{"id":"https://openalex.org/W2979731071","doi":"https://doi.org/10.1109/embc.2019.8856402","title":"Vision Based Robot Assistance in TTTS Fetal Surgery","display_name":"Vision Based Robot Assistance in TTTS Fetal Surgery","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2979731071","doi":"https://doi.org/10.1109/embc.2019.8856402","mag":"2979731071","pmid":"https://pubmed.ncbi.nlm.nih.gov/31947183"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2019.8856402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2019.8856402","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/2117/173037","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030780769","display_name":"Narc\u00eds Sayols","orcid":"https://orcid.org/0000-0003-2170-4923"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Narcis Sayols","raw_affiliation_strings":["Center of Research in Biomendidcal Enginnering, Universitat Polit\u00e8cnica de Catalunya, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Center of Research in Biomendidcal Enginnering, Universitat Polit\u00e8cnica de Catalunya, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003317273","display_name":"Albert Hernansanz","orcid":"https://orcid.org/0000-0002-7969-5401"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Albert Hernansanz","raw_affiliation_strings":["Center of Research in Biomendidcal Enginnering, Universitat Polit\u00e8cnica de Catalunya, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Center of Research in Biomendidcal Enginnering, Universitat Polit\u00e8cnica de Catalunya, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102295468","display_name":"Johanna Parra","orcid":null},"institutions":[{"id":"https://openalex.org/I71999127","display_name":"Universitat de Barcelona","ror":"https://ror.org/021018s57","country_code":"ES","type":"education","lineage":["https://openalex.org/I71999127"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Johanna Parra","raw_affiliation_strings":["Fetal i+D Fetal Medicine Research Center, Universitat de Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Fetal i+D Fetal Medicine Research Center, Universitat de Barcelona, Spain","institution_ids":["https://openalex.org/I71999127"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089926336","display_name":"E. Eixarch","orcid":"https://orcid.org/0000-0001-7379-9608"},"institutions":[{"id":"https://openalex.org/I4210111366","display_name":"Centre for Biomedical Network Research on Rare Diseases","ror":"https://ror.org/01ygm5w19","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210111366"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Elisenda Eixarch","raw_affiliation_strings":["Centre for Biomedical Research on Rare Diseases (CIBER-ER), Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Biomedical Research on Rare Diseases (CIBER-ER), Barcelona, Spain","institution_ids":["https://openalex.org/I4210111366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075322497","display_name":"E. Gratac\u00f3s","orcid":"https://orcid.org/0000-0002-7405-7224"},"institutions":[{"id":"https://openalex.org/I4210111366","display_name":"Centre for Biomedical Network Research on Rare Diseases","ror":"https://ror.org/01ygm5w19","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210111366"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduard Gratacos","raw_affiliation_strings":["Centre for Biomedical Research on Rare Diseases (CIBER-ER), Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Biomedical Research on Rare Diseases (CIBER-ER), Barcelona, Spain","institution_ids":["https://openalex.org/I4210111366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027368588","display_name":"Josep Amat","orcid":"https://orcid.org/0000-0002-8769-7706"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Josep Amat","raw_affiliation_strings":["Center of Research in Biomendidcal Enginnering, Universitat Polit\u00e8cnica de Catalunya, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Center of Research in Biomendidcal Enginnering, Universitat Polit\u00e8cnica de Catalunya, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086247627","display_name":"Al\u0131\u0301cia Casals","orcid":"https://orcid.org/0000-0003-4706-5533"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alicia Casals","raw_affiliation_strings":["Center of Research in Biomendidcal Enginnering, Universitat Polit\u00e8cnica de Catalunya, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Center of Research in Biomendidcal Enginnering, Universitat Polit\u00e8cnica de Catalunya, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5030780769"],"corresponding_institution_ids":["https://openalex.org/I9617848"],"apc_list":null,"apc_paid":null,"fwci":1.0917,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.81769525,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2019","issue":null,"first_page":"5855","last_page":"5861"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11732","display_name":"Assisted Reproductive Technology and Twin Pregnancy","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2735","display_name":"Pediatrics, Perinatology and Child Health"},"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/T11732","display_name":"Assisted Reproductive Technology and Twin Pregnancy","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2735","display_name":"Pediatrics, Perinatology and Child Health"},"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/T10978","display_name":"Prenatal Screening and Diagnostics","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2735","display_name":"Pediatrics, Perinatology and Child Health"},"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/T12552","display_name":"Fetal and Pediatric Neurological Disorders","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2735","display_name":"Pediatrics, Perinatology and