{"id":"https://openalex.org/W2140644931","doi":"https://doi.org/10.1109/icra.2012.6224582","title":"Visual and force-feedback guidance for robot-assisted interventions in the beating heart with real-time MRI","display_name":"Visual and force-feedback guidance for robot-assisted interventions in the beating heart with real-time MRI","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2140644931","doi":"https://doi.org/10.1109/icra.2012.6224582","mag":"2140644931"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5081271259","display_name":"Nikhil V. Navkar","orcid":"https://orcid.org/0000-0003-1853-1910"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikhil V. Navkar","raw_affiliation_strings":["The Computer Graphics & Interactive Media Lab and the Medical Robotics Lab at University of Houston, TX, USA","Computer Graphics & Interactive Media Lab and the Medical Robotics Lab at University of Houston, 4800 Calhoun Road, TX 77004, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Computer Graphics & Interactive Media Lab and the Medical Robotics Lab at University of Houston, TX, USA","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Computer Graphics & Interactive Media Lab and the Medical Robotics Lab at University of Houston, 4800 Calhoun Road, TX 77004, USA","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026683388","display_name":"Zhigang Deng","orcid":"https://orcid.org/0000-0002-0452-8676"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhigang Deng","raw_affiliation_strings":["The Computer Graphics & Interactive Media Lab and Computer Science Department, at University of Houston, Houston, TX, USA","Computer Graphics & Interactive Media Lab and Computer Science Department, at University of Houston, 4800 Calhoun Road, TX 77004, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Computer Graphics & Interactive Media Lab and Computer Science Department, at University of Houston, Houston, TX, USA","institution_ids":["https://openalex.org/I44461941"]},{"raw_affiliation_string":"Computer Graphics & Interactive Media Lab and Computer Science Department, at University of Houston, 4800 Calhoun Road, TX 77004, USA","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043965596","display_name":"Dipan J. Shah","orcid":"https://orcid.org/0000-0002-6179-2393"},"institutions":[{"id":"https://openalex.org/I1295876152","display_name":"Houston Methodist","ror":"https://ror.org/027zt9171","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1295876152"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dipan J. Shah","raw_affiliation_strings":["Methodist DeBakey Heart & Vascular Center, Methodist Hospital, Houston, TX 77030, USA","Methodist DeBakey Heart & Vascular Center, Methodist Hospital, 6550 Fannin, Houston, TX 77030, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Methodist DeBakey Heart & Vascular Center, Methodist Hospital, Houston, TX 77030, USA","institution_ids":["https://openalex.org/I1295876152"]},{"raw_affiliation_string":"Methodist DeBakey Heart & Vascular Center, Methodist Hospital, 6550 Fannin, Houston, TX 77030, USA","institution_ids":["https://openalex.org/I1295876152"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas E. Bekris","raw_affiliation_strings":["The Computer Science & Engineering Department\u2019 University of Nevada, Reno, NV, USA","Computer Science & Engineering Department, University of Nevada, 1664 N. Virginia Street, Reno, 89557, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Computer Science & Engineering Department\u2019 University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"Computer Science & Engineering Department, University of Nevada, 1664 N. Virginia Street, Reno, 89557, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058953622","display_name":"Nikolaos V. Tsekos","orcid":"https://orcid.org/0000-0002-4327-9895"},"institutions":[{"id":"https://openalex.org/I4210143400","display_name":"Houston Medical Center","ror":"https://ror.org/049yfnz48","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210143400"]},{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]},{"id":"https://openalex.org/I919571938","display_name":"The University of Texas Health Science Center at Houston","ror":"https://ror.org/03gds6c39","country_code":"US","type":"education","lineage":["https://openalex.org/I919571938"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikolaos V. Tsekos","raw_affiliation_strings":["The Medical Robotics Lab and Computer Science Department at University of Houston, Houston, TX, USA","Medical Robotics Lab and Computer Science Department at University of Houston, 4800 Calhoun Road, TX 77004, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Medical Robotics Lab and Computer Science Department at University of Houston, Houston, TX, USA","institution_ids":["https://openalex.org/I4210143400","https://openalex.org/I919571938"]},{"raw_affiliation_string":"Medical Robotics Lab and Computer Science Department at University of Houston, 4800 Calhoun Road, TX 