{"id":"https://openalex.org/W4383109137","doi":"https://doi.org/10.1109/icra48891.2023.10161505","title":"Autonomous Intelligent Navigation for Flexible Endoscopy Using Monocular Depth Guidance and 3-D Shape Planning","display_name":"Autonomous Intelligent Navigation for Flexible Endoscopy Using Monocular Depth Guidance and 3-D Shape Planning","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109137","doi":"https://doi.org/10.1109/icra48891.2023.10161505"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161505","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161505","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5027496774","display_name":"Yiang Lu","orcid":"https://orcid.org/0000-0002-5941-9215"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yiang Lu","raw_affiliation_strings":["T Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong","Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085059175","display_name":"Ruofeng Wei","orcid":"https://orcid.org/0000-0002-7071-4135"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ruofeng Wei","raw_affiliation_strings":["City University of Hong Kong,Department of Biomedical Engineering,Hong Kong","Department of Biomedical Engineering, City University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Department of Biomedical Engineering,Hong Kong","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Biomedical Engineering, City University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365257","display_name":"Bin Li","orcid":"https://orcid.org/0000-0003-1684-8869"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Li","raw_affiliation_strings":["T Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong","Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041869772","display_name":"Wei Chen","orcid":"https://orcid.org/0000-0001-8589-8988"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Chen","raw_affiliation_strings":["T Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong","Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005976047","display_name":"Jianshu Zhou","orcid":"https://orcid.org/0000-0003-3900-3519"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianshu Zhou","raw_affiliation_strings":["T Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong","Hong Kong Center for Logistics Robotics, Hong Kong","Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Hong Kong Center for Logistics Robotics, Hong Kong","institution_ids":[]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090516040","display_name":"Qi Dou","orcid":"https://orcid.org/0000-0002-3416-9950"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Dou","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Computer Science and Engineering,Hong Kong","Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong","Hong Kong Center for Logistics Robotics, Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Computer Science and Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Hong Kong Center for Logistics Robotics, Hong Kong","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100382905","display_name":"Dong Sun","orcid":"https://orcid.org/0000-0003-3945-4037"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Dong Sun","raw_affiliation_strings":["City University of Hong Kong,Department of Biomedical Engineering,Hong Kong","Department of Biomedical Engineering, City University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Department of Biomedical Engineering,Hong Kong","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Biomedical Engineering, City University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun-hui Liu","raw_affiliation_strings":["T Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong","Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","Hong Kong Center for Logistics Robotics, Hong Kong"],"affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Hong Kong Center for Logistics Robotics, Hong Kong","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5027496774"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":1.6528,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.82531309,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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":0.9991999864578247,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"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":0.9959999918937683,"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/visual-servoing","display_name":"Visual servoing","score":0.7290518879890442},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.623818039894104},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6092449426651001},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5391703844070435},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.45654770731925964},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4418940842151642},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3911195397377014},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32569122314453125},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20074504613876343}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7290518879890442},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.623818039894104},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6092449426651001},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5391703844070435},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.45654770731925964},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4418940842151642},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3911195397377014},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32569122314453125},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20074504613876343}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161505","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161505","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1996428716","https://openalex.org/W2010659178","https://openalex.org/W2170799545","https://openalex.org/W2514131711","https://openalex.org/W2544641369","https://openalex.org/W2774637756","https://openalex.org/W2782435507","https://openalex.org/W2801997348","https://openalex.org/W2908901353","https://openalex.org/W2982459439","https://openalex.org/W2982651265","https://openalex.org/W2989184872","https://openalex.org/W2997716713","https://openalex.org/W3003514119","https://openalex.org/W3093713122","https://openalex.org/W3112952488","https://openalex.org/W3118738650","https://openalex.org/W3136694183","https://openalex.org/W3152803807","https://openalex.org/W3190693952","https://openalex.org/W3194607169","https://openalex.org/W3200209451","https://openalex.org/W3201638786","https://openalex.org/W3202992521","https://openalex.org/W3206711961","https://openalex.org/W4214520160","https://openalex.org/W4214569027","https://openalex.org/W4283698659","https://openalex.org/W4285886409","https://openalex.org/W4288751198","https://openalex.org/W4312466183","https://openalex.org/W4312766084","https://openalex.org/W4312995760","https://openalex.org/W4317384049","https://openalex.org/W4318038628","https://openalex.org/W6746584373","https://openalex.org/W6782298681","https://openalex.org/W6802210610","https://openalex.org/W6802415969","https://openalex.org/W6839095401","https://openalex.org/W6847529037"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W2386520554","https://openalex.org/W1520171478","https://openalex.org/W4317830657","https://openalex.org/W3024380338","https://openalex.org/W2127866683","https://openalex.org/W110066474","https://openalex.org/W4386459930"],"abstract_inverted_index":{"Recent":[0],"advancements":[1],"toward":[2],"perception":[3],"and":[4,22,34,65,83,102,143,168],"decision-making":[5],"of":[6,55,62,170],"flexible":[7,27,56,155],"endoscopes":[8,57],"have":[9],"shown":[10],"great":[11],"potential":[12,140],"in":[13,26,37,161],"computer-aided":[14],"surgical":[15],"interventions.":[16],"However,":[17],"owing":[18],"to":[19,76,136],"modeling":[20],"uncertainty":[21],"inter-patient":[23],"anatomical":[24],"variation":[25],"endoscopy,":[28],"the":[29,79,85,138,146,166,171],"challenge":[30],"remains":[31],"for":[32,51],"efficient":[33],"safe":[35],"navigation":[36,54,150],"patient-specific":[38],"scenarios.":[39],"This":[40],"paper":[41],"presents":[42],"a":[43,95,128,153],"novel":[44],"data-driven":[45],"framework":[46],"with":[47,105,157],"self-contained":[48],"visual-shape":[49],"fusion":[50],"autonomous":[52],"intelligent":[53],"requiring":[58],"no":[59],"priori":[60],"knowledge":[61],"system":[63],"models":[64],"global":[66],"environments.":[67],"A":[68],"learning-based":[69],"adaptive":[70],"visual":[71],"servoing":[72],"controller":[73],"is":[74,88,113,134],"proposed":[75,172],"online":[77],"update":[78],"eye-in-hand":[80],"vision-motor":[81],"configuration":[82],"steer":[84],"endoscope,":[86],"which":[87],"guided":[89],"by":[90],"monocular":[91],"depth":[92],"estimation":[93],"via":[94],"vision":[96],"transformer":[97],"(ViT).":[98],"To":[99],"prevent":[100],"unnecessary":[101],"excessive":[103],"interactions":[104],"surrounding":[106],"anatomy,":[107],"an":[108,158],"energy-motivated":[109],"shape":[110],"planning":[111],"algorithm":[112],"introduced":[114],"through":[115],"entire":[116],"endoscope":[117,156],"3-D":[118],"proprioception":[119],"from":[120],"embedded":[121],"fiber":[122,160],"Bragg":[123],"grating":[124],"(FBG)":[125],"sensors.":[126],"Furthermore,":[127],"model":[129],"predictive":[130],"control":[131],"(MPC)":[132],"strategy":[133],"developed":[135],"minimize":[137],"elastic":[139],"energy":[141],"flow":[142],"simultaneously":[144],"optimize":[145],"steering":[147],"policy.":[148],"Dedicated":[149],"experiments":[151],"on":[152],"robotic-assisted":[154],"FBG":[159],"several":[162],"phantom":[163],"environments":[164],"demonstrate":[165],"effectiveness":[167],"adaptability":[169],"framework.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}