Child Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.819740355014801},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7857497930526733},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6872369647026062},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.47936302423477173},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.45258861780166626}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.819740355014801},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7857497930526733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6872369647026062},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.47936302423477173},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.45258861780166626}],"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":"D005330","descriptor_name":"Fetofetal Transfusion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005330","descriptor_name":"Fetofetal Transfusion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005330","descriptor_name":"Fetofetal Transfusion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005332","descriptor_name":"Fetoscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005332","descriptor_name":"Fetoscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005332","descriptor_name":"Fetoscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"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":"D010920","descriptor_name":"Placenta","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010920","descriptor_name":"Placenta","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010920","descriptor_name":"Placenta","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":"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":"D017075","descriptor_name":"Laser Coagulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D017075","descriptor_name":"Laser Coagulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D017075","descriptor_name":"Laser Coagulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.1109/embc.2019.8856402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2019.8856402","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:31947183","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31947183","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},{"id":"pmh:oai:upcommons.upc.edu:2117/173037","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/173037","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:recercat.cat:2072/365435","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/173037","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:zenodo.org:3662732","is_oa":true,"landing_page_url":"https://zenodo.org/record/3662732","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:upcommons.upc.edu:2117/173037","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/173037","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320310210","display_name":"Fundaci\u00f3n Cellex","ror":null},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W150599637","https://openalex.org/W193944875","https://openalex.org/W2003099669","https://openalex.org/W2011391534","https://openalex.org/W2045238580","https://openalex.org/W2053143874","https://openalex.org/W2055640901","https://openalex.org/W2085814633","https://openalex.org/W2095394477","https://openalex.org/W2100803029","https://openalex.org/W2315805042","https://openalex.org/W2420511285","https://openalex.org/W2489583386","https://openalex.org/W2592385138","https://openalex.org/W2785845009","https://openalex.org/W2810214080","https://openalex.org/W3103010177","https://openalex.org/W4214751544","https://openalex.org/W6629116747","https://openalex.org/W6672169147","https://openalex.org/W6699622994"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2772917594","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"accurate":[4],"and":[5,35,93,103,123,138,154],"robust":[6],"tracking":[7,161],"vision":[8],"algorithm":[9,43,64,110],"for":[10,16,173],"Fetoscopic":[11],"Laser":[12],"Photo-coagulation":[13],"(FLP)":[14],"surgery":[15,172],"Twin-Twin":[17],"Transfusion":[18],"Syndrome":[19],"(TTTS).":[20],"The":[21,42,63,109,148,160,175],"aim":[22],"of":[23,48,72,85,118,134,141,170],"the":[24,45,49,56,73,115,121,127,131,135,145,184,187],"proposed":[25],"method":[26],"is":[27,83],"to":[28,55,76,112],"assist":[29],"surgeons":[30],"during":[31],"anastomosis":[32],"localization,":[33],"coagulation":[34],"review":[36],"using":[37,166],"a":[38],"tele-operated":[39],"robotic":[40],"system.":[41],"computes":[44],"relative":[46],"position":[47],"fetoscope":[50,136],"tool":[51],"tip":[52],"with":[53,114,130,155,190],"respect":[54],"placenta,":[57],"via":[58],"local":[59],"vascular":[60,70,94],"structure":[61],"registration.":[62],"uses":[65],"image":[66,89,104,146],"features":[67],"(local":[68],"superficial":[69],"structures":[71,95],"placenta's":[74,188],"surface)":[75],"automatically":[77],"match":[78],"consecutive":[79,107],"fetoscopic":[80,119],"images.":[81,108],"It":[82],"composed":[84],"three":[86],"sequential":[87],"steps:":[88],"processing":[90],"(filtering,":[91],"binarization":[92],"segmentation);":[96],"relevant":[97],"Points":[98],"Of":[99],"Interest":[100],"(POIs)":[101],"seletion;":[102],"registration":[105],"between":[106],"has":[111,163],"deal":[113],"low":[116,139],"quality":[117],"images,":[120],"liquid":[122],"dirty":[124],"environment":[125,142],"inside":[126],"placenta":[128],"jointly":[129],"thin":[132],"diameter":[133],"optics":[137],"amount":[140],"light":[143],"reduces":[144],"quality.":[147],"obtained":[149],"images":[150],"are":[151],"blurred,":[152],"noisy":[153],"very":[156],"poor":[157],"color":[158],"components.":[159],"system":[162],"been":[164],"tested":[165],"real":[167,179],"video":[168],"sequences":[169],"FLP":[171],"TTTS.":[174],"computational":[176],"performance":[177],"enables":[178],"time":[180],"tracking,":[181],"locally":[182],"guiding":[183],"robot":[185],"over":[186],"surface":[189],"enough":[191],"accuracy.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
