{"id":"https://openalex.org/W3090684135","doi":"https://doi.org/10.1109/icra40945.2020.9197212","title":"Modeling Electromagnetic Navigation Systems for Medical Applications using Random Forests and Artificial Neural Networks","display_name":"Modeling Electromagnetic Navigation Systems for Medical Applications using Random Forests and Artificial Neural Networks","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090684135","doi":"https://doi.org/10.1109/icra40945.2020.9197212","mag":"3090684135"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197212","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197212","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5065992804","display_name":"Ruoxi Yu","orcid":"https://orcid.org/0000-0002-4097-0162"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ruoxi Yu","raw_affiliation_strings":["Division of Biomedical Engineering Research, The Chinese University of Hong Kong, Shatin, Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Biomedical Engineering Research, The Chinese University of Hong Kong, Shatin, Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011112429","display_name":"Samuel Charreyron","orcid":"https://orcid.org/0000-0003-4636-3096"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Samuel L. Charreyron","raw_affiliation_strings":["Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039498455","display_name":"Quentin Boehler","orcid":"https://orcid.org/0000-0001-7573-3135"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Quentin Boehler","raw_affiliation_strings":["Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001684184","display_name":"Cameron Weibel","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Cameron Weibel","raw_affiliation_strings":["Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023442994","display_name":"Christophe Chautems","orcid":"https://orcid.org/0000-0003-4951-067X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Christophe Chautems","raw_affiliation_strings":["Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015802672","display_name":"Carmen C. Y. Poon","orcid":"https://orcid.org/0000-0001-7717-4752"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Carmen C. Y. Poon","raw_affiliation_strings":["Division of Biomedical Engineering Research, The Chinese University of Hong Kong, Shatin, Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Biomedical Engineering Research, The Chinese University of Hong Kong, Shatin, Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006427311","display_name":"Bradley J. Nelson","orcid":"https://orcid.org/0000-0001-9070-6987"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Bradley J. Nelson","raw_affiliation_strings":["Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.5115,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.9587384,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"9251","last_page":"9256"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.9815999865531921,"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/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.9815999865531921,"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/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9796000123023987,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T12274","display_name":"Electrostatics and Colloid Interactions","score":0.9732000231742859,"subfield":{"id":"https://openalex.org/subfields/1606","display_name":"Physical and Theoretical Chemistry"},"field":{"id":"https://openalex.org/fields/16","display_name":"Chemistry"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.7208703756332397},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6767661571502686},{"id":"https://openalex.org/keywords/random-forest","display_name":"Random forest","score":0.5892601013183594},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5825710296630859},{"id":"https://openalex.org/keywords/electromagnet","display_name":"Electromagnet","score":0.5533876419067383},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.553347110748291},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5005137920379639},{"id":"https://openalex.org/keywords/multipole-expansion","display_name":"Multipole expansion","score":0.48133549094200134},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.43570080399513245},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4351728558540344},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3637921214103699},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2756946086883545},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19724974036216736},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.15199437737464905},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.14383935928344727},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.13740411400794983},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13487663865089417},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12686872482299805}],"concepts":[{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.7208703756332397},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6767661571502686},{"id":"https://openalex.org/C169258074","wikidata":"https://www.wikidata.org/wiki/Q245748","display_name":"Random