{"id":"https://openalex.org/W2980182299","doi":"https://doi.org/10.1109/embc.2019.8857360","title":"Reducing the Number of Degrees of Freedom to Control an Eye Surgical Robot through Classification of Surgical Phases","display_name":"Reducing the Number of Degrees of Freedom to Control an Eye Surgical Robot through Classification of Surgical Phases","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2980182299","doi":"https://doi.org/10.1109/embc.2019.8857360","mag":"2980182299","pmid":"https://pubmed.ncbi.nlm.nih.gov/31947077"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2019.8857360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2019.8857360","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":"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/A5011042892","display_name":"Hadi Askari poor","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087474","display_name":"Augenklinik Heidelberg","ror":"https://ror.org/005j0cx32","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802164966","https://openalex.org/I4210087474"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hadi Askari poor","raw_affiliation_strings":["Augenklinik rechts der Isar, Technische Universität München"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Augenklinik rechts der Isar, Technische Universität München","institution_ids":["https://openalex.org/I4210087474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061386768","display_name":"Mingchuan Zhou","orcid":"https://orcid.org/0000-0002-6944-1483"},"institutions":[{"id":"https://openalex.org/I4210087474","display_name":"Augenklinik Heidelberg","ror":"https://ror.org/005j0cx32","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802164966","https://openalex.org/I4210087474"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mingchuan Zhou","raw_affiliation_strings":["Augenklinik rechts der Isar, Technische Universität München"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Augenklinik rechts der Isar, Technische Universität München","institution_ids":["https://openalex.org/I4210087474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110670847","display_name":"Chris P. Lohmann","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087474","display_name":"Augenklinik Heidelberg","ror":"https://ror.org/005j0cx32","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802164966","https://openalex.org/I4210087474"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Chris P. Lohmann","raw_affiliation_strings":["Augenklinik rechts der Isar, Technische Universität München"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Augenklinik rechts der Isar, Technische Universität München","institution_ids":["https://openalex.org/I4210087474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079877840","display_name":"Pietro Cerveri","orcid":"https://orcid.org/0000-0003-3995-8673"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Pietro Cerveri","raw_affiliation_strings":["Bioengineering department, Politecnico di Milano"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bioengineering department, Politecnico di Milano","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037059928","display_name":"M. Ali Nasseri","orcid":"https://orcid.org/0000-0002-9764-5731"},"institutions":[{"id":"https://openalex.org/I4210087474","display_name":"Augenklinik Heidelberg","ror":"https://ror.org/005j0cx32","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802164966","https://openalex.org/I4210087474"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Ali Nasseri","raw_affiliation_strings":["Augenklinik rechts der Isar, Technische Universität München"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Augenklinik rechts der Isar, Technische Universität München","institution_ids":["https://openalex.org/I4210087474"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2019","issue":null,"first_page":"5403","last_page":"5406"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11377","display_name":"Retinal and Macular Surgery","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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/T11377","display_name":"Retinal and Macular Surgery","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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":0.9929999709129333,"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":0.9926000237464905,"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/joystick","display_name":"Joystick","score":0.8922092914581299},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.8008687496185303},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49976420402526855},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4901764988899231},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48314279317855835},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46058836579322815},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4324193596839905},{"id":"https://openalex.org/keywords/surgical-instrument","display_name":"Surgical instrument","score":0.4251555800437927},{"id":"https://openalex.org/keywords/surgical-planning","display_name":"Surgical planning","score":0.41742151975631714},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4169939458370209},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.372795045375824},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.25364428758621216},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.16518542170524597},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08305680751800537}],"concepts":[{"id":"https://openalex.org/C96439379","wikidata":"https://www.wikidata.org/wiki/Q178805","display_name":"Joystick","level":2,"score":0.8922092914581299},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.8008687496185303},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49976420402526855},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4901764988899231},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48314279317855835},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46058836579322815},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4324193596839905},{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.4251555800437927},{"id":"https://openalex.org/C2779370443","wikidata":"https://www.wikidata.org/wiki/Q1776627","display_name":"Surgical planning","level":2,"score":0.41742151975631714},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4169939458370209},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.372795045375824},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.25364428758621216},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.16518542170524597},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08305680751800537},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D005123","descriptor_name":"Eye","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005123","descriptor_name":"Eye","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005123","descriptor_name":"Eye","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":"D013508","descriptor_name":"Ophthalmologic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D013508","descriptor_name":"Ophthalmologic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D013508","descriptor_name":"Ophthalmologic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false}],"locations_count":4,"locations":[{"id":"doi:10.1109/embc.2019.8857360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2019.8857360","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:31947077","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31947077","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:mediatum.ub.tum.de:node/1591091","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1591091","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:re.public.polimi.it:11311/1120978","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/1120978","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1950130196","https://openalex.org/W1978702006","https://openalex.org/W1990867038","https://openalex.org/W2070855901","https://openalex.org/W2087665419","https://openalex.org/W2113265921","https://openalex.org/W2149985621","https://openalex.org/W2170514420","https://openalex.org/W2296310384","https://openalex.org/W2756272332","https://openalex.org/W2789716155","https://openalex.org/W2939432601"],"related_works":["https://openalex.org/W4226385867","https://openalex.org/W3006098028","https://openalex.org/W3025979333","https://openalex.org/W2147791363","https://openalex.org/W2942501622","https://openalex.org/W2514698127","https://openalex.org/W2947922015","https://openalex.org/W1595549445","https://openalex.org/W2131557635","https://openalex.org/W2885222402"],"abstract_inverted_index":{"This":[0,37],"paper":[1],"introduces":[2],"an":[3,10,46,106],"optimized":[4],"input":[5,20],"device":[6,21],"workflow":[7],"to":[8],"control":[9],"eye":[11,47,107],"surgical":[12,54,74,108],"robot":[13,109],"in":[14],"a":[15,23,33,42,117,143],"simulated":[16],"vitreoretinal":[17],"environment.":[18],"The":[19,67],"is":[22,39,70],"joystick":[24,118],"with":[25,79,85,91,98,110,119,142],"four":[26,73,121],"Degrees":[27],"of":[28,65,133,139],"Freedom":[29],"(DOF)":[30],"that":[31,129],"controls":[32],"six":[34,111],"DOFs":[35,112,122,134],"robot.":[36],"aim":[38],"achieved":[40],"through":[41,116],"segmentation":[43,68],"plan":[44,69],"for":[45],"surgeon.":[48],"In":[49,124],"this":[50,125],"study,":[51],"the":[52,131,137,140],"different":[53],"phases":[55,103],"are":[56],"defined":[57],"while":[58],"each":[59],"phase":[60],"includes":[61],"their":[62],"specific":[63],"number":[64,132],"DOFs.":[66],"divided":[71],"into":[72,104],"phases:":[75],"Phase":[76,82,88,95],"I:":[77],"Approach":[78],"three":[80,86],"DOFs;":[81,87,93],"II:":[83],"Introduction":[84],"III:":[89],"Aim":[90],"3+1":[92],"and":[94],"IV:":[96],"Injection":[97],"one":[99],"DOF.":[100],"Taking":[101],"these":[102],"consideration,":[105],"could":[113],"be":[114],"controlled":[115],"only":[120],"intuitively.":[123],"work":[126],"we":[127],"show":[128],"reducing":[130],"will":[135],"decrease":[136],"complexity":[138],"surgery":[141],"robotic":[144],"platform.":[145]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}