{"id":"https://openalex.org/W4389543022","doi":"https://doi.org/10.1109/embc40787.2023.10340267","title":"A Robotized Soft Endoscope with Stereo Vision for Upper Gastrointestinal Endoscopic Submucosal Dissection (ESD)","display_name":"A Robotized Soft Endoscope with Stereo Vision for Upper Gastrointestinal Endoscopic Submucosal Dissection (ESD)","publication_year":2023,"publication_date":"2023-07-24","ids":{"openalex":"https://openalex.org/W4389543022","doi":"https://doi.org/10.1109/embc40787.2023.10340267","pmid":"https://pubmed.ncbi.nlm.nih.gov/38083269"},"language":"en","primary_location":{"id":"doi:10.1109/embc40787.2023.10340267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc40787.2023.10340267","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 45th Annual International Conference of the IEEE Engineering in Medicine & 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/A5101567856","display_name":"Jian Chen","orcid":"https://orcid.org/0000-0003-1775-0134"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian Chen","raw_affiliation_strings":["University of Chinese Academy of Sciences,School of Artificial Intelligence,Beijing,China,100049","Institute of Automation, Chinese Academy of Sciences, Beijing, China","Centre of AI and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences,School of Artificial Intelligence,Beijing,China,100049","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Centre of AI and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101779498","display_name":"Shuai Wang","orcid":"https://orcid.org/0009-0005-6792-9441"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shuai Wang","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong","Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029595418","display_name":"Qingxiang Zhao","orcid":"https://orcid.org/0000-0001-7524-5342"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingxiang Zhao","raw_affiliation_strings":["Chinese Academy of Sciences,Centre of AI and Robotics, Hong Kong Institute of Science and Innovation,Hong Kong","Centre of AI and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Centre of AI and Robotics, Hong Kong Institute of Science and Innovation,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Centre of AI and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013169403","display_name":"Mingcong Chen","orcid":"https://orcid.org/0000-0001-9544-2589"},"institutions":[{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingcong Chen","raw_affiliation_strings":["Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190","Centre of AI and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Centre of AI and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004659892","display_name":"Hongbin Liu","orcid":"https://orcid.org/0000-0002-4315-7556"},"institutions":[{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Hongbin Liu","raw_affiliation_strings":["Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190","School of Biomedical Engineering and Imaging Sciences, Kings College London, London, UK","Centre of AI and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Institute of Automation,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Biomedical Engineering and Imaging Sciences, Kings College London, London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Centre of AI and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101567856"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":0.2248,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.49676263,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"2023","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9824000000953674,"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/T10888","display_name":"Augmented Reality Applications","score":0.9682999849319458,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.6692746877670288},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6472627520561218},{"id":"https://openalex.org/keywords/endoscope","display_name":"Endoscope","score":0.6441024541854858},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6034152507781982},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.41662466526031494},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.18191275000572205},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17391276359558105},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10074159502983093}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6692746877670288},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6472627520561218},{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.6441024541854858},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6034152507781982},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.41662466526031494},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.18191275000572205},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17391276359558105},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10074159502983093},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000069916","descriptor_name":"Endoscopic Mucosal Resection","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D000069916","descriptor_name":"Endoscopic Mucosal Resection","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D000069916","descriptor_name":"Endoscopic Mucosal Resection","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D000069916","descriptor_name":"Endoscopic Mucosal