{"id":"https://openalex.org/W2091946214","doi":"https://doi.org/10.1109/icra.2014.6907572","title":"Guidance of a high dexterity robot under 3D ultrasound for minimally invasive retrieval of foreign bodies from a beating heart","display_name":"Guidance of a high dexterity robot under 3D ultrasound for minimally invasive retrieval of foreign bodies from a beating heart","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2091946214","doi":"https://doi.org/10.1109/icra.2014.6907572","mag":"2091946214"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5074338022","display_name":"Paul Thienphrapa","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Paul Thienphrapa","raw_affiliation_strings":["ERC CISST/LCSR, Johns Hopkins University, Baltimore, MD, USA","Johns Hopkins University ("],"affiliations":[{"raw_affiliation_string":"ERC CISST/LCSR, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Johns Hopkins University (","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103027630","display_name":"Aleksandra Popovi\u0107","orcid":"https://orcid.org/0000-0002-4432-0183"},"institutions":[{"id":"https://openalex.org/I1329325741","display_name":"Philips (Finland)","ror":"https://ror.org/01g4jev56","country_code":"FI","type":"company","lineage":["https://openalex.org/I1329325741","https://openalex.org/I4210122849"]},{"id":"https://openalex.org/I4210131230","display_name":"Philips (United States)","ror":"https://ror.org/03kw6wr76","country_code":"US","type":"company","lineage":["https://openalex.org/I4210122849","https://openalex.org/I4210131230"]}],"countries":["FI","US"],"is_corresponding":false,"raw_author_name":"Aleksandra Popovic","raw_affiliation_strings":["Philips Research North America, Briarcliff Manor, NY, USA","KONINKLIJKE PHILIPS N..V"],"affiliations":[{"raw_affiliation_string":"Philips Research North America, Briarcliff Manor, NY, USA","institution_ids":["https://openalex.org/I4210131230"]},{"raw_affiliation_string":"KONINKLIJKE PHILIPS N..V","institution_ids":["https://openalex.org/I1329325741"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004170925","display_name":"Russell H. Taylor","orcid":"https://orcid.org/0000-0001-6272-1100"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Russell H. Taylor","raw_affiliation_strings":["ERC CISST/LCSR, Johns Hopkins University, Baltimore, MD, USA","Whiting School of Engineering"],"affiliations":[{"raw_affiliation_string":"ERC CISST/LCSR, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Whiting School of Engineering","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5074338022"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":0.5562075,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.69128872,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"13","issue":null,"first_page":"4869","last_page":"4874"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987000226974487,"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":0.9987000226974487,"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/T11867","display_name":"Traumatic Ocular and Foreign Body Injuries","score":0.9739999771118164,"subfield":{"id":"https://openalex.org/subfields/2731","display_name":"Ophthalmology"},"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/T10645","display_name":"Cardiac Arrest and Resuscitation","score":0.9617000222206116,"subfield":{"id":"https://openalex.org/subfields/2711","display_name":"Emergency Medicine"},"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/medical-robotics","display_name":"Medical robotics","score":0.6560052037239075},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5384893417358398},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.5287643671035767},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5149758458137512},{"id":"https://openalex.org/keywords/3d-ultrasound","display_name":"3D ultrasound","score":0.4543648362159729},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43881550431251526},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42857247591018677},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3274061679840088},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.28647950291633606},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.20005813241004944}],"concepts":[{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.6560052037239075},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5384893417358398},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.5287643671035767},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5149758458137512},{"id":"https://openalex.org/C2780170424","wikidata":"https://www.wikidata.org/wiki/Q229399","display_name":"3D