{"id":"https://openalex.org/W2413772555","doi":"https://doi.org/10.1109/icra.2016.7487199","title":"Toward human-robot collaboration in surgery: Performance assessment of human and robotic agents in an inclusion segmentation task","display_name":"Toward human-robot collaboration in surgery: Performance assessment of human and robotic agents in an inclusion segmentation task","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2413772555","doi":"https://doi.org/10.1109/icra.2016.7487199","mag":"2413772555"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487199","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5037004115","display_name":"Kirsten E. Kaplan","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kirsten E. Kaplan","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081321734","display_name":"Kirk A. Nichols","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kirk A. Nichols","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5037004115"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":1.7094,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.83505898,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"723","last_page":"729"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11984","display_name":"Anatomy and Medical Technology","score":0.9973000288009644,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9973000288009644,"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":0.9968000054359436,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9954000115394592,"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/task","display_name":"Task (project management)","score":0.7086687684059143},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6930357217788696},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6649829745292664},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.6584724187850952},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5887369513511658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5863410234451294},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.54234778881073},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5296316742897034},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5246836543083191},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.45290476083755493},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.42995381355285645},{"id":"https://openalex.org/keywords/inclusion","display_name":"Inclusion (mineral)","score":0.4209703207015991},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.41036462783813477},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3962422311306},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3767346143722534},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28424859046936035},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1258814036846161},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.12387412786483765},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09322792291641235},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07925280928611755}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7086687684059143},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6930357217788696},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6649829745292664},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.6584724187850952},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5887369513511658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5863410234451294},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.54234778881073},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5296316742897034},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5246836543083191},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45290476083755493},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.42995381355285645},{"id":"https://openalex.org/C109359841","wikidata":"https://www.wikidata.org/wiki/Q728944","display_name":"Inclusion (mineral)","level":2,"score":0.4209703207015991},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.41036462783813477},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3962422311306},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3767346143722534},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28424859046936035},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1258814036846161},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.12387412786483765},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09322792291641235},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07925280928611755},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487199","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W301108447","https://openalex.org/W1774089087","https://openalex.org/W1963716360","https://openalex.org/W1974370869","https://openalex.org/W1982261161","https://openalex.org/W1983309556","https://openalex.org/W1994518853","https://openalex.org/W1996673354","https://openalex.org/W2001346643","https://openalex.org/W2019417925","https://openalex.org/W2049577501","https://openalex.org/W2065883524","https://openalex.org/W2078723282","https://openalex.org/W2101151910","https://openalex.org/W2109487148","https://openalex.org/W2147462102","https://openalex.org/W2211212789","https://openalex.org/W2221923320","https://openalex.org/W4242087710","https://openalex.org/W6610686324","https://openalex.org/W6688257494"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2160932924","https://openalex.org/W2082997813","https://openalex.org/W2296377172","https://openalex.org/W2946737911"],"abstract_inverted_index":{"Increasing":[0],"the":[1,9,13,24,68,83,95,99,116,122,130,141,150,159,164,174,199,208],"level":[2],"of":[3,18,28,58,70,102,124,143,169],"autonomy":[4,30],"in":[5,31,40,63,75,129],"robot-assisted":[6,19],"surgery":[7],"has":[8],"potential":[10],"to":[11,48],"improve":[12],"safety,":[14],"speed,":[15],"and":[16,26,43,93,111,126,135,182],"applicability":[17],"surgical":[20],"systems.":[21],"To":[22],"facilitate":[23],"development":[25],"incorporation":[27],"robot":[29],"clinical":[32],"settings,":[33],"human-robot":[34,60],"collaboration":[35,61,100],"models":[36,62,101],"have":[37],"been":[38],"suggested":[39],"which":[41,78],"human":[42,125,156,186,204],"robotic":[44,127,137,175,196],"agents":[45,128,157],"work":[46],"together":[47],"accomplish":[49],"a":[50,72,80,136,195,203],"task.":[51],"In":[52,82,115],"this":[53],"work,":[54],"we":[55,120],"measure":[56],"performance":[57,123],"several":[59],"two":[64],"experiments":[65,171],"based":[66],"on":[67],"task":[69,160,166,191,210],"segmenting":[71],"stiff":[73],"inclusion":[74,84,96,151],"soft":[76],"tissue,":[77],"simulates":[79],"tumor.":[81],"segmentation":[85,152],"experiment,":[86,119],"twelve":[87],"participants":[88,134],"explored":[89],"an":[90],"artificial":[91],"tissue":[92],"identified":[94,140],"boundary":[97,117,131,142],"under":[98],"(1)":[103],"teleoperation,":[104],"(2)":[105],"supervised":[106],"control,":[107,110],"(3)":[108],"traded":[109],"(4)":[112],"full":[113],"autonomy.":[114],"identification":[118,132],"isolate":[121],"sub-task;":[133],"agent":[138,176,197,205],"independently":[139],"four":[144],"virtually":[145],"palpated":[146],"tissues.":[147],"Results":[148,168],"from":[149],"experiment":[153],"indicate":[154,172],"that":[155,173,190],"complete":[158],"faster;":[161],"teleoperation":[162],"had":[163],"fastest":[165],"times.":[167],"both":[170],"identifies":[177],"boundaries":[178],"with":[179],"higher":[180],"sensitivity":[181],"less":[183],"variance":[184],"than":[185],"agents.":[187],"This":[188],"indicates":[189],"accuracy":[192],"increases":[193],"when":[194],"segments":[198],"boundary,":[200],"while":[201],"including":[202],"can":[206],"decrease":[207],"overall":[209],"time.":[211]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}