{"id":"https://openalex.org/W3179339842","doi":"https://doi.org/10.1109/icra48506.2021.9561487","title":"Motion-Aware Robotic 3D Ultrasound","display_name":"Motion-Aware Robotic 3D Ultrasound","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3179339842","doi":"https://doi.org/10.1109/icra48506.2021.9561487","mag":"3179339842"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561487","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561487","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2107.05998","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Zhongliang Jiang","orcid":null},"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":true,"raw_author_name":"Zhongliang Jiang","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hanyu Wang","orcid":null},"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":"Hanyu Wang","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhenyu Li","orcid":null},"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":"Zhenyu Li","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Matthias Grimm","orcid":null},"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":"Matthias Grimm","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mingchuan Zhou","orcid":null},"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"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Mingchuan Zhou","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","College of Biosystems of Engineering and Food Science, Zhejiang University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"College of Biosystems of Engineering and Food Science, Zhejiang University, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ulrich Eck","orcid":null},"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":"Ulrich Eck","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sandra V. Brecht","orcid":null},"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":"Sandra V. Brecht","raw_affiliation_strings":["Institute of Micro Technology and Medical Device Technology, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Micro Technology and Medical Device Technology, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tim C. Lueth","orcid":null},"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":"Tim C. Lueth","raw_affiliation_strings":["Institute of Micro Technology and Medical Device Technology, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Micro Technology and Medical Device Technology, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Thomas Wendler","orcid":null},"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":"Thomas Wendler","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":null,"display_name":"Nassir Navab","orcid":null},"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"]},{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":2.9158,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.9190208,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"12494","last_page":"12500"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10816","display_name":"Cerebrovascular and Carotid Artery Diseases","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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/T10816","display_name":"Cerebrovascular and Carotid Artery Diseases","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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":0.9962999820709229,"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/T10926","display_name":"Peripheral Artery Disease Management","score":0.9958999752998352,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/3d-ultrasound","display_name":"3D ultrasound","score":0.7440999746322632},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6495000123977661},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.5974000096321106},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.46160000562667847},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.44620001316070557},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.414900004863739},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4129999876022339},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.37560001015663147}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7867000102996826},{"id":"https://openalex.org/C2780170424","wikidata":"https://www.wikidata.org/wiki/Q229399","display_name":"3D ultrasound","level":3,"score":0.7440999746322632},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7440000176429749},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6495000123977661},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6331999897956848},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.5974000096321106},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.46160000562667847},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.44620001316070557},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.414900004863739},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4129999876022339},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.37560001015663147},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.3695000112056732},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.36000001430511475},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.3522000014781952},{"id":"https://openalex.org/C3019007443","wikidata":"https://www.wikidata.org/wiki/Q568742","display_name":"3d model","level":2,"score":0.2957000136375427},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.29159998893737793},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28850001096725464},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.2833999991416931},{"id":"https://openalex.org/C2984377249","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printer","level":2,"score":0.2770000100135803},{"id":"https://openalex.org/C2986892559","wikidata":"https://www.wikidata.org/wiki/Q234904","display_name":"Ultrasound imaging","level":3,"score":0.2628999948501587},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.25099998712539673}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561487","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561487","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:arXiv.org:2107.05998","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.05998","pdf_url":"https://arxiv.org/pdf/2107.05998","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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:hub.hku.hk:10722/365393","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/365393","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"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":"Conference_Paper"},{"id":"pmh:oai:uni-augsburg.opus-bayern.de:107067","is_oa":false,"landing_page_url":"https://opus.bibliothek.uni-augsburg.de/opus4/frontdoor/index/index/docId/107067","pdf_url":null,"source":{"id":"https://openalex.org/S4306400930","display_name":"OPUS (Augsburg University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I119916105","host_organization_name":"Augsburg University","host_organization_lineage":["https://openalex.org/I119916105"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2107.05998","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.05998","pdf_url":"https://arxiv.org/pdf/2107.05998","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W104681419","https://openalex.org/W1487667890","https://openalex.org/W1747778109","https://openalex.org/W2016594382","https://openalex.org/W2027308931","https://openalex.org/W2058803958","https://openalex.org/W2092335140","https://openalex.org/W2107018713","https://openalex.org/W2215544116","https://openalex.org/W2503967141","https://openalex.org/W2525795916","https://openalex.org/W2564163422","https://openalex.org/W2566283616","https://openalex.org/W2773510627","https://openalex.org/W2793224505","https://openalex.org/W2801096442","https://openalex.org/W2808280970","https://openalex.org/W2893379190","https://openalex.org/W2975859535","https://openalex.org/W3002801921","https://openalex.org/W3016601897","https://openalex.org/W3033013189","https://openalex.org/W3098362553","https://openalex.org/W6785061520"],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"three-dimensional":[1],"(3D)":[2],"ultrasound":[3],"(US)":[4],"imaging":[5],"has":[6],"been":[7],"employed":[8,106],"to":[9,50,88,107,130,140],"overcome":[10],"the":[11,36,39,52,79,85,94,109,116,120,125,132,143,145,170,177],"drawbacks":[12],"of":[13,24,38,45,93,119,147],"traditional":[14],"US":[15,63,74],"examinations,":[16],"such":[17],"as":[18,32],"high":[19],"inter-operator":[20],"variability":[21],"and":[22,82,134],"lack":[23],"repeatability.":[25],"However,":[26],"object":[27,121,178],"movement":[28,133],"remains":[29],"a":[30,71,102,157,165,174],"challenge":[31],"unexpected":[33],"motion":[34,81,139],"decreases":[35],"quality":[37],"3D":[40,90,127],"compounding.":[41],"Furthermore,":[42],"attempted":[43],"adjustment":[44],"objects,":[46],"e.g.,":[47],"adjusting":[48],"limbs":[49],"display":[51],"entire":[53],"limb":[54],"artery":[55],"tree,":[56],"is":[57,105,122,152,179],"not":[58,180],"allowed":[59],"for":[60,137],"conventional":[61],"robotic":[62,73],"systems.":[64],"To":[65,98],"address":[66],"this":[67,138],"challenge,":[68],"we":[69],"propose":[70],"vision-based":[72],"system":[75,171],"that":[76,169],"can":[77,172],"monitor":[78,131],"object\u2019s":[80],"automatically":[83],"update":[84],"sweep":[86,112,175],"trajectory":[87,113],"provide":[89],"compounded":[91],"images":[92],"target":[95],"anatomy":[96],"seamlessly.":[97],"achieve":[99],"these":[100],"functions,":[101],"depth":[103],"camera":[104],"extract":[108],"manually":[110],"planned":[111],"after":[114],"which":[115],"normal":[117],"direction":[118],"estimated":[123],"using":[124],"extracted":[126],"trajectory.":[128],"Subsequently,":[129],"further":[135],"compensate":[136],"accurately":[141],"follow":[142],"trajectory,":[144],"position":[146],"firmly":[148],"attached":[149],"passive":[150],"markers":[151],"tracked":[153],"in":[154],"real-time.":[155],"Finally,":[156],"stepwise":[158],"compounding":[159],"was":[160],"performed.":[161],"The":[162],"experiments":[163],"on":[164],"gel":[166],"phantom":[167],"demonstrate":[168],"resume":[173],"when":[176],"stationary":[181],"during":[182],"scanning.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2021-07-19T00:00:00"}