ultrasound","level":3,"score":0.4543648362159729},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43881550431251526},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42857247591018677},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3274061679840088},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.28647950291633606},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.20005813241004944}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/5","display_name":"Gender equality","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W23304589","https://openalex.org/W1538512411","https://openalex.org/W1976944840","https://openalex.org/W1977579098","https://openalex.org/W1997204337","https://openalex.org/W2017184841","https://openalex.org/W2028269084","https://openalex.org/W2042849704","https://openalex.org/W2045783741","https://openalex.org/W2048754961","https://openalex.org/W2063523563","https://openalex.org/W2084972431","https://openalex.org/W2087104703","https://openalex.org/W2096032076","https://openalex.org/W2099358917","https://openalex.org/W2099733108","https://openalex.org/W2100552848","https://openalex.org/W2102031973","https://openalex.org/W2104425370","https://openalex.org/W2111112370","https://openalex.org/W2116833377","https://openalex.org/W2117155403","https://openalex.org/W2120415087","https://openalex.org/W2126182407","https://openalex.org/W2126592394","https://openalex.org/W2132331000","https://openalex.org/W2134216197","https://openalex.org/W2153257798","https://openalex.org/W2160076678","https://openalex.org/W2164829150","https://openalex.org/W2165465619","https://openalex.org/W2414081115","https://openalex.org/W2519660249","https://openalex.org/W2914772616","https://openalex.org/W6674713044","https://openalex.org/W6683530541","https://openalex.org/W6715810285"],"related_works":["https://openalex.org/W2392518627","https://openalex.org/W1972056390","https://openalex.org/W2992379896","https://openalex.org/W2147796458","https://openalex.org/W2010072608","https://openalex.org/W2052744733","https://openalex.org/W1555204328","https://openalex.org/W2380428609","https://openalex.org/W2353283636","https://openalex.org/W2003113500"],"abstract_inverted_index":{"Particles":[0],"such":[1,122],"as":[2,34],"thrombi,":[3],"bullet":[4],"fragments,":[5],"and":[6,50,63,139,173],"shrapnel":[7],"can":[8,36],"become":[9],"trapped":[10],"in":[11,158,163],"a":[12,30,51,72,82,98,113,123,132,135,160,164,169,175],"person's":[13],"heart":[14,46,56,166],"after":[15],"migrating":[16],"through":[17],"the":[18,55,89,107,118,141,151,181],"venous":[19],"system,":[20],"or":[21],"by":[22],"direct":[23,104],"penetration.":[24],"These":[25],"cardiac":[26],"foreign":[27,90,161],"bodies":[28],"pose":[29],"serious":[31],"health":[32],"risk":[33,62],"they":[35],"interfere":[37],"with":[38,60,117],"cardiovascular":[39],"function.":[40],"Conventional":[41],"treatment":[42],"often":[43],"requires":[44],"open":[45],"surgery,":[47],"cardiopulmonary":[48],"bypass,":[49],"long":[52],"incision":[53],"of":[54,88,106,153],"muscle,":[57],"which":[58],"come":[59],"significant":[61],"recovery":[64],"time.":[65],"To":[66,111],"circumvent":[67],"these":[68],"disadvantages,":[69],"we":[70,125,149],"propose":[71,126],"minimally":[73],"invasive":[74],"surgical":[75],"approach":[76],"using":[77],"3D":[78,154],"ultrasound":[79],"to":[80,120,134,179],"guide":[81],"dexterous":[83],"robotic":[84,99],"capture":[85,137,171],"device.":[86],"Analysis":[87],"body":[91,162],"trajectory":[92],"indicates":[93],"highly":[94],"erratic":[95],"motion,":[96],"rendering":[97],"retrieval":[100],"strategy":[101],"based":[102,129],"on":[103,130],"pursuit":[105],"tracked":[108],"target":[109,142],"infeasible.":[110],"provide":[112],"relatively":[114],"slow":[115],"robot":[116,133,178],"ability":[119],"retrieve":[121],"target,":[124],"alternative":[127],"strategies":[128],"guiding":[131,174],"salient":[136],"location,":[138,172],"ambushing":[140],"upon":[143],"its":[144],"reappearance.":[145],"In":[146],"this":[147],"paper,":[148],"demonstrate":[150],"use":[152],"transesophageal":[155],"echocardiography":[156],"(TEE)":[157],"tracking":[159],"beating":[165],"phantom,":[167],"computing":[168],"suitable":[170],"high":[176],"dexterity":[177],"secure":[180],"target.":[182]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
