{"id":"https://openalex.org/W4221145533","doi":"https://doi.org/10.1109/icra46639.2022.9811820","title":"Deliberation in autonomous robotic surgery: a framework for handling anatomical uncertainty","display_name":"Deliberation in autonomous robotic surgery: a framework for handling anatomical uncertainty","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4221145533","doi":"https://doi.org/10.1109/icra46639.2022.9811820"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811820","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2203.05438","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011652639","display_name":"Eleonora Tagliabue","orcid":"https://orcid.org/0000-0003-1536-2293"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Eleonora Tagliabue","raw_affiliation_strings":["University of Verona,Dept. of Computer Science,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Verona,Dept. of Computer Science,Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082596393","display_name":"Daniele Meli","orcid":"https://orcid.org/0000-0002-3162-388X"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Meli","raw_affiliation_strings":["University of Verona,Dept. of Computer Science,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Verona,Dept. of Computer Science,Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072250553","display_name":"Diego Dall\u2019Alba","orcid":"https://orcid.org/0000-0002-7300-5975"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Diego Dall'Alba","raw_affiliation_strings":["University of Verona,Dept. of Computer Science,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Verona,Dept. of Computer Science,Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065107543","display_name":"Paolo Fiorini","orcid":"https://orcid.org/0000-0002-0711-8605"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Fiorini","raw_affiliation_strings":["University of Verona,Dept. of Computer Science,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Verona,Dept. of Computer Science,Italy","institution_ids":["https://openalex.org/I119439378"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I119439378"],"apc_list":null,"apc_paid":null,"fwci":1.478,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.81981068,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"11080","last_page":"11086"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9700999855995178,"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":0.9700999855995178,"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":0.9664999842643738,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9549000263214111,"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/deliberation","display_name":"Deliberation","score":0.7164776921272278},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5973778367042542},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.5032846331596375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49782323837280273},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.457755446434021},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.09599509835243225}],"concepts":[{"id":"https://openalex.org/C2776946740","wikidata":"https://www.wikidata.org/wiki/Q358652","display_name":"Deliberation","level":3,"score":0.7164776921272278},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5973778367042542},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.5032846331596375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49782323837280273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.457755446434021},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.09599509835243225},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra46639.2022.9811820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811820","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2203.05438","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.05438","pdf_url":"https://arxiv.org/pdf/2203.05438","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-03671364v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03671364","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"https://www.icra2022.org/","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.48550/arxiv.2203.05438","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2203.05438","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2203.05438","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.05438","pdf_url":"https://arxiv.org/pdf/2203.05438","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338335","display_name":"H2020 European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1584687743","https://openalex.org/W1963716360","https://openalex.org/W2004550196","https://openalex.org/W2016545368","https://openalex.org/W2061417916","https://openalex.org/W2092211394","https://openalex.org/W2095720274","https://openalex.org/W2104619241","https://openalex.org/W2111481694","https://openalex.org/W2146990154","https://openalex.org/W2341108136","https://openalex.org/W2346178339","https://openalex.org/W2417398738","https://openalex.org/W2561065014","https://openalex.org/W2587682111","https://openalex.org/W2595326987","https://openalex.org/W2598070036","https://openalex.org/W2918665764","https://openalex.org/W2985257580","https://openalex.org/W3003920406","https://openalex.org/W3018206073","https://openalex.org/W3032329330","https://openalex.org/W3042353022","https://openalex.org/W3047314733","https://openalex.org/W3090839501","https://openalex.org/W3096597946","https://openalex.org/W3133389372","https://openalex.org/W3133439519","https://openalex.org/W3152757982","https://openalex.org/W3155981689","https://openalex.org/W3160970346","https://openalex.org/W3181705464","https://openalex.org/W3192247640","https://openalex.org/W3196343109","https://openalex.org/W3198013102","https://openalex.org/W3207132575","https://openalex.org/W4226137952","https://openalex.org/W6674526314","https://openalex.org/W6797118397","https://openalex.org/W6800317752"],"related_works":["https://openalex.org/W2026800644","https://openalex.org/W2805209921","https://openalex.org/W2002867377","https://openalex.org/W2061090284","https://openalex.org/W3035014454","https://openalex.org/W4236636304","https://openalex.org/W2125579716","https://openalex.org/W3014116036","https://openalex.org/W2928483034","https://openalex.org/W3101749708"],"abstract_inverted_index":{"Autonomous":[0],"robotic":[1],"surgery":[2],"requires":[3],"deliberation,":[4],"i.e.":[5],"the":[6,22,29,73,88,99,106,110,113,139,143,149,152],"ability":[7],"to":[8,15,28,104,154],"plan":[9],"and":[10,17,53,67,122],"execute":[11],"a":[12,42,63,78],"task":[13,144],"adapting":[14],"uncer-tain":[16],"dynamic":[18],"environments.":[19],"Uncertainty":[20],"in":[21,120],"surgical":[23,46],"domain":[24],"is":[25,102,117,145],"mainly":[26],"related":[27,137],"partial":[30],"pre-operative":[31,64,80],"knowledge":[32],"about":[33],"patient-specific":[34,65],"anatomical":[35],"properties.":[36],"In":[37,94],"this":[38,85],"paper,":[39],"we":[40],"introduce":[41],"logic-based":[43],"framework":[44],"for":[45,58],"tasks":[47],"with":[48,87,125,135,151],"deliberative":[49],"functions":[50],"of":[51,96,112,142],"monitoring":[52],"learning.":[54],"The":[55],"DE-liberative":[56],"Framework":[57],"Robot-Assisted":[59],"Surgery":[60],"(DEFRAS)":[61],"estimates":[62],"plan,":[66],"executes":[68],"it":[69],"while":[70,147],"continuously":[71],"measuring":[72],"applied":[74],"force":[75],"obtained":[76],"from":[77,92],"biomechanical":[79],"model.":[81],"Monitoring":[82],"module":[83,101],"compares":[84],"model":[86],"actual":[89],"situation":[90],"reconstructed":[91],"sensors.":[93],"case":[95],"significant":[97],"mismatch,":[98],"learning":[100],"invoked":[103],"update":[105],"model,":[107],"thus":[108],"improving":[109],"estimate":[111],"exerted":[114],"force.":[115],"DEFRAS":[116],"validated":[118],"both":[119],"simulated":[121],"real":[123],"environment":[124],"da":[126],"Vinci":[127],"Research":[128],"Kit":[129],"executing":[130],"soft":[131],"tissue":[132,153],"retraction.":[133],"Compared":[134],"state-of-the-art":[136],"works,":[138],"success":[140],"rate":[141],"improved":[146],"minimizing":[148],"interaction":[150],"prevent":[155],"unintentional":[156],"damage.":[157]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
