{"id":"https://openalex.org/W3187944082","doi":"https://doi.org/10.1109/icra48506.2021.9561374","title":"Optimized 3D path planner for steerable catheters with deductive reasoning","display_name":"Optimized 3D path planner for steerable catheters with deductive reasoning","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3187944082","doi":"https://doi.org/10.1109/icra48506.2021.9561374","mag":"3187944082"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561374","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":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11311/1172080","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027331852","display_name":"Alice Segato","orcid":"https://orcid.org/0000-0002-7808-4123"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alice Segato","raw_affiliation_strings":["Information and Bioengineering,Department of Electronics,Politecnico di Milano,Italy","Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information and Bioengineering,Department of Electronics,Politecnico di Milano,Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037069406","display_name":"Valentina Corbetta","orcid":"https://orcid.org/0000-0002-3445-3011"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Valentina Corbetta","raw_affiliation_strings":["Information and Bioengineering,Department of Electronics,Politecnico di Milano,Italy","Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information and Bioengineering,Department of Electronics,Politecnico di Milano,Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000628500","display_name":"Jessica Zangari","orcid":"https://orcid.org/0000-0002-6418-7711"},"institutions":[{"id":"https://openalex.org/I45204951","display_name":"University of Calabria","ror":"https://ror.org/02rc97e94","country_code":"IT","type":"education","lineage":["https://openalex.org/I45204951"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jessica Zangari","raw_affiliation_strings":["University of Calabria,Department of Mathematics and Computer Science,Italy","Department of Mathematics and Computer Science, University of Calabria, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Calabria,Department of Mathematics and Computer Science,Italy","institution_ids":["https://openalex.org/I45204951"]},{"raw_affiliation_string":"Department of Mathematics and Computer Science, University of Calabria, Italy","institution_ids":["https://openalex.org/I45204951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052577422","display_name":"Simona Perri","orcid":"https://orcid.org/0000-0002-8036-5709"},"institutions":[{"id":"https://openalex.org/I45204951","display_name":"University of Calabria","ror":"https://ror.org/02rc97e94","country_code":"IT","type":"education","lineage":["https://openalex.org/I45204951"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simona Perri","raw_affiliation_strings":["University of Calabria,Department of Mathematics and Computer Science,Italy","Department of Mathematics and Computer Science, University of Calabria, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Calabria,Department of Mathematics and Computer Science,Italy","institution_ids":["https://openalex.org/I45204951"]},{"raw_affiliation_string":"Department of Mathematics and Computer Science, University of Calabria, Italy","institution_ids":["https://openalex.org/I45204951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034672297","display_name":"Francesco Calimeri","orcid":"https://orcid.org/0000-0002-0866-0834"},"institutions":[{"id":"https://openalex.org/I45204951","display_name":"University of Calabria","ror":"https://ror.org/02rc97e94","country_code":"IT","type":"education","lineage":["https://openalex.org/I45204951"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Calimeri","raw_affiliation_strings":["University of Calabria,Department of Mathematics and Computer Science,Italy","Department of Mathematics and Computer Science, University of Calabria, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Calabria,Department of Mathematics and Computer Science,Italy","institution_ids":["https://openalex.org/I45204951"]},{"raw_affiliation_string":"Department of Mathematics and Computer Science, University of Calabria, Italy","institution_ids":["https://openalex.org/I45204951"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083795699","display_name":"Elena De Momi","orcid":"https://orcid.org/0000-0002-8819-2734"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elena De Momi","raw_affiliation_strings":["Information and Bioengineering,Department of Electronics,Politecnico di Milano,Italy","Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information and Bioengineering,Department of Electronics,Politecnico di Milano,Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1466","last_page":"1472"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9950000047683716,"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/T10888","display_name":"Augmented Reality