forest","level":2,"score":0.5892601013183594},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5825710296630859},{"id":"https://openalex.org/C106997767","wikidata":"https://www.wikidata.org/wiki/Q178032","display_name":"Electromagnet","level":3,"score":0.5533876419067383},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.553347110748291},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5005137920379639},{"id":"https://openalex.org/C52765159","wikidata":"https://www.wikidata.org/wiki/Q1027847","display_name":"Multipole expansion","level":2,"score":0.48133549094200134},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.43570080399513245},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4351728558540344},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3637921214103699},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2756946086883545},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19724974036216736},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.15199437737464905},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.14383935928344727},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.13740411400794983},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13487663865089417},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12686872482299805},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197212","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197212","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W406058028","https://openalex.org/W1522301498","https://openalex.org/W1980304178","https://openalex.org/W2079011887","https://openalex.org/W2081263843","https://openalex.org/W2094904022","https://openalex.org/W2101234009","https://openalex.org/W2292347270","https://openalex.org/W2333051748","https://openalex.org/W2413704286","https://openalex.org/W2472734280","https://openalex.org/W2575383569","https://openalex.org/W2607040065","https://openalex.org/W2611849294","https://openalex.org/W2737603075","https://openalex.org/W2774696023","https://openalex.org/W2900470784","https://openalex.org/W2905642467","https://openalex.org/W2910658397","https://openalex.org/W2911964244","https://openalex.org/W2964121744","https://openalex.org/W2996489182","https://openalex.org/W6631190155","https://openalex.org/W6675354045","https://openalex.org/W6757712222"],"related_works":["https://openalex.org/W3099126059","https://openalex.org/W2998290009","https://openalex.org/W2169534113","https://openalex.org/W3155911810","https://openalex.org/W2728211344","https://openalex.org/W2026049526","https://openalex.org/W3098004172","https://openalex.org/W2008925127","https://openalex.org/W1527170430","https://openalex.org/W2020492237"],"abstract_inverted_index":{"Electromagnetic":[0],"Navigation":[1],"Systems":[2],"(eMNS)":[3],"can":[4],"be":[5],"used":[6],"to":[7,53,88,173,186,196],"control":[8,39],"a":[9,46,78],"variety":[10],"of":[11,23,31,40,49,93,126,145,162,182,207],"multiscale":[12],"devices":[13],"within":[14,57],"the":[15,24,29,37,90,94,106,116,120,127,131,141,146,158,163,167,180],"human":[16],"body":[17],"for":[18,36,190,198],"remote":[19],"surgery.":[20],"Accurate":[21],"modeling":[22,55],"magnetic":[25,63,95,226],"fields":[26,96],"generated":[27,97],"by":[28,98,134],"electromagnets":[30],"an":[32,83,99,188],"eMNS":[33,189],"is":[34],"crucial":[35],"precise":[38],"these":[41,50,66],"devices.":[42],"Existing":[43],"methods":[44,104],"assume":[45],"linear":[47,108],"behavior":[48,92,201],"systems,":[51],"leading":[52],"significant":[54],"errors":[56],"nonlinear":[58,91,200],"regions":[59],"exhibited":[60],"at":[61,70,202],"higher":[62],"fields,":[64],"preventing":[65],"systems":[67],"from":[68],"operating":[69],"full":[71],"capacity.":[72],"In":[73],"this":[74],"paper,":[75],"we":[76],"use":[77,206,225],"random":[79],"forest":[80],"(RF)":[81],"and":[82,115,137,155,193,219],"artificial":[84],"neural":[85],"network":[86],"(ANN)":[87],"model":[89,111,118,165,187],"eMNS.":[100,147],"Both":[101],"machine":[102,184,208],"learning":[103,185,209],"outperformed":[105],"state-of-the-art":[107],"multipole":[109],"electromagnet":[110],"(MPEM).":[112],"The":[113,205],"RF":[114],"ANN":[117,164],"reduced":[119],"root":[121],"mean":[122],"squared":[123],"error":[124,175],"(RMSE)":[125],"MPEM":[128,168],"when":[129],"predicting":[130,217],"field":[132,216],"magnitude":[133],"approximately":[135],"40%":[136],"87%,":[138],"respectively,":[139],"over":[140,166],"entire":[142],"current":[143,150],"range":[144],"At":[148],"high":[149,203],"regions,":[151],"especially":[152],"between":[153],"30":[154],"35":[156],"A,":[157],"field-magnitude":[159],"RMSE":[160],"improvement":[161],"was":[169],"37":[170],"mT,":[171],"equivalent":[172],"90%":[174],"reduction.":[176],"This":[177],"study":[178],"demonstrates":[179],"feasibility":[181],"using":[183],"medical":[191],"applications,":[192],"its":[194],"ability":[195],"account":[197],"complex":[199],"currents.":[204],"thus":[210],"shows":[211],"promise":[212],"in":[213],"developing":[214],"accurate":[215],"models,":[218],"ultimately":[220],"improving":[221],"surgical":[222],"procedures":[223],"that":[224],"navigation.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3}],"updated_date":"2026-08-02T14:50:37.381335","created_date":"2025-10-10T00:00:00"}