{"id":"https://openalex.org/W2008145132","doi":"https://doi.org/10.1109/icra.2013.6631348","title":"Cooperative in situ microscopic scanning and simultaneous tissue surface reconstruction using a compliant robotic manipulator","display_name":"Cooperative in situ microscopic scanning and simultaneous tissue surface reconstruction using a compliant robotic manipulator","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2008145132","doi":"https://doi.org/10.1109/icra.2013.6631348","mag":"2008145132"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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/A5021744341","display_name":"\u03a0\u03ad\u03c4\u03c1\u03bf\u03c2 \u0393\u03b9\u03b1\u03c4\u03b1\u03b3\u03ac\u03bd\u03b1\u03c2","orcid":"https://orcid.org/0000-0002-5676-0776"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Petros Giataganas","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037213567","display_name":"Valentina Vitiello","orcid":"https://orcid.org/0000-0002-1724-6264"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Valentina Vitiello","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065960903","display_name":"Vasiliki Simaiaki","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Vasiliki Simaiaki","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063255971","display_name":"Edoardo Lopez","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Edoardo Lopez","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085036036","display_name":"Guang\u2010Zhong Yang","orcid":"https://orcid.org/0000-0003-4060-4020"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guang-Zhong Yang","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5021744341"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":1.5987,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.82253401,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"39","issue":null,"first_page":"5378","last_page":"5383"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987999796867371,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9891999959945679,"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/manipulator","display_name":"Manipulator (device)","score":0.6570211052894592},{"id":"https://openalex.org/keywords/in-situ","display_name":"In situ","score":0.5590970516204834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5272176265716553},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.48232385516166687},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.45007941126823425},{"id":"https://openalex.org/keywords/surface-reconstruction","display_name":"Surface reconstruction","score":0.4447755515575409},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4334118366241455},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3972463011741638},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3003841042518616},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27865326404571533},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14637598395347595},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0950213074684143},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06770917773246765}],"concepts":[{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6570211052894592},{"id":"https://openalex.org/C2777822432","wikidata":"https://www.wikidata.org/wiki/Q216681","display_name":"In situ","level":2,"score":0.5590970516204834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5272176265716553},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.48232385516166687},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.45007941126823425},{"id":"https://openalex.org/C20885615","wikidata":"https://www.wikidata.org/wiki/Q825595","display_name":"Surface reconstruction","level":3,"score":0.4447755515575409},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4334118366241455},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3972463011741638},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3003841042518616},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27865326404571533},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14637598395347595},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0950213074684143},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06770917773246765},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6631348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7552516846","display_name":null,"funder_award_id":"EP/I027769/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1565206031","https://openalex.org/W1986014385","https://openalex.org/W2005275267","https://openalex.org/W2023965689","https://openalex.org/W2049633694","https://openalex.org/W2053742104","https://openalex.org/W2061642774","https://openalex.org/W2087215409","https://openalex.org/W2091435527","https://openalex.org/W2105938164","https://openalex.org/W2126202155","https://openalex.org/W2128677288","https://openalex.org/W2156918412","https://openalex.org/W2159780964","https://openalex.org/W2168175751","https://openalex.org/W6673247410","https://openalex.org/W7048738093"],"related_works":["https://openalex.org/W1983132006","https://openalex.org/W2356368195","https://openalex.org/W2112345716","https://openalex.org/W2122677745","https://openalex.org/W2996805683","https://openalex.org/W1910303280","https://openalex.org/W2392830542","https://openalex.org/W2067587337","https://openalex.org/W4247022567","https://openalex.org/W2153662548"],"abstract_inverted_index":{"Recent":[0],"technological":[1],"advances":[2],"in":[3,34,96,119,131],"surgery":[4],"have":[5,27],"permitted":[6],"cellular":[7,78],"and":[8,31,62,70,101,116,135,160,176],"molecular":[9],"imaging":[10],"to":[11,56,76,88,113,170,182],"be":[12],"carried":[13],"out":[14],"intra-operatively.":[15],"Although":[16],"optical":[17],"biopsy":[18],"techniques":[19],"such":[20,106],"as":[21],"probe-based":[22],"confocal":[23],"laser":[24],"endomicroscopy":[25],"(pCLE)":[26],"enabled":[28],"real-time":[29],"diagnosis":[30],"tissue":[32,50,75,120,137],"characterisation":[33],"vivo,":[35],"the":[36,39,60,63,74,123,165,173,179,189],"flexibility":[37],"of":[38,48,59,84,98,105,188],"probe":[40,61,68],"introduces":[41,93],"significant":[42],"challenges":[43],"under":[44],"manual":[45],"control.":[46],"Examination":[47],"large":[49],"areas":[51],"is":[52,109,141],"particularly":[53],"challenging":[54],"due":[55,112],"micron-scale":[57],"resolution":[58],"need":[64],"for":[65,150],"maintaining":[66],"consistent":[67],"orientation":[69],"force":[71,161],"contact":[72],"with":[73,178],"avoid":[77],"deformation":[79],"or":[80],"damage.":[81],"The":[82,143,158],"use":[83],"a":[85,129,146,184],"robotic":[86],"manipulator":[87],"perform":[89],"surface":[90,138,174],"scanning":[91,134,166],"automatically":[92],"great":[94],"benefits":[95],"terms":[97],"positioning":[99],"repeatability":[100],"accuracy.":[102],"However,":[103],"pre-programming":[104],"complex":[107],"task":[108],"not":[110],"realistic":[111],"patient-specific":[114],"anatomy":[115],"constant":[117],"changes":[118],"morphology":[121,175],"during":[122,164],"operation.":[124],"To":[125],"overcome":[126],"this":[127],"problem,":[128],"cooperative,":[130],"situ":[132],"microscopic":[133],"simultaneous":[136],"reconstruction":[139],"technique":[140],"proposed.":[142],"system":[144],"provides":[145],"hands-on,":[147],"learning-based":[148],"framework":[149],"optimal":[151],"trajectory":[152],"coverage":[153],"from":[154],"surgeon-demonstrated":[155],"motions":[156],"intraoperatively.":[157],"position":[159],"information":[162],"acquired":[163],"are":[167],"also":[168],"used":[169],"simultaneously":[171],"reconstruct":[172],"combined":[177],"pCLE":[180],"images":[181],"generate":[183],"3D":[185],"functional":[186],"map":[187],"tissue.":[190]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}