{"id":"https://openalex.org/W4413918272","doi":"https://doi.org/10.1109/icra55743.2025.11128537","title":"Pre-Surgical Planner for Robot-Assisted Vitreoretinal Surgery: Integrating Eye Posture, Robot Position and Insertion Point","display_name":"Pre-Surgical Planner for Robot-Assisted Vitreoretinal Surgery: Integrating Eye Posture, Robot Position and Insertion Point","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918272","doi":"https://doi.org/10.1109/icra55743.2025.11128537"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128537","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5088298031","display_name":"Satoshi Inagaki","orcid":"https://orcid.org/0000-0002-3183-4513"},"institutions":[{"id":"https://openalex.org/I4210157453","display_name":"NSK (Japan)","ror":"https://ror.org/05nm3qe34","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210157453"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Satoshi Inagaki","raw_affiliation_strings":["NSK Ltd,Japan"],"affiliations":[{"raw_affiliation_string":"NSK Ltd,Japan","institution_ids":["https://openalex.org/I4210157453"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101471527","display_name":"Alireza Alikhani","orcid":"https://orcid.org/0009-0002-5658-1433"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alireza Alikhani","raw_affiliation_strings":["Technische Universität München,Department of Computer Science,München,Germany,85748"],"affiliations":[{"raw_affiliation_string":"Technische Universität München,Department of Computer Science,München,Germany,85748","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046896448","display_name":"Nassir Navab","orcid":"https://orcid.org/0000-0002-6032-5611"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Technische Universität München,Department of Computer Science,München,Germany,85748"],"affiliations":[{"raw_affiliation_string":"Technische Universität München,Department of Computer Science,München,Germany,85748","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073328427","display_name":"Peter Charbel Issa","orcid":"https://orcid.org/0000-0002-0351-6673"},"institutions":[{"id":"https://openalex.org/I3018771216","display_name":"LMU Klinikum","ror":"https://ror.org/02jet3w32","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I3018771216","https://openalex.org/I8204097"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Peter C. Issa","raw_affiliation_strings":["Augenklinik und Poliklinik, Klinikum rechts der Isar der Technische Universität München,München,Germany,81675"],"affiliations":[{"raw_affiliation_string":"Augenklinik und Poliklinik, Klinikum rechts der Isar der Technische Universität München,München,Germany,81675","institution_ids":["https://openalex.org/I3018771216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037059928","display_name":"M. Ali Nasseri","orcid":"https://orcid.org/0000-0002-9764-5731"},"institutions":[{"id":"https://openalex.org/I3018771216","display_name":"LMU Klinikum","ror":"https://ror.org/02jet3w32","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I3018771216","https://openalex.org/I8204097"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Ali Nasseri","raw_affiliation_strings":["Augenklinik und Poliklinik, Klinikum rechts der Isar der Technische Universität München,München,Germany,81675"],"affiliations":[{"raw_affiliation_string":"Augenklinik und Poliklinik, Klinikum rechts der Isar der Technische Universität München,München,Germany,81675","institution_ids":["https://openalex.org/I3018771216"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5088298031"],"corresponding_institution_ids":["https://openalex.org/I4210157453"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39251706,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2940","last_page":"2946"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11377","display_name":"Retinal and Macular Surgery","score":0.96670001745224,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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/T11377","display_name":"Retinal and Macular Surgery","score":0.96670001745224,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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/T11291","display_name":"Intraocular Surgery and Lenses","score":0.9498999714851379,"subfield":{"id":"https://openalex.org/subfields/2731","display_name":"Ophthalmology"},"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":0.9186000227928162,"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/vitreoretinal-surgery","display_name":"Vitreoretinal surgery","score":0.7123121023178101},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5829976797103882},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5515484809875488},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5160996317863464},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5080301761627197},{"id":"https://openalex.org/keywords/prone-position","display_name":"Prone position","score":0.4961164891719818},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4812857508659363},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.47744041681289673},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4481840431690216},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4380723237991333},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.42750757932662964},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.35119131207466125},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.31183725595474243},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09412729740142822},{"id":"https://openalex.org/keywords/visual-acuity","display_name":"Visual