{"id":"https://openalex.org/W4401414803","doi":"https://doi.org/10.1109/icra57147.2024.10611329","title":"Vascular Centerline-Guided Autonomous Navigation Methods for Robot-Lead Endovascular Interventions","display_name":"Vascular Centerline-Guided Autonomous Navigation Methods for Robot-Lead Endovascular Interventions","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414803","doi":"https://doi.org/10.1109/icra57147.2024.10611329"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611329","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5042494353","display_name":"Naner Li","orcid":"https://orcid.org/0000-0002-7819-1404"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Naner Li","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100397312","display_name":"Yiwei Wang","orcid":"https://orcid.org/0000-0002-2135-5359"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiwei Wang","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107952704","display_name":"Haoyuan Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyuan Cheng","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023402630","display_name":"Huan Zhao","orcid":"https://orcid.org/0000-0002-1589-5375"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huan Zhao","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053171889","display_name":"Han Ding","orcid":"https://orcid.org/0000-0002-7923-3928"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Ding","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":13.4749,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.98709188,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11578","last_page":"11584"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10816","display_name":"Cerebrovascular and Carotid Artery Diseases","score":0.9937000274658203,"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":0.9937000274658203,"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/T10227","display_name":"Acute Ischemic Stroke Management","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2713","display_name":"Epidemiology"},"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/T10420","display_name":"Intracranial Aneurysms: Treatment and Complications","score":0.9872999787330627,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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/lead","display_name":"Lead (geology)","score":0.6236996650695801},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6083323359489441},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5414324998855591},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3670327663421631},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3634480834007263},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.17418929934501648}],"concepts":[{"id":"https://openalex.org/C2777093003","wikidata":"https://www.wikidata.org/wiki/Q6508345","display_name":"Lead (geology)","level":2,"score":0.6236996650695801},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6083323359489441},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5414324998855591},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3670327663421631},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3634480834007263},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.17418929934501648},{"id":"https://openalex.org/C114793014","wikidata":"https://www.wikidata.org/wiki/Q52109","display_name":"Geomorphology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611329","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W311724808","https://openalex.org/W1929849386","https://openalex.org/W1963892337","https://openalex.org/W2045804775","https://openalex.org/W2107868282","https://openalex.org/W2108400301","https://openalex.org/W2169748775","https://openalex.org/W2336709942","https://openalex.org/W2810872865","https://openalex.org/W2909693109","https://openalex.org/W2950767422","https://openalex.org/W2991030827","https://openalex.org/W3003587267","https://openalex.org/W3087726169","https://openalex.org/W3090835024","https://openalex.org/W3116964319","https://openalex.org/W3202314155","https://openalex.org/W4200101206","https://openalex.org/W4281290335","https://openalex.org/W4376481188","https://openalex.org/W6734312481"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"In":[0,35],"minimally":[1],"invasive":[2],"endovascular":[3],"interventional":[4],"surgery,":[5],"guidewire":[6,23,42,59,67,80],"navigation":[7,43,94,102],"is":[8],"an":[9],"indispensable":[10],"process.":[11],"However,":[12],"even":[13],"experienced":[14],"physicians":[15],"often":[16],"encounter":[17],"difficulties":[18],"in":[19,78,96,104,164],"manually":[20],"manipulating":[21],"the":[22,30,52,58,66,69,76,86,128,137,144,152,165,169],"for":[24,126,146,157],"branch":[25,113],"selection,":[26],"while":[27],"also":[28],"facing":[29],"risk":[31,153],"of":[32,57,106,154],"radiation":[33,155],"exposure.":[34],"this":[36],"study,":[37],"we":[38],"investigated":[39],"robotic":[40],"autonomous":[41],"methods.":[44],"An":[45],"electromagnetic":[46],"system":[47],"was":[48,72,134],"used":[49],"to":[50,74],"track":[51],"real-time":[53],"position":[54],"and":[55,61,89,111,149,160],"orientation":[56],"tip,":[60],"a":[62,97,124],"state":[63],"space":[64],"representing":[65],"within":[68],"vascular":[70],"environment":[71,118],"constructed":[73],"guide":[75],"robot":[77],"precise":[79],"manipulation.":[81],"Experimental":[82],"results":[83],"demonstrated":[84],"that":[85],"proposed":[87,141],"trial-and-error":[88],"centerline-guided":[90,138],"methods":[91],"successfully":[92],"completed":[93],"tasks":[95],"static":[98],"environment,":[99],"outperforming":[100],"human":[101],"performance":[103],"terms":[105],"trajectory":[107,109],"smoothness,":[108],"length,":[110],"incorrect":[112],"entry":[114],"counts.":[115],"For":[116],"dynamic":[117,120],"navigation,":[119],"time":[121],"warping":[122],"(DTW),":[123],"technique":[125],"measuring":[127],"similarity":[129],"between":[130],"two":[131],"temporal":[132],"sequences,":[133],"integrated":[135],"into":[136],"method.":[139],"The":[140],"approaches":[142],"eliminate":[143],"need":[145],"visual":[147],"feedback":[148],"thereby":[150],"minimizing":[151],"exposure":[156],"both":[158],"patients":[159],"medical":[161],"staff":[162],"present":[163],"operating":[166],"room":[167],"during":[168],"procedure.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-08-19T15:00:24.278416","created_date":"2025-10-10T00:00:00"}