{"id":"https://openalex.org/W1561306813","doi":"https://doi.org/10.1109/icra.2015.7139349","title":"Feed forward incision control for laser microsurgery of soft tissue","display_name":"Feed forward incision control for laser microsurgery of soft tissue","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1561306813","doi":"https://doi.org/10.1109/icra.2015.7139349","mag":"1561306813"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139349","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139349","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5007273054","display_name":"Loris Fichera","orcid":"https://orcid.org/0000-0001-7347-9479"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Loris Fichera","raw_affiliation_strings":["Department of Advanced Robotics and with the Department of Neuroscience and Brain Technologies, Istituto Italiano di Tecnologia, Genova, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics and with the Department of Neuroscience and Brain Technologies, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075968312","display_name":"Diego Pardo","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Diego Pardo","raw_affiliation_strings":["Department of Advanced Robotics and with the Department of Neuroscience and Brain Technologies, Istituto Italiano di Tecnologia, Genova, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics and with the Department of Neuroscience and Brain Technologies, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068758937","display_name":"Placido Illiano","orcid":"https://orcid.org/0000-0002-8755-5986"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Placido Illiano","raw_affiliation_strings":["Department of Advanced Robotics and with the Department of Neuroscience and Brain Technologies, Istituto Italiano di Tecnologia, Genova, Italy","Department of Neuroscience and Brain Technologies, Istituto Italiano di Tecnologia, , via Morego, 30, 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics and with the Department of Neuroscience and Brain Technologies, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Neuroscience and Brain Technologies, Istituto Italiano di Tecnologia, , via Morego, 30, 16163 Genova, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics and with the Department of Neuroscience and Brain Technologies, Istituto Italiano di Tecnologia, Genova, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics and with the Department of Neuroscience and Brain Technologies, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066219856","display_name":"Leonardo S. Mattos","orcid":"https://orcid.org/0000-0002-8511-9144"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Leonardo S. Mattos","raw_affiliation_strings":["Department of Advanced Robotics and with the Department of Neuroscience and Brain Technologies, Istituto Italiano di Tecnologia, Genova, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics and with the Department of Neuroscience and Brain Technologies, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5007273054"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":2.015,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.85518295,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1235","last_page":"1240"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9909999966621399,"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"}},"topics":[{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9909999966621399,"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/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.9807000160217285,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13953","display_name":"Digital Imaging in Medicine","score":0.9697999954223633,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"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/laser","display_name":"Laser","score":0.7422454953193665},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6340953707695007},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5212414860725403},{"id":"https://openalex.org/keywords/laser-ablation","display_name":"Laser ablation","score":0.49339500069618225},{"id":"https://openalex.org/keywords/transoral-laser-microsurgery","display_name":"Transoral laser microsurgery","score":0.4914287328720093},{"id":"https://openalex.org/keywords/ablation","display_name":"Ablation","score":0.44713494181632996},{"id":"https://openalex.org/keywords/microsurgery","display_name":"Microsurgery","score":0.4411187767982483},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41661539673805237},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3996354341506958},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33089232444763184},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.32277756929397583},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.22518441081047058},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2033366858959198},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.19594091176986694},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10353365540504456},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.0833011269569397}],"concepts":[{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.7422454953193665},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6340953707695007},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5212414860725403},{"id":"https://openalex.org/C2779188808","wikidata":"https://www.wikidata.org/wiki/Q1806547","display_name":"Laser