{"id":"https://openalex.org/W3207132575","doi":"https://doi.org/10.1109/icra48506.2021.9561177","title":"Real-to-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy","display_name":"Real-to-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207132575","doi":"https://doi.org/10.1109/icra48506.2021.9561177","mag":"3207132575"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561177","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5101783051","display_name":"Fei Liu","orcid":"https://orcid.org/0000-0003-0266-6896"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fei Liu","raw_affiliation_strings":["University of California San Diego,Advanced Robotics and Controls Lab,La Jolla,CA,USA,92093"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California San Diego,Advanced Robotics and Controls Lab,La Jolla,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100672514","display_name":"Zihan Li","orcid":"https://orcid.org/0009-0004-3839-0611"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zihan Li","raw_affiliation_strings":["University of California San Diego,Advanced Robotics and Controls Lab,La Jolla,CA,USA,92093"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California San Diego,Advanced Robotics and Controls Lab,La Jolla,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101500088","display_name":"Yunhai Han","orcid":"https://orcid.org/0000-0003-3119-0129"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yunhai Han","raw_affiliation_strings":["University of California San Diego,Advanced Robotics and Controls Lab,La Jolla,CA,USA,92093"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California San Diego,Advanced Robotics and Controls Lab,La Jolla,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081984167","display_name":"Jingpei Lu","orcid":"https://orcid.org/0000-0002-9136-6096"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingpei Lu","raw_affiliation_strings":["University of California San Diego,Advanced Robotics and Controls Lab,La Jolla,CA,USA,92093"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California San Diego,Advanced Robotics and Controls Lab,La Jolla,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058235831","display_name":"Florian Richter","orcid":"https://orcid.org/0000-0002-7669-1923"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Florian Richter","raw_affiliation_strings":["University of California San Diego,Advanced Robotics and Controls Lab,La Jolla,CA,USA,92093"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California San Diego,Advanced Robotics and Controls Lab,La Jolla,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054598974","display_name":"Michael C. Yip","orcid":"https://orcid.org/0000-0001-9689-0172"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael C. Yip","raw_affiliation_strings":["University of California San Diego,Advanced Robotics and Controls Lab,La Jolla,CA,USA,92093"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California San Diego,Advanced Robotics and Controls Lab,La Jolla,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":2.038,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.86232447,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"12328","last_page":"12334"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9987999796867371,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9980999827384949,"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-science","display_name":"Computer science","score":0.706902265548706},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6915915012359619},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5904088616371155},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5862970948219299},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5651239156723022},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5104274153709412},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.47219598293304443},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4601282775402069},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4382965564727783},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.41089892387390137}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.706902265548706},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6915915012359619},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5904088616371155},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5862970948219299},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5651239156723022},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5104274153709412},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.47219598293304443},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4601282775402069},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4382965564727783},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.41089892387390137},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"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/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/icra48506.2021.9561177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561177","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2009396276","https://openalex.org/W2024243741","https://openalex.org/W2061417916","https://openalex.org/W2081503157","https://openalex.org/W2146990154","https://openalex.org/W2171186721","https://openalex.org/W2292291168","https://openalex.org/W2609234538","https://openalex.org/W2735048916","https://openalex.org/W2736750746","https://openalex.org/W2809199532","https://openalex.org/W2883362502","https://openalex.org/W2903176441","https://openalex.org/W2911024029","https://openalex.org/W2918665764","https://openalex.org/W2921522777","https://openalex.org/W2940581269","https://openalex.org/W2948347114","https://openalex.org/W2963764717","https://openalex.org/W2972836290","https://openalex.org/W2979696013","https://openalex.org/W3010184277","https://openalex.org/W3093953259","https://openalex.org/W3097884922","https://openalex.org/W3099462921","https://openalex.org/W3102313808","https://openalex.org/W3103266692","https://openalex.org/W3206787706","https://openalex.org/W6740578593","https://openalex.org/W6769205994","https://openalex.org/W6774686453","https://openalex.org/W6785168353"],"related_works":["https://openalex.org/W1501776718","https://openalex.org/W3016928466","https://openalex.org/W4389574804","https://openalex.org/W657108774","https://openalex.org/W2615136228","https://openalex.org/W2390192952","https://openalex.org/W2373296418","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W3213254966"],"abstract_inverted_index":{"Autonomy":[0],"in":[1,7,36,190],"robotic":[2],"surgery":[3],"is":[4,20,76,111,131,177],"very":[5],"challenging":[6],"unstructured":[8],"environments,":[9],"especially":[10,178],"when":[11],"interacting":[12],"with":[13,51,101],"deformable":[14],"soft":[15,115],"tissues.":[16,107],"The":[17,108],"main":[18],"difficulty":[19],"to":[21,78,96,113,133,146],"generate":[22,134],"model-based":[23,48,125],"control":[24],"methods":[25],"that":[26],"account":[27],"for":[28,124,180],"deformation":[29],"dynamics":[30,103,117],"during":[31,182],"tissue":[32,116,157],"manipulation.":[33],"Previous":[34],"works":[35],"vision-based":[37,129],"perception":[38,100],"can":[39],"capture":[40],"the":[41,45,66,70,73,150,163],"geometric":[42],"changes":[43],"within":[44],"scene,":[46],"however,":[47],"controllers":[49],"integrated":[50],"dynamic":[52],"properties,":[53],"a":[54,80,128],"more":[55],"accurate":[56],"and":[57,72,148],"safe":[58],"approach,":[59,156],"has":[60],"not":[61],"been":[62,160],"studied":[63],"before.":[64],"Considering":[65],"mechanic":[67],"coupling":[68],"between":[69],"robot":[71],"environment,":[74],"it":[75,186],"crucial":[77],"develop":[79],"registered,":[81],"simulated":[82],"dynamical":[83],"model.":[84],"In":[85],"this":[86,154],"work,":[87],"we":[88],"propose":[89],"an":[90],"online,":[91,175],"continuous,":[92],"real-to-sim":[93,155,169],"registration":[94,173],"method":[95,110],"bridge":[97],"3D":[98,135],"visual":[99],"position-based":[102],"(PBD)":[104],"modeling":[105],"of":[106],"PBD":[109],"employed":[112],"simulate":[114],"as":[118,120,145],"well":[119],"rigid":[121],"tool":[122],"interactions":[123],"control.":[126,184],"Meanwhile,":[127],"strategy":[130],"used":[132],"reconstructed":[136],"point":[137],"cloud":[138],"surfaces":[139],"based":[140],"on":[141,162],"real-world":[142],"manipulation,":[143],"so":[144],"register":[147],"update":[149],"simulation.":[151],"To":[152],"verify":[153],"experiments":[158],"have":[159],"conducted":[161],"da":[164],"Vinci":[165],"Research":[166],"Kit.":[167],"Our":[168],"approach":[170],"successfully":[171],"reduces":[172],"error":[174],"which":[176],"important":[179],"safety":[181],"autonomous":[183],"Moreover,":[185],"achieves":[187],"higher":[188],"accuracy":[189],"occluded":[191],"areas":[192],"than":[193],"fusion-based":[194],"reconstruction.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":8}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}