{"id":"https://openalex.org/W4205548487","doi":"https://doi.org/10.1109/icar53236.2021.9659396","title":"Autonomy in robotic prostate biopsy through AI-assisted fusion","display_name":"Autonomy in robotic prostate biopsy through AI-assisted fusion","publication_year":2021,"publication_date":"2021-12-06","ids":{"openalex":"https://openalex.org/W4205548487","doi":"https://doi.org/10.1109/icar53236.2021.9659396"},"language":"en","primary_location":{"id":"doi:10.1109/icar53236.2021.9659396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659396","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"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/A5012140487","display_name":"Luigi Palladino","orcid":"https://orcid.org/0000-0002-3846-755X"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Luigi Palladino","raw_affiliation_strings":["Computer Science Department, Altair Laboratory, University of Verona, Verona, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Altair Laboratory, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018973368","display_name":"Bogdan Maris","orcid":"https://orcid.org/0000-0003-2771-3337"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Bogdan Maris","raw_affiliation_strings":["Computer Science Department, Altair Laboratory, University of Verona, Verona, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Altair Laboratory, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070567916","display_name":"Alessandro Antonelli","orcid":"https://orcid.org/0000-0002-7455-8803"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alessandro Antonelli","raw_affiliation_strings":["Urology Department, Hospital Borgo Trento of Verona, Verona, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Urology Department, Hospital Borgo Trento of Verona, Verona, Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065107543","display_name":"Paolo Fiorini","orcid":"https://orcid.org/0000-0002-0711-8605"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Fiorini","raw_affiliation_strings":["Computer Science Department, Altair Laboratory, University of Verona, Verona, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Altair Laboratory, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012140487"],"corresponding_institution_ids":["https://openalex.org/I119439378"],"apc_list":null,"apc_paid":null,"fwci":1.0334,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.77128954,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"142","last_page":"147"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10124","display_name":"Prostate Cancer Diagnosis and Treatment","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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/T10124","display_name":"Prostate Cancer Diagnosis and Treatment","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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/T14510","display_name":"Medical Imaging and Analysis","score":0.9842000007629395,"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/T12386","display_name":"Advanced X-ray and CT Imaging","score":0.9824000000953674,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/s\u00f8rensen\u2013dice-coefficient","display_name":"S\u00f8rensen\u2013Dice coefficient","score":0.7749308943748474},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7671766877174377},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7101870179176331},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6999109983444214},{"id":"https://openalex.org/keywords/prostate-biopsy","display_name":"Prostate biopsy","score":0.6618063449859619},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5526406168937683},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.519180417060852},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.48530787229537964},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4681318998336792},{"id":"https://openalex.org/keywords/magnetic-resonance-imaging","display_name":"Magnetic resonance imaging","score":0.46339040994644165},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4614172875881195},{"id":"https://openalex.org/keywords/medical-imaging","display_name":"Medical imaging","score":0.4475036859512329},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4337296485900879},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.414065420627594},{"id":"https://openalex.org/keywords/prostate","display_name":"Prostate","score":0.38798195123672485},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.33870548009872437},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.17630818486213684},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14579185843467712}],"concepts":[{"id":"https://openalex.org/C163892561","wikidata":"https://www.wikidata.org/wiki/Q2613728","display_name":"S\u00f8rensen\u2013Dice coefficient","level":4,"score":0.7749308943748474},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7671766877174377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7101870179176331},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6999109983444214},{"id":"https://openalex.org/C2781217009","wikidata":"https://www.wikidata.org/wiki/Q4086927","display_name":"Prostate