{"id":"https://openalex.org/W2979299079","doi":"https://doi.org/10.1109/embc.2019.8857245","title":"Optimizing Configurations for 7-DoF Robotic Ultrasound Guidance in Radiotherapy of the Prostate","display_name":"Optimizing Configurations for 7-DoF Robotic Ultrasound Guidance in Radiotherapy of the Prostate","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2979299079","doi":"https://doi.org/10.1109/embc.2019.8857245","mag":"2979299079","pmid":"https://pubmed.ncbi.nlm.nih.gov/31947445"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2019.8857245","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2019.8857245","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023078818","display_name":"Matthias Schl\u00fcter","orcid":"https://orcid.org/0000-0002-2019-1102"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Schluter","raw_affiliation_strings":["Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088722107","display_name":"Christoph F\u00fcrweger","orcid":null},"institutions":[{"id":"https://openalex.org/I4210153755","display_name":"University Hospital Cologne","ror":"https://ror.org/05mxhda18","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I4210153755"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Furweger","raw_affiliation_strings":["Department for Stereotaxy and Functional Neurosurgery, University Hospital of Cologne, Cologne, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department for Stereotaxy and Functional Neurosurgery, University Hospital of Cologne, Cologne, Germany","institution_ids":["https://openalex.org/I4210153755"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087348362","display_name":"Alexander Schlaefer","orcid":"https://orcid.org/0000-0001-9201-8854"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Schlaefer","raw_affiliation_strings":["Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17620317,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"5","issue":null,"first_page":"6983","last_page":"6986"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"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/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"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":0.9950000047683716,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9768999814987183,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workflow","display_name":"Workflow","score":0.6815291047096252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6434237957000732},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6418900489807129},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5938445925712585},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.568344235420227},{"id":"https://openalex.org/keywords/radiation-treatment-planning","display_name":"Radiation treatment planning","score":0.4490443766117096},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44375765323638916},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4270889163017273},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.42697712779045105},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4219758212566376},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4104878604412079},{"id":"https://openalex.org/keywords/radiation-therapy","display_name":"Radiation therapy","score":0.40516579151153564},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30142632126808167},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19423222541809082},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.12895825505256653},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.10538241267204285}],"concepts":[{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.6815291047096252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6434237957000732},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6418900489807129},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5938445925712585},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.568344235420227},{"id":"https://openalex.org/C201645570","wikidata":"https://www.wikidata.org/wiki/Q830637","display_name":"Radiation treatment planning","level":3,"score":0.4490443766117096},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44375765323638916},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4270889163017273},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.42697712779045105},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4219758212566376},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4104878604412079},{"id":"https://openalex.org/C509974204","wikidata":"https://www.wikidata.org/wiki/Q180507","display_name":"Radiation therapy","level":2,"score":0.40516579151153564},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30142632126808167},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19423222541809082},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.12895825505256653},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.10538241267204285},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[{"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":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011467","descriptor_name":"Prostate","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011467","descriptor_name":"Prostate","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011467","descriptor_name":"Prostate","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011879","descriptor_name":"Radiotherapy Dosage","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011879","descriptor_name":"Radiotherapy Dosage","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011879","descriptor_name":"Radiotherapy Dosage","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011880","descriptor_name":"Radiotherapy Planning, Computer-Assisted","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011880","descriptor_name":"Radiotherapy Planning, Computer-Assisted","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011880","descriptor_name":"Radiotherapy Planning, Computer-Assisted","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D050397","descriptor_name":"Radiotherapy, Intensity-Modulated","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D050397","descriptor_name":"Radiotherapy, Intensity-Modulated","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D050397","descriptor_name":"Radiotherapy, Intensity-Modulated","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D061089","descriptor_name":"Radiotherapy, Image-Guided","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D061089","descriptor_name":"Radiotherapy, Image-Guided","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D061089","descriptor_name":"Radiotherapy, Image-Guided","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},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1109/embc.2019.8857245","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2019.8857245","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:31947445","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31947445","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:tore.tuhh.de:11420/4378","is_oa":false,"landing_page_url":"http://hdl.handle.net/11420/4378","pdf_url":null,"source":{"id":"https://openalex.org/S4306401751","display_name":"tub.dok (Hamburg University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I884043246","host_organization_name":"Hamburg University of Technology","host_organization_lineage":["https://openalex.org/I884043246"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1972608690","https://openalex.org/W2145858682","https://openalex.org/W2409061534","https://openalex.org/W2472933288","https://openalex.org/W2525825727","https://openalex.org/W2529788522","https://openalex.org/W2531325898","https://openalex.org/W2740790076","https://openalex.org/W2979036703","https://openalex.org/W6768794676"],"related_works":["https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552","https://openalex.org/W3134555460","https://openalex.org/W2607470227","https://openalex.org/W2351331567","https://openalex.org/W2889305167"],"abstract_inverted_index":{"Robotic":[0],"ultrasound":[1],"guidance":[2],"is":[3,46,114],"promising":[4],"for":[5,99,130,142],"tracking":[6],"of":[7,35,90,108,145],"organ":[8],"motion":[9,63],"during":[10,52],"radiotherapy":[11],"treatments,":[12],"but":[13],"the":[14,33,44,66,78,88],"radio-opaque":[15],"robot":[16,37,45,62,93],"and":[17,74],"probe":[18],"interfere":[19],"with":[20,39,77,104],"beam":[21,79],"delivery.":[22,80],"The":[23],"effect":[24],"on":[25],"treatment":[26,53,72,100],"plan":[27,101,119],"quality":[28],"can":[29,139],"be":[30,140],"mitigated":[31],"by":[32,54],"use":[34],"a":[36,96,105,111],"arm":[38],"kinematic":[40],"redundancy,":[41],"such":[42],"that":[43,136],"able":[47],"to":[48,65,69],"elude":[49],"delivered":[50],"beams":[51],"changing":[55],"its":[56],"configuration.":[57],"However,":[58],"these":[59],"changes":[60],"require":[61,75],"close":[64],"patient,":[67],"lead":[68],"an":[70,83],"increased":[71],"time,":[73],"coordination":[76],"We":[81],"propose":[82],"optimization":[84],"workflow":[85,98],"which":[86,116],"integrates":[87],"problem":[89],"selecting":[91],"suitable":[92],"configurations":[94,127,138],"into":[95],"linear-programming-based":[97],"optimization.":[102],"Starting":[103],"large":[106],"set":[107],"candidate":[109],"configurations,":[110],"minimal":[112],"subset":[113],"determined":[115],"provides":[117],"equivalent":[118],"quality.":[120],"Our":[121],"results":[122],"show":[123,135],"that,":[124],"typically,":[125],"six":[126],"are":[128],"sufficient":[129],"this":[131],"purpose.":[132],"Furthermore,":[133],"we":[134],"optimal":[137],"reused":[141],"dose":[143],"planning":[144],"subsequent":[146],"patients.":[147]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