acuity","score":0.06895923614501953},{"id":"https://openalex.org/keywords/vitrectomy","display_name":"Vitrectomy","score":0.061122626066207886}],"concepts":[{"id":"https://openalex.org/C3019082958","wikidata":"https://www.wikidata.org/wiki/Q760348","display_name":"Vitreoretinal surgery","level":4,"score":0.7123121023178101},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5829976797103882},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5515484809875488},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5160996317863464},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5080301761627197},{"id":"https://openalex.org/C163100246","wikidata":"https://www.wikidata.org/wiki/Q1064483","display_name":"Prone position","level":2,"score":0.4961164891719818},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4812857508659363},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.47744041681289673},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4481840431690216},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4380723237991333},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.42750757932662964},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.35119131207466125},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.31183725595474243},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09412729740142822},{"id":"https://openalex.org/C2778257484","wikidata":"https://www.wikidata.org/wiki/Q555066","display_name":"Visual acuity","level":2,"score":0.06895923614501953},{"id":"https://openalex.org/C2781242345","wikidata":"https://www.wikidata.org/wiki/Q924295","display_name":"Vitrectomy","level":3,"score":0.061122626066207886},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128537","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":34,"referenced_works":["https://openalex.org/W1973392355","https://openalex.org/W1978702006","https://openalex.org/W1985221028","https://openalex.org/W1987715976","https://openalex.org/W1990867038","https://openalex.org/W2004593426","https://openalex.org/W2049739652","https://openalex.org/W2076732553","https://openalex.org/W2102479575","https://openalex.org/W2109575225","https://openalex.org/W2113984044","https://openalex.org/W2114902384","https://openalex.org/W2116940456","https://openalex.org/W2131164344","https://openalex.org/W2133644923","https://openalex.org/W2150769593","https://openalex.org/W2156073621","https://openalex.org/W2167487997","https://openalex.org/W2325151146","https://openalex.org/W2502183873","https://openalex.org/W2736895401","https://openalex.org/W2783198578","https://openalex.org/W3003839297","https://openalex.org/W3010742425","https://openalex.org/W3207539171","https://openalex.org/W3215643866","https://openalex.org/W4248001284","https://openalex.org/W4285294661","https://openalex.org/W4298087164","https://openalex.org/W4383066370","https://openalex.org/W4386824967","https://openalex.org/W4401413718","https://openalex.org/W4401415039","https://openalex.org/W4401417058"],"related_works":["https://openalex.org/W4312675216","https://openalex.org/W2525211877","https://openalex.org/W2909060326","https://openalex.org/W2134178143","https://openalex.org/W2391212229","https://openalex.org/W4412375765","https://openalex.org/W1560856716","https://openalex.org/W2390435517","https://openalex.org/W2539974067","https://openalex.org/W4249165134"],"abstract_inverted_index":{"Several":[0],"robotic":[1],"frameworks":[2],"have":[3,33,86],"been":[4],"recently":[5],"developed":[6],"to":[7,34,39,87,105],"assist":[8],"ophthalmic":[9],"surgeons":[10],"in":[11,160],"performing":[12],"complex":[13],"vitreoretinal":[14],"procedures":[15],"such":[16],"as":[17],"subretinal":[18],"injection":[19],"of":[20,31,97,126],"advanced":[21],"therapeutics.":[22],"These":[23],"surgical":[24,50],"robots":[25],"show":[26],"promising":[27],"capabilities;":[28],"however,":[29],"most":[30],"them":[32],"limit":[35],"their":[36],"working":[37],"volume":[38],"achieve":[40],"maximum":[41],"accuracy.":[42],"Moreover,":[43],"the":[44,49,58,62,74,79,83,94,98,102,124,161],"visible":[45],"area":[46],"seen":[47],"through":[48],"microscope":[51],"is":[52],"limited":[53],"and":[54,67,82,101,123,146],"solely":[55],"depends":[56],"on":[57],"eye":[59,63,99,121],"posture.":[60],"If":[61],"posture,":[64],"trocar":[65],"position,":[66,81],"robot":[68,103],"configuration":[69],"are":[70,157],"not":[71,77],"correctly":[72],"arranged,":[73],"instrument":[75],"may":[76],"reach":[78,106],"target":[80,108],"preparation":[84],"will":[85],"be":[88],"redone.":[89],"Therefore,":[90],"this":[91,127],"paper":[92],"proposes":[93],"optimization":[95],"framework":[96],"tilting":[100],"positioning":[104],"various":[107],"areas":[109],"for":[110],"different":[111],"patients.":[112],"Our":[113],"method":[114],"was":[115,129],"validated":[116],"with":[117],"an":[118],"adjustable":[119],"phantom":[120],"model,":[122],"error":[125,155],"workflow":[128],"0.13":[130],"\u00b1":[131,140,148],"1.65":[132],"deg":[133,142],"(rotational":[134],"joint":[135],"around":[136],"Y":[137],"axis),":[138,145],"-1.40":[139],"1.13":[141],"(around":[143],"X":[144],"1.80":[147],"1.51":[149],"mm":[150],"(depth,":[151],"Z).":[152],"The":[153],"potential":[154],"sources":[156],"also":[158],"analyzed":[159],"discussion":[162],"section.":[163]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}