Applications","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7340309023857117},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6899322867393494},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6698047518730164},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5925464034080505},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.48830270767211914},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4729433059692383},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.39137300848960876},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31225037574768066}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7340309023857117},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6899322867393494},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6698047518730164},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5925464034080505},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.48830270767211914},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4729433059692383},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39137300848960876},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31225037574768066},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48506.2021.9561374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561374","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"},{"id":"pmh:oai:re.public.polimi.it:11311/1172080","is_oa":true,"landing_page_url":"http://hdl.handle.net/11311/1172080","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"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":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:re.public.polimi.it:11311/1172080","is_oa":true,"landing_page_url":"http://hdl.handle.net/11311/1172080","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"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":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W198732646","https://openalex.org/W626811621","https://openalex.org/W1814533834","https://openalex.org/W1985036816","https://openalex.org/W2022886926","https://openalex.org/W2029990316","https://openalex.org/W2032560235","https://openalex.org/W2040709641","https://openalex.org/W2076698873","https://openalex.org/W2092211394","https://openalex.org/W2100156971","https://openalex.org/W2103120971","https://openalex.org/W2104332709","https://openalex.org/W2104367785","https://openalex.org/W2142224528","https://openalex.org/W2260483341","https://openalex.org/W2294349043","https://openalex.org/W2403131378","https://openalex.org/W2479204581","https://openalex.org/W2567794413","https://openalex.org/W2596744358","https://openalex.org/W2616035607","https://openalex.org/W2801780491","https://openalex.org/W2963112166","https://openalex.org/W2963234253","https://openalex.org/W2985257580","https://openalex.org/W2994667977","https://openalex.org/W3011336397","https://openalex.org/W3083361481","https://openalex.org/W3090407809","https://openalex.org/W3103346840","https://openalex.org/W4239721925","https://openalex.org/W4241074797","https://openalex.org/W4254790956","https://openalex.org/W6608150121","https://openalex.org/W6713538328"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2155467318","https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W187779371"],"abstract_inverted_index":{"Keyhole":[0],"neurosurgery":[1],"is":[2,68],"challenging,":[3],"due":[4],"to":[5,70,119,155],"the":[6,10,13,22,40,45,76,82,88,92,95,135,146,151],"complex":[7],"anatomy":[8],"of":[9,16,39,47,104,150],"brain":[11,83,122],"and":[12,33,58,62,99,109,142,148],"inherent":[14],"risk":[15,49],"damaging":[17],"vital":[18],"structures":[19,50,108],"while":[20,138],"reaching":[21],"surgical":[23,79],"target.":[24],"This":[25],"paper":[26],"presents":[27],"a":[28,53,63,120,139],"path":[29],"planner":[30],"for":[31,56],"safe":[32],"effective":[34],"neurosurgical":[35,105],"interventions.":[36,106],"The":[37,66],"strengths":[38],"proposed":[41],"framework":[42],"lay":[43],"in":[44,114],"integration":[46],"multiple":[48],"combined":[51],"into":[52],"deductive":[54],"method":[55],"fast":[57],"intuitive":[59,116],"user":[60,89,93],"interaction,":[61],"modular":[64],"architecture.":[65],"tool":[67],"intended":[69],"support":[71],"neurosurgeons":[72],"at":[73],"quickly":[74],"determining":[75],"most":[77],"appropriate":[78],"trajectory":[80],"through":[81,94],"matter":[84],"with":[85,126,131,153],"minimized":[86],"risk;":[87],"interface":[90],"guides":[91],"decision":[96],"making":[97],"process":[98],"helps":[100],"save":[101],"planning":[102],"time":[103],"Risk":[107],"trajectories":[110],"can":[111],"be":[112],"visualized":[113],"an":[115],"way,":[117],"thanks":[118],"3D":[121],"surgery":[123],"simulator":[124],"developed":[125],"Unity.":[127],"A":[128],"qualitative":[129],"evaluation":[130],"clinical":[132],"experts":[133],"shows":[134],"practical":[136],"relevance,":[137],"quantitative":[140],"performance":[141],"functionality":[143],"analysis":[144],"proves":[145],"robustness":[147],"effectiveness":[149],"system":[152],"respect":[154],"literature.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