77004, USA","institution_ids":["https://openalex.org/I44461941"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"689","last_page":"694"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T10172","display_name":"Cardiac Valve Diseases and Treatments","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2705","display_name":"Cardiology and Cardiovascular 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/T11055","display_name":"Cardiac and Coronary Surgery Techniques","score":0.9943000078201294,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.7000093460083008},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6332151293754578},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.6138097643852234},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5857101082801819},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4642214775085449},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.4597814679145813},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37564384937286377},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3151431083679199},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27950748801231384}],"concepts":[{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.7000093460083008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6332151293754578},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.6138097643852234},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5857101082801819},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4642214775085449},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.4597814679145813},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37564384937286377},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3151431083679199},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27950748801231384},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2012.6224582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.258.5025","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.258.5025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://graphics.nsm.uh.edu/wp-content/papers/2012/2012-ICRA-visualForcebackGuidance.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.388.5191","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.388.5191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www2.cs.uh.edu/~nvnavkar/ICRA2012/Navkar_ICRA_2012.pdf","raw_type":"text"},{"id":"pmh:oai:alma.01RUT_INST:11664983890004646","is_oa":false,"landing_page_url":"https://scholarship.libraries.rutgers.edu/esploro/outputs/conferenceProceeding/Visual-and-force-feedback-guidance-for-robot-assisted/991031665589004646","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Proceedings"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1809101390","https://openalex.org/W1932070914","https://openalex.org/W2013455877","https://openalex.org/W2017484120","https://openalex.org/W2021879354","https://openalex.org/W2044544244","https://openalex.org/W2057203440","https://openalex.org/W2102948618","https://openalex.org/W2113818772","https://openalex.org/W2125846401","https://openalex.org/W2139548571","https://openalex.org/W2152401136","https://openalex.org/W2170193904","https://openalex.org/W6640354961","https://openalex.org/W6682105290"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W2108167108","https://openalex.org/W4233260495","https://openalex.org/W3094485622","https://openalex.org/W2519742261","https://openalex.org/W40488765"],"abstract_inverted_index":{"Robot-assisted":[0],"surgical":[1],"procedures":[2,26],"are":[3],"perpetually":[4],"evolving":[5],"due":[6],"to":[7,32,40,44,63,134],"potential":[8],"improvement":[9,123],"in":[10,67,71,124,137],"patient":[11],"treatment":[12],"and":[13,82,120,126,131],"healthcare":[14],"cost":[15],"reduction.":[16],"Integration":[17],"of":[18,35,96,103,106,115],"an":[19,88],"imaging":[20],"modality":[21],"intraoperatively":[22],"further":[23],"strengthens":[24],"these":[25],"by":[27,128],"incorporating":[28],"the":[29,33,45,65,93,104,135],"information":[30,38],"pertaining":[31],"area":[34],"intervention.":[36],"Such":[37],"needs":[39],"be":[41],"effectively":[42],"rendered":[43],"operator":[46,66,136],"as":[47],"a":[48,56,72,97,112],"human-in-the-loop":[49],"requirement.":[50],"In":[51],"this":[52,76,107],"work,":[53],"we":[54],"propose":[55],"guidance":[57,85],"approach":[58,77,108],"that":[59],"uses":[60],"real-time":[61,80],"MRI":[62],"assist":[64],"performing":[68],"robot-assisted":[69],"procedure":[70],"beating":[73],"heart.":[74],"Specifically,":[75],"provides":[78],"both":[79],"visualization":[81],"force-feedback":[83],"based":[84],"for":[86],"maneuvering":[87],"interventional":[89],"tool":[90],"safely":[91],"inside":[92],"dynamic":[94],"environment":[95],"heart's":[98],"left":[99],"ventricle.":[100],"Experimental":[101],"evaluation":[102],"functionality":[105],"was":[109],"tested":[110],"on":[111],"simulated":[113],"scenario":[114],"transapical":[116],"aortic":[117],"valve":[118],"replacement":[119],"it":[121],"demonstrated":[122],"control":[125],"manipulation":[127],"providing":[129],"effective":[130],"accurate":[132],"assistance":[133],"real-time.":[138]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}