{"id":"https://openalex.org/W2890184628","doi":"https://doi.org/10.1109/icra.2018.8462695","title":"An Observer-Based Fusion Method Using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters","display_name":"An Observer-Based Fusion Method Using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890184628","doi":"https://doi.org/10.1109/icra.2018.8462695","mag":"2890184628"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8462695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8462695","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.utwente.nl/en/publications/a659fb1b-29be-4373-b868-63a75555414c","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026199869","display_name":"Alper Denasi","orcid":"https://orcid.org/0000-0002-4177-0488"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Alper Denasi","raw_affiliation_strings":["Department of Biomechanical Engineering, University of Twente, Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanical Engineering, University of Twente, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010198858","display_name":"Fouzia Khan","orcid":"https://orcid.org/0000-0002-5594-5269"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Fouzia Khan","raw_affiliation_strings":["Department of Biomechanical Engineering, University of Twente, Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanical Engineering, University of Twente, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071983728","display_name":"Klaas Jelmer Boskma","orcid":null},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Klaas Jelmer Boskma","raw_affiliation_strings":["Department of Biomechanical Engineering, University of Twente, Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanical Engineering, University of Twente, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034105872","display_name":"Mert Kaya","orcid":"https://orcid.org/0000-0002-7123-7334"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mert Kaya","raw_affiliation_strings":["Department of Biomechanical Engineering, University of Twente, Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanical Engineering, University of Twente, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090287162","display_name":"Christoph Hennersperger","orcid":"https://orcid.org/0000-0003-3810-9856"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Hennersperger","raw_affiliation_strings":["Computer Aided Medical Procedures, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Computer Aided Medical Procedures, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013418418","display_name":"R\u00fcdiger G\u00f6bl","orcid":"https://orcid.org/0000-0002-7457-394X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rudiger Gobl","raw_affiliation_strings":["Computer Aided Medical Procedures, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Computer Aided Medical Procedures, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103195047","display_name":"Maria Tirindelli","orcid":"https://orcid.org/0000-0002-0723-3128"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maria Tirindelli","raw_affiliation_strings":["Computer Aided Medical Procedures, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Computer Aided Medical Procedures, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046896448","display_name":"Nassir Navab","orcid":"https://orcid.org/0000-0002-6032-5611"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Computer Aided Medical Procedures, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Computer Aided Medical Procedures, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050730423","display_name":"Sarthak Misra","orcid":"https://orcid.org/0000-0003-4961-0144"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Sarthak Misra","raw_affiliation_strings":["Department of Biomechanical Engineering, University of Twente, Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanical Engineering, University of Twente, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5026199869"],"corresponding_institution_ids":["https://openalex.org/I94624287"],"apc_list":null,"apc_paid":null,"fwci":1.3368,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.79511204,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"50","last_page":"57"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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":0.9986000061035156,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11569","display_name":"Optical Coherence Tomography Applications","score":0.996399998664856,"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/computer-vision","display_name":"Computer vision","score":0.6525709629058838},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6024686694145203},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5895559787750244},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5821709632873535},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5218338370323181},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.48034512996673584},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4540690779685974},{"id":"https://openalex.org/keywords/standard-deviation","display_name":"Standard deviation","score":0.4246750473976135},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.42145904898643494},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.23949888348579407},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19224122166633606},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1872812807559967}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6525709629058838},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6024686694145203},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5895559787750244},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5821709632873535},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5218338370323181},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.48034512996673584},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4540690779685974},{"id":"https://openalex.org/C22679943","wikidata":"https://www.wikidata.org/wiki/Q159375","display_name":"Standard