{"id":"https://openalex.org/W4401415986","doi":"https://doi.org/10.1109/icra57147.2024.10611473","title":"Helical Control in Latent Space: Enhancing Robotic Craniotomy Precision in Uncertain Environments","display_name":"Helical Control in Latent Space: Enhancing Robotic Craniotomy Precision in Uncertain Environments","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415986","doi":"https://doi.org/10.1109/icra57147.2024.10611473"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611473","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611473","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/A5100669026","display_name":"Yuanyuan Jia","orcid":"https://orcid.org/0000-0001-9880-5090"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuanyuan Jia","raw_affiliation_strings":["Ritsumeikan University,Japan,525-8577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ritsumeikan University,Japan,525-8577","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113325638","display_name":"Jessica Ziyu Qu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jessica Ziyu Qu","raw_affiliation_strings":["Canadian Academy,Japan,658-0032"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Canadian Academy,Japan,658-0032","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023160093","display_name":"Tadahiro Taniguchi","orcid":"https://orcid.org/0000-0002-5682-2076"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tadahiro Taniguchi","raw_affiliation_strings":["Ritsumeikan University,Japan,525-8577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ritsumeikan University,Japan,525-8577","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15995","last_page":"16001"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11984","display_name":"Anatomy and Medical Technology","score":0.9848999977111816,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9848999977111816,"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/T11679","display_name":"Craniofacial Disorders and Treatments","score":0.9815999865531921,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9708999991416931,"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/computer-science","display_name":"Computer science","score":0.6542383432388306},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.6195647716522217},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5517673492431641},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5291826128959656},{"id":"https://openalex.org/keywords/craniotomy","display_name":"Craniotomy","score":0.43414008617401123},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40659433603286743},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3680059313774109},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.0802866518497467},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.06473207473754883}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6542383432388306},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.6195647716522217},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5517673492431641},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5291826128959656},{"id":"https://openalex.org/C2778871575","wikidata":"https://www.wikidata.org/wiki/Q514921","display_name":"Craniotomy","level":2,"score":0.43414008617401123},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40659433603286743},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3680059313774109},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0802866518497467},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.06473207473754883},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611473","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611473","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1590183771","https://openalex.org/W2155106882","https://openalex.org/W2187089797","https://openalex.org/W2780328254","https://openalex.org/W3173693019","https://openalex.org/W4223520461","https://openalex.org/W4245550013","https://openalex.org/W4252189904","https://openalex.org/W4281401846","https://openalex.org/W4312342945","https://openalex.org/W4312510915","https://openalex.org/W4375809622","https://openalex.org/W4382138711","https://openalex.org/W6756256016"],"related_works":["https://openalex.org/W2377701744","https://openalex.org/W1506439895","https://openalex.org/W2383014186","https://openalex.org/W2352496985","https://openalex.org/W2353428764","https://openalex.org/W2365226683","https://openalex.org/W2347928780","https://openalex.org/W2363502477","https://openalex.org/W2377790534","https://openalex.org/W2119261997"],"abstract_inverted_index":{"In":[0],"this":[1,64],"paper,":[2],"we":[3],"introduce":[4],"a":[5,67,71],"double-stage":[6],"transfer":[7],"learning":[8],"framework":[9],"based":[10],"on":[11],"expert":[12],"data.":[13],"It":[14],"employs":[15],"probabilistic":[16],"graphical":[17],"models":[18],"to":[19,39,66,82],"effectively":[20],"capture":[21],"helical":[22],"periodic":[23],"features":[24],"in":[25,50],"the":[26,93,96],"latent":[27],"space,":[28],"integrating":[29],"Bayesian":[30],"variational":[31],"inference":[32],"and":[33,46,56],"neural":[34],"networks":[35],"for":[36],"implementation.":[37],"Compared":[38],"traditional":[40],"methods,":[41],"it":[42],"achieves":[43],"high":[44,57],"precision":[45],"stable":[47],"control":[48],"even":[49],"environments":[51],"with":[52,87],"limited":[53],"observation":[54],"signals":[55],"noise":[58],"levels.":[59],"We":[60],"have":[61],"successfully":[62],"applied":[63],"method":[65],"biomedical":[68],"task":[69],"of":[70,84,95],"simulated":[72],"cranial":[73],"window":[74],"procedure.":[75],"Preliminary":[76],"results":[77],"show":[78],"promising":[79],"performance":[80],"comparable":[81],"those":[83],"human":[85],"experts":[86],"only":[88],"image":[89],"information,":[90],"further":[91],"validating":[92],"efficacy":[94],"proposed":[97],"method.":[98]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}