{"id":"https://openalex.org/W2899146262","doi":"https://doi.org/10.1109/embc.2018.8512417","title":"Robotic Path Planning Using A* Algorithm for Automatic Navigation in Magnetic Resonance Angiography","display_name":"Robotic Path Planning Using A* Algorithm for Automatic Navigation in Magnetic Resonance Angiography","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2899146262","doi":"https://doi.org/10.1109/embc.2018.8512417","mag":"2899146262","pmid":"https://pubmed.ncbi.nlm.nih.gov/30440501"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2018.8512417","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2018.8512417","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 40th 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/A5001829437","display_name":"Yuchou Chang","orcid":"https://orcid.org/0000-0002-9349-4008"},"institutions":[{"id":"https://openalex.org/I16277215","display_name":"University of Houston - Downtown","ror":"https://ror.org/05mj6fy81","country_code":"US","type":"education","lineage":["https://openalex.org/I16277215"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuchou Chang","raw_affiliation_strings":["Computer Science and Engineering Technology Department, University of Houston - Downtown, Houston, TX 77002, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Technology Department, University of Houston - Downtown, Houston, TX 77002, USA","institution_ids":["https://openalex.org/I16277215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100381791","display_name":"Xiaoyan Wang","orcid":"https://orcid.org/0000-0002-7281-1078"},"institutions":[{"id":"https://openalex.org/I4210143338","display_name":"Yuxi Normal University","ror":"https://ror.org/048fp0x47","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210143338"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyan Wang","raw_affiliation_strings":["the School of Physics and Electronic Engineering, Yuxi Normal University, Yuxi, Yunnan, 653100, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the School of Physics and Electronic Engineering, Yuxi Normal University, Yuxi, Yunnan, 653100, P. R. China","institution_ids":["https://openalex.org/I4210143338"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061607840","display_name":"Zhenzhou An","orcid":"https://orcid.org/0000-0002-4032-5390"},"institutions":[{"id":"https://openalex.org/I4210143338","display_name":"Yuxi Normal University","ror":"https://ror.org/048fp0x47","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210143338"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenzhou An","raw_affiliation_strings":["the School of Mathematics and Information Technology, Yuxi Normal University, Yuxi, Yunnan, 653100, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the School of Mathematics and Information Technology, Yuxi Normal University, Yuxi, Yunnan, 653100, P. R. China","institution_ids":["https://openalex.org/I4210143338"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015746241","display_name":"Haifeng Wang","orcid":"https://orcid.org/0000-0003-4229-3668"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifeng Wang","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, 518055, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, 518055, P. R. China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2018","issue":null,"first_page":"734","last_page":"737"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9921000003814697,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.982200026512146,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/motion-planning","display_name":"Motion planning","score":0.6874502897262573},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6635271310806274},{"id":"https://openalex.org/keywords/magnetic-resonance-angiography","display_name":"Magnetic resonance angiography","score":0.6571388244628906},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6418157815933228},{"id":"https://openalex.org/keywords/scanner","display_name":"Scanner","score":0.6372519135475159},{"id":"https://openalex.org/keywords/magnetic-resonance-imaging","display_name":"Magnetic resonance imaging","score":0.6028342843055725},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6011353731155396},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5587853193283081},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5400271415710449},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.459931880235672},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.4471479058265686},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4414564371109009},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33578187227249146},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.18189415335655212},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14059969782829285},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10935455560684204}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6874502897262573},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6635271310806274},{"id":"https://openalex.org/C2778212899","wikidata":"https://www.wikidata.org/wiki/Q907325","display_name":"Magnetic