ablation","level":3,"score":0.49339500069618225},{"id":"https://openalex.org/C2778993000","wikidata":"https://www.wikidata.org/wiki/Q7834753","display_name":"Transoral laser microsurgery","level":4,"score":0.4914287328720093},{"id":"https://openalex.org/C2778902805","wikidata":"https://www.wikidata.org/wiki/Q322177","display_name":"Ablation","level":2,"score":0.44713494181632996},{"id":"https://openalex.org/C2781437307","wikidata":"https://www.wikidata.org/wiki/Q977628","display_name":"Microsurgery","level":2,"score":0.4411187767982483},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41661539673805237},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3996354341506958},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33089232444763184},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.32277756929397583},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.22518441081047058},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2033366858959198},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.19594091176986694},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10353365540504456},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0833011269569397},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2781157581","wikidata":"https://www.wikidata.org/wiki/Q1472065","display_name":"Laryngectomy","level":3,"score":0.0},{"id":"https://openalex.org/C2780474809","wikidata":"https://www.wikidata.org/wiki/Q9637","display_name":"Larynx","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139349","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139349","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320325847","display_name":"Istituto Italiano di Tecnologia","ror":"https://ror.org/042t93s57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1506879977","https://openalex.org/W1520564537","https://openalex.org/W1589790730","https://openalex.org/W1963864252","https://openalex.org/W1980297807","https://openalex.org/W1988322331","https://openalex.org/W2010919162","https://openalex.org/W2018368392","https://openalex.org/W2027202650","https://openalex.org/W2039977996","https://openalex.org/W2043263680","https://openalex.org/W2061814419","https://openalex.org/W2061938657","https://openalex.org/W2071966219","https://openalex.org/W2087317006","https://openalex.org/W2097683070","https://openalex.org/W2108170404","https://openalex.org/W2139801847","https://openalex.org/W2143866388","https://openalex.org/W2475583164","https://openalex.org/W2494155654","https://openalex.org/W6635312864","https://openalex.org/W6654885201"],"related_works":["https://openalex.org/W2064628486","https://openalex.org/W4386294661","https://openalex.org/W2330301073","https://openalex.org/W2080766278","https://openalex.org/W2351731365","https://openalex.org/W2323047846","https://openalex.org/W2081305085","https://openalex.org/W1940885666","https://openalex.org/W2147794715","https://openalex.org/W2560330190"],"abstract_inverted_index":{"In":[0,127],"this":[1],"paper":[2],"we":[3,129],"present":[4],"a":[5,20,82],"feed":[6],"forward":[7],"controller":[8,21,40,78,104],"to":[9,53,124,137],"regulate":[10],"the":[11,25,34,49,54,67,75,77,100,103,132,139,148],"depth":[12,52],"of":[13,27,36,69,91,102,117,142,145,150],"laser":[14,28,56,84,95,152],"incisions":[15,121],"in":[16,81],"soft":[17],"tissue.":[18],"Such":[19],"is":[22,41,61,79,105],"compatible":[23],"with":[24],"requirements":[26],"microsurgery,":[29],"where":[30],"space":[31],"constraints":[32],"limit":[33],"use":[35,68],"sensing":[37],"devices.":[38],"The":[39,97],"based":[42],"on":[43,108],"an":[44,115],"inverse":[45],"model":[46,60,133],"that":[47,87],"maps":[48],"desired":[50],"incision":[51],"required":[55],"exposure":[57,92],"time.":[58],"This":[59],"extracted":[62],"from":[63],"experimental":[64],"data":[65],"through":[66,147],"statistical":[70],"learning":[71],"methods.":[72],"To":[73],"prove":[74],"concept,":[76],"implemented":[80],"robot-assisted":[83],"microsurgery":[85],"system":[86],"enables":[88],"precision":[89],"control":[90],"time":[93],"and":[94,99],"motion.":[96],"validity":[98],"accuracy":[101],"verified":[106],"experimentally":[107],"ex-vivo":[109],"muscle":[110],"tissue":[111],"(chicken":[112],"breast),":[113],"revealing":[114],"RMSE":[116],"0.12":[118],"mm":[119],"for":[120],"ranging":[122],"up":[123],"1":[125],"mm.":[126],"addition,":[128],"demonstrate":[130],"how":[131],"can":[134],"be":[135],"used":[136],"implement":[138],"automatic":[140],"ablation":[141],"entire":[143],"volumes":[144],"tissue,":[146],"superposition":[149],"controlled":[151],"incisions.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}