deviation","level":2,"score":0.4246750473976135},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.42145904898643494},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.23949888348579407},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19224122166633606},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1872812807559967},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2018.8462695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8462695","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:ris.utwente.nl:publications/f04928c0-f0d0-411c-b119-305b15beb31d","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/f04928c0-f0d0-411c-b119-305b15beb31d","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Denasi, A, Khan, F, Boskma, K J, Kaya, M, Hennersperger, C, G\u00f6bl, R, Tirindelli, M, Navab, N & Misra, S 2018, 'An Observer-Based Fusion Method using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters', Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 21/05/18 - 25/05/18.","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:ut:oai:ris.utwente.nl:publications/a659fb1b-29be-4373-b868-63a75555414c","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/a659fb1b-29be-4373-b868-63a75555414c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"TITLE=W.J. Kolff Annual Research Days 2018","raw_type":"info:eu-repo/semantics/conferenceitemnotinproceedings"},{"id":"pmh:ut:oai:ris.utwente.nl:publications/f04928c0-f0d0-411c-b119-305b15beb31d","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/an-observerbased-fusion-method-using-multicore-optical-shape-sensors-and-ultrasound-images-for-magneticallyactuated-catheters(f04928c0-f0d0-411c-b119-305b15beb31d).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"TITLE=2018 IEEE International Conference on Robotics and Automation, ICRA 2018","raw_type":"info:eu-repo/semantics/conferencepaper"}],"best_oa_location":{"id":"pmh:ut:oai:ris.utwente.nl:publications/a659fb1b-29be-4373-b868-63a75555414c","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/a659fb1b-29be-4373-b868-63a75555414c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"TITLE=W.J. Kolff Annual Research Days 2018","raw_type":"info:eu-repo/semantics/conferenceitemnotinproceedings"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1862806342","https://openalex.org/W2023992177","https://openalex.org/W2035379092","https://openalex.org/W2043437012","https://openalex.org/W2083016933","https://openalex.org/W2104410139","https://openalex.org/W2125501610","https://openalex.org/W2141519744","https://openalex.org/W2143715815","https://openalex.org/W2147404381","https://openalex.org/W2156915820","https://openalex.org/W2167667767","https://openalex.org/W2307770531","https://openalex.org/W2411246158","https://openalex.org/W2502156947","https://openalex.org/W2544641369","https://openalex.org/W2589653451","https://openalex.org/W2607040065","https://openalex.org/W2641953654","https://openalex.org/W2774676248","https://openalex.org/W2962914239","https://openalex.org/W2964304707","https://openalex.org/W4239620170","https://openalex.org/W6678517266","https://openalex.org/W6736725369","https://openalex.org/W6746467305"],"related_works":["https://openalex.org/W4252337044","https://openalex.org/W118630527","https://openalex.org/W2103761320","https://openalex.org/W2358167375","https://openalex.org/W116564642","https://openalex.org/W1981649169","https://openalex.org/W1983380679","https://openalex.org/W2547078080","https://openalex.org/W2357354286","https://openalex.org/W2388705266"],"abstract_inverted_index":{"Minimally":[0],"invasive":[1],"surgery":[2],"involves":[3],"using":[4,61,76,105],"flexible":[5],"medical":[6,40],"instruments":[7],"such":[8],"as":[9],"endoscopes":[10],"and":[11,54,80,107,113],"catheters.":[12,23],"Magnetically":[13],"actuated":[14],"catheters":[15],"can":[16],"provide":[17],"improved":[18],"steering":[19],"precision":[20],"over":[21],"conventional":[22],"However,":[24],"besides":[25],"the":[26,39,45,73,117,121,131],"actuation":[27],"method,":[28],"an":[29],"accurate":[30],"tip":[31,46,68],"position":[32,47,69],"is":[33,70,124,135],"required":[34],"for":[35,90,120,130],"precise":[36],"control":[37],"of":[38,116],"instruments.":[41],"In":[42],"this":[43],"study,":[44],"obtained":[48,98],"from":[49,99],"transverse":[50],"2D":[51],"ultrasound":[52,74],"images":[53,75],"multicore":[55],"optical":[56],"shape":[57],"sensors":[58],"are":[59,94,103],"combined":[60],"a":[62,77,81,91],"robust":[63],"sensor":[64],"fusion":[65],"algorithm.":[66],"The":[67,111],"tracked":[71],"in":[72],"template-based":[78],"tracker":[79],"convolutional":[82],"neural":[83],"network":[84],"based":[85],"tracker,":[86],"respectively.":[87,140],"Experimental":[88],"results":[89],"rhombus":[92],"path":[93],"presented,":[95],"where":[96],"data":[97],"both":[100],"tracking":[101],"sources":[102],"fused":[104],"Luenberger":[106,122],"Kalman":[108,132],"state":[109],"estimators.":[110],"mean":[112],"standard":[114],"deviation":[115],"Euclidean":[118],"error":[119],"observer":[123],"0.2":[125],"\u00b1":[126,137],"0.11":[127],"[mm]":[128],"whereas":[129],"filter":[133],"it":[134],"0.18":[136],"0.13":[138],"[mm],":[139]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