biopsy","level":4,"score":0.6618063449859619},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5526406168937683},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.519180417060852},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.48530787229537964},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4681318998336792},{"id":"https://openalex.org/C143409427","wikidata":"https://www.wikidata.org/wiki/Q161238","display_name":"Magnetic resonance imaging","level":2,"score":0.46339040994644165},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4614172875881195},{"id":"https://openalex.org/C31601959","wikidata":"https://www.wikidata.org/wiki/Q931309","display_name":"Medical imaging","level":2,"score":0.4475036859512329},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4337296485900879},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.414065420627594},{"id":"https://openalex.org/C2776235491","wikidata":"https://www.wikidata.org/wiki/Q9625","display_name":"Prostate","level":3,"score":0.38798195123672485},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.33870548009872437},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.17630818486213684},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14579185843467712},{"id":"https://openalex.org/C121608353","wikidata":"https://www.wikidata.org/wiki/Q12078","display_name":"Cancer","level":2,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar53236.2021.9659396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659396","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6351776593","display_name":null,"funder_award_id":"875523","funder_id":"https://openalex.org/F4320332605","funder_display_name":"Agricultural Research Service"}],"funders":[{"id":"https://openalex.org/F4320332605","display_name":"Agricultural Research Service","ror":"https://ror.org/02d2m2044"},{"id":"https://openalex.org/F4320338335","display_name":"H2020 European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1964666848","https://openalex.org/W2009813001","https://openalex.org/W2083624955","https://openalex.org/W2146373036","https://openalex.org/W2159146057","https://openalex.org/W2194775991","https://openalex.org/W2910789091","https://openalex.org/W2963150697","https://openalex.org/W2979653841","https://openalex.org/W3020996329","https://openalex.org/W3119005666","https://openalex.org/W3125506911","https://openalex.org/W3180446725","https://openalex.org/W6639824700","https://openalex.org/W6777246285"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W4240485100","https://openalex.org/W4254970379","https://openalex.org/W2056130799","https://openalex.org/W2045758229","https://openalex.org/W405964254","https://openalex.org/W2297646692"],"abstract_inverted_index":{"Artificial":[0],"intelligence":[1],"(AI)":[2],"and":[3,13,24,41,54,96,109,118,139,143,167,175],"especially":[4],"deep":[5],"learning":[6],"(DL)":[7],"are":[8,14],"applied":[9,32],"in":[10,33,49,60,86,136,141],"many":[11],"fields":[12],"the":[15,52,55,81,84,115,121,124,157,162,172,176,179,184,193,198,202,207],"leading":[16],"technologies":[17],"towards":[18],"robot":[19,154],"autonomy.":[20],"Proper":[21],"DL":[22,58,69],"algorithms":[23],"sufficient":[25],"amount":[26],"of":[27,43,57,83,89,114,123,134,159,165,178,183,192,201],"medical":[28,34,45,90],"data":[29,130,185],"may":[30],"be":[31],"robotics":[35],"to":[36,170,206],"increase":[37],"autonomy,":[38],"safety,":[39],"accuracy":[40,133],"precision":[42],"a":[44,61,74],"procedure.":[46,180],"We":[47],"investigate":[48],"this":[50],"paper":[51],"implementation":[53],"integration":[56],"techniques":[59],"new":[62],"robotic":[63,208],"system":[64],"for":[65,80,161],"prostate":[66,85,203],"biopsy-PROST.":[67],"The":[68,100,152],"algorithm,":[70],"named":[71],"PROST-Net,":[72],"is":[73],"convolutional":[75],"neural":[76],"network":[77],"(CNN)":[78],"employed":[79],"segmentation":[82],"different":[87,105,112],"types":[88],"images:":[91],"pre-operative":[92,166],"magnetic":[93],"resonance":[94],"(MRI)":[95],"intra-operative":[97,168],"ultrasound":[98],"(US).":[99],"US":[101,137],"images":[102,138,169],"come":[103],"from":[104],"acquisition":[106],"planes":[107],"(axial":[108],"sagittal)":[110],"with":[111,186,204],"alignments":[113],"sensors":[116],"(convex":[117],"linear)":[119],"making":[120],"design":[122],"CNN":[125],"challenging.":[126],"Tests":[127],"on":[128],"patient":[129],"produced":[131],"an":[132],"86%":[135],"77%":[140],"MRI":[142],"were":[144],"estimated":[145],"by":[146,196],"using":[147],"Dice":[148],"similarity":[149],"Coefficient":[150],"(DC).":[151],"biopsy":[153,173],"will":[155,188],"use":[156],"output":[158],"PROST-Net":[160,187],"initial":[163,194],"fusion":[164,195],"define":[171],"targets":[174],"planning":[177],"Real-time":[181],"processing":[182],"empower":[189],"dynamic":[190],"update":[191],"following":[197],"current":[199],"position":[200],"respect":[205],"reference":[209],"frame.":[210]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