Resection","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D000069916","descriptor_name":"Endoscopic Mucosal Resection","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D004724","descriptor_name":"Endoscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004724","descriptor_name":"Endoscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004724","descriptor_name":"Endoscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004724","descriptor_name":"Endoscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004724","descriptor_name":"Endoscopy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005753","descriptor_name":"Gastric Mucosa","qualifier_ui":"Q000473","qualifier_name":"pathology","is_major_topic":false},{"descriptor_ui":"D005753","descriptor_name":"Gastric Mucosa","qualifier_ui":"Q000473","qualifier_name":"pathology","is_major_topic":false},{"descriptor_ui":"D005753","descriptor_name":"Gastric Mucosa","qualifier_ui":"Q000473","qualifier_name":"pathology","is_major_topic":false},{"descriptor_ui":"D005753","descriptor_name":"Gastric Mucosa","qualifier_ui":"Q000473","qualifier_name":"pathology","is_major_topic":false},{"descriptor_ui":"D005753","descriptor_name":"Gastric Mucosa","qualifier_ui":"Q000473","qualifier_name":"pathology","is_major_topic":false},{"descriptor_ui":"D005753","descriptor_name":"Gastric Mucosa","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":false},{"descriptor_ui":"D005753","descriptor_name":"Gastric Mucosa","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":false},{"descriptor_ui":"D005753","descriptor_name":"Gastric Mucosa","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":false},{"descriptor_ui":"D005753","descriptor_name":"Gastric Mucosa","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":false},{"descriptor_ui":"D005753","descriptor_name":"Gastric Mucosa","qualifier_ui":"Q000601","qualifier_name":"surgery","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":"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":"D013274","descriptor_name":"Stomach Neoplasms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013274","descriptor_name":"Stomach Neoplasms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013274","descriptor_name":"Stomach Neoplasms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013274","descriptor_name":"Stomach Neoplasms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013274","descriptor_name":"Stomach Neoplasms","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":false},{"descriptor_ui":"D019723","descriptor_name":"Endoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019723","descriptor_name":"Endoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019723","descriptor_name":"Endoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019723","descriptor_name":"Endoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc40787.2023.10340267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc40787.2023.10340267","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:38083269","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38083269","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":[{"display_name":"Zero hunger","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/2"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1980875600","https://openalex.org/W2082991751","https://openalex.org/W2101667962","https://openalex.org/W2117248802","https://openalex.org/W2140935196","https://openalex.org/W2164117311","https://openalex.org/W2301550741","https://openalex.org/W2386185567","https://openalex.org/W2773050635","https://openalex.org/W2998789543","https://openalex.org/W3043015341","https://openalex.org/W3112770423","https://openalex.org/W3157928491","https://openalex.org/W4205483055","https://openalex.org/W4210892739","https://openalex.org/W4288391524"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"a":[3,29,51,110],"novel":[4],"dual-segment":[5],"flexible":[6],"robotic":[7],"endoscope":[8],"designed":[9],"to":[10,33,55,66,79],"enhance":[11],"reachability":[12],"and":[13,50,95],"dexterity":[14],"during":[15,83],"ESD":[16],"surgery.":[17,84,124],"The":[18,97],"proposed":[19,90],"system":[20,44,91],"is":[21,64,76,107],"capable":[22],"of":[23,60,103,112],"executing":[24],"multi-angle":[25],"cutting":[26],"operations":[27],"at":[28],"small":[30],"angle":[31],"relative":[32],"the":[34,43,61,68,89],"lesion":[35],"surface,":[36],"allowing":[37],"for":[38,120],"efficient":[39],"en-bloc":[40],"resection.":[41],"Additionally,":[42],"incorporates":[45],"two":[46],"calibrated":[47],"RGB":[48],"cameras":[49],"depth":[52],"estimation":[53],"algorithm":[54],"provide":[56],"detailed":[57],"3D":[58],"information":[59],"tumour,":[62],"which":[63],"used":[65],"guide":[67],"control":[69],"framework.":[70],"A":[71],"stereo":[72],"visual":[73],"servoing":[74],"controller":[75],"also":[77],"implemented":[78],"improve":[80],"path-following":[81],"performance":[82],"Experiments":[85],"results":[86],"indicate":[87],"that":[88],"improves":[92],"motion":[93],"stability":[94],"precision.":[96],"root":[98],"means":[99],"square":[100],"error":[101],"(RMSE)":[102],"circle":[104],"path":[105],"following":[106],"1.1991mm":[108],"with":[109],"maximum":[111],"1.4751mm.":[113],"Ex-vivo":[114],"testing":[115],"demonstrates":[116],"its":[117],"significant":[118],"potential":[119],"use":[121],"in":[122],"endoscopic":[123]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}