funder","lineage":["https://openalex.org/I4210132193"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Yamashita","raw_affiliation_strings":["Clinical Research Center, National Center for Child Health and Development, Tokyo, Japan","Clinical Res. Center, Nat. Center for Child Health & Dev., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clinical Research Center, National Center for Child Health and Development, Tokyo, Japan","institution_ids":["https://openalex.org/I4210132193"]},{"raw_affiliation_string":"Clinical Res. Center, Nat. Center for Child Health & Dev., Tokyo, Japan","institution_ids":["https://openalex.org/I4210132193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081094990","display_name":"Ichiro Sakuma","orcid":"https://orcid.org/0000-0002-4919-9466"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"I. Sakuma","raw_affiliation_strings":["Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","Grad. Sch. of Eng., Univ. of Tokyo, Tokyo, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Grad. Sch. of Eng., Univ. of Tokyo, Tokyo, Japan#TAB#","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101689715","display_name":"Tetsuhiro Chiba","orcid":"https://orcid.org/0000-0001-7179-0765"},"institutions":[{"id":"https://openalex.org/I4210132193","display_name":"National Center For Child Health and Development","ror":"https://ror.org/03fvwxc59","country_code":"JP","type":"funder","lineage":["https://openalex.org/I4210132193"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Chiba","raw_affiliation_strings":["Clinical Research Center, National Center for Child Health and Development, Tokyo, Japan","Clinical Res. Center, Nat. Center for Child Health & Dev., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clinical Research Center, National Center for Child Health and Development, Tokyo, Japan","institution_ids":["https://openalex.org/I4210132193"]},{"raw_affiliation_string":"Clinical Res. Center, Nat. Center for Child Health & Dev., Tokyo, Japan","institution_ids":["https://openalex.org/I4210132193"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2013","issue":null,"first_page":"1410","last_page":"3"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9951000213623047,"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":0.9933000206947327,"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/robustness","display_name":"Robustness (evolution)","score":0.7335460186004639},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6568242311477661},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6104623079299927},{"id":"https://openalex.org/keywords/endoscope","display_name":"Endoscope","score":0.5282166004180908},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5185719132423401},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.49251899123191833},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.48514875769615173},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.44399166107177734},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2286788821220398},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19035542011260986},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13039124011993408}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7335460186004639},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6568242311477661},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6104623079299927},{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.5282166004180908},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5185719132423401},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.49251899123191833},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.48514875769615173},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.44399166107177734},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2286788821220398},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19035542011260986},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13039124011993408},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005332","descriptor_name":"Fetoscopy","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D005332","descriptor_name":"Fetoscopy","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D005332","descriptor_name":"Fetoscopy","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011247","descriptor_name":"Pregnancy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011247","descriptor_name":"Pregnancy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011247","descriptor_name":"Pregnancy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014465","descriptor_name":"Ultrasonics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014465","descriptor_name":"Ultrasonics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014465","descriptor_name":"Ultrasonics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D019060","descriptor_name":"Minimally Invasive Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D019723","descriptor_name":"Endoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019723","descriptor_name":"Endoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019723","descriptor_name":"Endoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc.2013.6609774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2013.6609774","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:24109961","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/24109961","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2014481360","https://openalex.org/W2064716784","https://openalex.org/W2088437767","https://openalex.org/W2105901613","https://openalex.org/W2112521440","https://openalex.org/W2135764854"],"related_works":["https://openalex.org/W2925090727","https://openalex.org/W3211638357","https://openalex.org/W2351909712","https://openalex.org/W2969411419","https://openalex.org/W2980372563","https://openalex.org/W2369735957","https://openalex.org/W2137055573","https://openalex.org/W2544660632","https://openalex.org/W2325135661","https://openalex.org/W3012943019"],"abstract_inverted_index":{"The":[0,139],"purpose":[1],"of":[2,24,37,92,114,121,148],"this":[3],"work":[4],"is":[5,32],"to":[6,29,136],"introduce":[7],"an":[8,63,80,107],"ultrasound":[9,81],"image-based":[10],"intraoperative":[11,67],"scheme":[12,87],"for":[13,34,66,117],"rigid":[14],"endoscope":[15,102],"localization":[16,69],"during":[17],"minimally":[18,93],"invasive":[19,94],"fetoscopic":[20,95],"surgery.":[21,96],"Positional":[22],"information":[23],"surgical":[25,43],"instruments":[26],"with":[27,50,111],"respect":[28],"anatomical":[30],"features":[31],"important":[33],"the":[35,122],"development":[36],"computer-aided":[38],"surgery":[39],"applications.":[40],"While":[41],"most":[42],"navigation":[44],"systems":[45,49],"use":[46],"optical":[47],"tracking":[48,76],"satisfactory":[51],"accuracy,":[52],"there":[53],"are":[54],"several":[55],"operation":[56],"limitations":[57],"in":[58,106],"such":[59],"systems.":[60],"We":[61],"propose":[62],"elegant":[64],"framework":[65],"instrument":[68],"that":[70],"does":[71],"not":[72],"require":[73],"any":[74],"external":[75,127],"system":[77,83],"but":[78],"uses":[79],"imaging":[82],"and":[84,103],"a":[85],"computation":[86],"based":[88],"on":[89],"constrained":[90],"kinematics":[91],"Our":[97],"proposed":[98],"algorithm":[99,125],"simultaneously":[100],"estimates":[101],"port":[104,118,123],"positions":[105],"online":[108],"sequential":[109],"fashion":[110],"standard":[112],"deviation":[113],"1.28":[115],"mm":[116],"estimation.":[119],"Robustness":[120],"estimation":[124,140],"against":[126],"disturbance":[128,146],"was":[129],"demonstrated":[130],"by":[131],"intentionally":[132],"introducing":[133],"artificial":[134],"errors":[135],"measurement":[137],"data.":[138],"converges":[141],"within":[142],"eight":[143],"iterations":[144],"under":[145],"magnitude":[147],"30":[149],"mm.":[150]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}