resonance angiography","level":3,"score":0.6571388244628906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6418157815933228},{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.6372519135475159},{"id":"https://openalex.org/C143409427","wikidata":"https://www.wikidata.org/wiki/Q161238","display_name":"Magnetic resonance imaging","level":2,"score":0.6028342843055725},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6011353731155396},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5587853193283081},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5400271415710449},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.459931880235672},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.4471479058265686},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4414564371109009},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33578187227249146},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.18189415335655212},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14059969782829285},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10935455560684204},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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":"D003287","descriptor_name":"Contrast Media","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003287","descriptor_name":"Contrast Media","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003287","descriptor_name":"Contrast Media","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":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D018810","descriptor_name":"Magnetic Resonance Angiography","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018810","descriptor_name":"Magnetic Resonance Angiography","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018810","descriptor_name":"Magnetic Resonance Angiography","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc.2018.8512417","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2018.8512417","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:30440501","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/30440501","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":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1140890308","https://openalex.org/W1901667619","https://openalex.org/W1969483458","https://openalex.org/W1974954013","https://openalex.org/W1984303422","https://openalex.org/W2029773805","https://openalex.org/W2037424018","https://openalex.org/W2098831949","https://openalex.org/W2100783064","https://openalex.org/W2103958626","https://openalex.org/W2106582624","https://openalex.org/W2112411253","https://openalex.org/W2133059825","https://openalex.org/W2168148394","https://openalex.org/W2319958627","https://openalex.org/W2515051096","https://openalex.org/W2527610710","https://openalex.org/W2576414711","https://openalex.org/W2594355207","https://openalex.org/W6636945615","https://openalex.org/W6675097016","https://openalex.org/W6675133661"],"related_works":["https://openalex.org/W4232857084","https://openalex.org/W4245233074","https://openalex.org/W2167384162","https://openalex.org/W2001485867","https://openalex.org/W4402492658","https://openalex.org/W1517555227","https://openalex.org/W2653993779","https://openalex.org/W2911295078","https://openalex.org/W762151464","https://openalex.org/W2389610024"],"abstract_inverted_index":{"Magnetic":[0,34],"resonance":[1,35],"navigation":[2,68],"(MRN)":[3],"is":[4,38,70,84,89,128],"an":[5,46],"emerging":[6],"research":[7],"technique":[8],"in":[9,16,64,135,148],"recent":[10],"years.":[11],"The":[12,86],"micro/nano":[13,60,144],"robots":[14,61,145],"existing":[15],"vessels":[17],"can":[18,140],"be":[19],"driven":[20],"by":[21,25],"magnetic":[22],"gradients":[23],"given":[24],"MR":[26],"scanner.":[27],"As":[28],"a":[29,42,67,75],"non-invasive":[30],"vascular":[31,43,65],"imaging":[32],"technique,":[33],"angiography":[36],"(MRA)":[37],"able":[39,129],"to":[40,55,62,92,130,146],"provide":[41],"network":[44],"of":[45,50,117],"anatomy":[47],"without":[48,110],"injection":[49],"contrast":[51],"agent.":[52],"In":[53,72],"order":[54],"automatically":[56,134],"guide":[57,141],"and":[58,108,120],"drive":[59],"target":[63,109],"network,":[66],"strategy":[69],"desired.":[71],"this":[73],"paper,":[74],"novel":[76],"path":[77,104,132,139],"planning":[78,133],"algorithm":[79,100],"based":[80],"on":[81,115],"A*":[82,98],"search":[83,99],"proposed.":[85],"MRA":[87,121,136],"image":[88,119,122],"preliminarily":[90],"processed":[91],"extract":[93],"major":[94],"vessels.":[95,151],"Then,":[96],"pixel-based":[97],"identifies":[101],"the":[102,125,142,149],"shortest":[103],"between":[105],"start":[106],"point":[107],"human":[111],"supervision.":[112],"Experimental":[113],"results":[114],"both":[116],"simulation":[118],"demonstrate":[123],"that":[124],"proposed":[126],"method":[127],"accomplish":[131],"image.":[137],"That":[138],"injected":[143],"navigate":[147],"blood":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2018-11-09T00:00:00"}