{"id":"https://openalex.org/W2167932856","doi":"https://doi.org/10.1109/iembs.2011.6090397","title":"A chance-constrained approach to preoperative planning of robotics-assisted interventions","display_name":"A chance-constrained approach to preoperative planning of robotics-assisted interventions","publication_year":2011,"publication_date":"2011-08-01","ids":{"openalex":"https://openalex.org/W2167932856","doi":"https://doi.org/10.1109/iembs.2011.6090397","mag":"2167932856","pmid":"https://pubmed.ncbi.nlm.nih.gov/22254758"},"language":"en","primary_location":{"id":"doi:10.1109/iembs.2011.6090397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iembs.2011.6090397","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5003456787","display_name":"Hamidreza Azimian","orcid":null},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]},{"id":"https://openalex.org/I131944076","display_name":"Lawson Health Research Institute","ror":"https://ror.org/051gsh239","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I131944076"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"H. Azimian","raw_affiliation_strings":["Canadian Surgical Technologies and Advanced Robotics, Lawson Health Research Institute, 339 Windermere Road, London, ON, Canada. hazimian@uwo.ca","Department of Mechanical and Materials Engineering, University of Western Ontario, London, ONT, Canada","Canadian Surgical Technologies and Advanced Robotics (CSTAR), Lawson Health Research Institute, London, ONT, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Canadian Surgical Technologies and Advanced Robotics, Lawson Health Research Institute, 339 Windermere Road, London, ON, Canada. hazimian@uwo.ca","institution_ids":["https://openalex.org/I131944076"]},{"raw_affiliation_string":"Department of Mechanical and Materials Engineering, University of Western Ontario, London, ONT, Canada","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"Canadian Surgical Technologies and Advanced Robotics (CSTAR), Lawson Health Research Institute, London, ONT, Canada","institution_ids":["https://openalex.org/I131944076"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032056508","display_name":"Rajni V. Patel","orcid":"https://orcid.org/0000-0003-3431-4617"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"R. V. Patel","raw_affiliation_strings":["CSTAR, the Department of Electrical and Computer Engineering and the Department of Surgery, UWO, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSTAR, the Department of Electrical and Computer Engineering and the Department of Surgery, UWO, Canada","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039782206","display_name":"Michael D. Naish","orcid":"https://orcid.org/0000-0001-7603-7182"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"M. D. Naish","raw_affiliation_strings":["CSTAR, the Department of Mechanical and Materials Engineering and the Department of Electrical and Computer Engineering, UWO, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSTAR, the Department of Mechanical and Materials Engineering and the Department of Electrical and Computer Engineering, UWO, Canada","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4314,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.67957519,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"2127","last_page":"2130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9961000084877014,"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":0.9961000084877014,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10916","display_name":"Surgical Simulation and Training","score":0.9790999889373779,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.7344739437103271},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7344101667404175},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6942915320396423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6548367738723755},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6328108310699463},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5655056834220886},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5422897934913635},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4960368573665619},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4649110734462738},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44041192531585693},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4283132553100586},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20023781061172485},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16950494050979614}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7344739437103271},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7344101667404175},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6942915320396423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6548367738723755},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6328108310699463},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5655056834220886},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5422897934913635},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4960368573665619},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4649110734462738},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44041192531585693},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4283132553100586},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20023781061172485},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16950494050979614},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[{"descriptor_ui":"D001026","descriptor_name":"Coronary Artery Bypass","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D001026","descriptor_name":"Coronary Artery Bypass","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D001026","descriptor_name":"Coronary Artery Bypass","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009204","descriptor_name":"Myocardial Revascularization","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D009204","descriptor_name":"Myocardial Revascularization","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D009204","descriptor_name":"Myocardial Revascularization","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D011300","descriptor_name":"Preoperative Care","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D011300","descriptor_name":"Preoperative Care","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D011300","descriptor_name":"Preoperative Care","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012680","descriptor_name":"Sensitivity and Specificity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012680","descriptor_name":"Sensitivity and Specificity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012680","descriptor_name":"Sensitivity and Specificity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015203","descriptor_name":"Reproducibility of Results","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015203","descriptor_name":"Reproducibility of Results","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015203","descriptor_name":"Reproducibility of Results","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015233","descriptor_name":"Models, Statistical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015233","descriptor_name":"Models, Statistical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015233","descriptor_name":"Models, Statistical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/iembs.2011.6090397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iembs.2011.6090397","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society","raw_type":"proceedings-article"},{"id":"pmid:22254758","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/22254758","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W200401254","https://openalex.org/W1570594216","https://openalex.org/W2054479649","https://openalex.org/W2102479575","https://openalex.org/W2105054962","https://openalex.org/W2123487311","https://openalex.org/W2131164344","https://openalex.org/W2137559662","https://openalex.org/W2157325691","https://openalex.org/W4248001284","https://openalex.org/W6608144760","https://openalex.org/W6634398233"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387","https://openalex.org/W2744818472","https://openalex.org/W2972304526","https://openalex.org/W2119963650"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,47,64],"planning":[4,108],"strategy":[5,109],"for":[6,112],"robotics-assisted":[7],"interventions":[8],"is":[9,39,61,110],"formulated":[10,62],"in":[11,50,68,115],"terms":[12,69],"of":[13,27,53,70,73,84,99],"uncertainty":[14],"at":[15],"the":[16,25,35,42,51,54,59,71,81,85,92,97,100,107,122],"task":[17,36,56],"level.":[18],"The":[19,87],"proposed":[20,88],"formulation":[21],"attempts":[22],"to":[23,34],"increase":[24],"chance":[26,72],"success":[28],"by":[29],"maximizing":[30],"robustness":[31,93],"with":[32,121],"respect":[33],"uncertainty.":[37],"It":[38],"assumed":[40],"that":[41],"instrument":[43],"tip":[44],"pose":[45],"has":[46],"Gaussian":[48],"distribution":[49],"vicinity":[52],"desired":[55],"frame,":[57],"and":[58,75],"planner":[60],"as":[63,94,96],"chance-constrained":[65],"programming":[66],"problem":[67],"collisions":[74],"joint":[76],"limit":[77],"violations":[78],"based":[79],"on":[80],"inverse":[82],"kinematics":[83],"arms.":[86,102],"objective":[89],"function":[90],"addresses":[91],"well":[95],"performance":[98],"robotic":[101],"As":[103],"an":[104],"illustrative":[105],"example,":[106],"implemented":[111],"LIMA":[113],"harvesting":[114],"minimally":[116],"invasive":[117],"coronary":[118],"artery":[119],"bypass":[120],"da":[123],"Vinci":[124],"robot.":[125]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}