{"id":"https://openalex.org/W2098665231","doi":"https://doi.org/10.1109/iros.2011.6094599","title":"Sensor and Sampling-based motion planning for minimally invasive robotic exploration of osteolytic lesions","display_name":"Sensor and Sampling-based motion planning for minimally invasive robotic exploration of osteolytic lesions","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2098665231","doi":"https://doi.org/10.1109/iros.2011.6094599","mag":"2098665231"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094599","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5100358868","display_name":"Weiping Liu","orcid":"https://orcid.org/0000-0002-1173-892X"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"W. P. Liu","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA,"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA,","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063634022","display_name":"Blake C. Lucas","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. C. Lucas","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA,"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA,","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047460426","display_name":"Kelleher Guerin","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Guerin","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA,"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA,","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017823298","display_name":"Erion Plaku","orcid":"https://orcid.org/0000-0002-6622-386X"},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]},{"id":"https://openalex.org/I168959743","display_name":"University of America","ror":"https://ror.org/03s0c9350","country_code":"US","type":"education","lineage":["https://openalex.org/I168959743"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Plaku","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Catholic University of America, Washington DC, DC, USA","Department of Electrical Engineering and Computer Science, Catholic University of America, Washington DC 20064, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Catholic University of America, Washington DC, DC, USA","institution_ids":["https://openalex.org/I168959743","https://openalex.org/I84470341"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Catholic University of America, Washington DC 20064, USA","institution_ids":["https://openalex.org/I84470341"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100358868"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":0.9187,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.72978959,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1346","last_page":"1352"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9980999827384949,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9958000183105469,"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/robot","display_name":"Robot","score":0.6758683919906616},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5640757083892822},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.5536386966705322},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.529076874256134},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45910146832466125},{"id":"https://openalex.org/keywords/cannula","display_name":"Cannula","score":0.45007091760635376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44277486205101013},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4362741708755493},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4140397310256958},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.1801961064338684},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13187038898468018}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6758683919906616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5640757083892822},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.5536386966705322},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.529076874256134},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45910146832466125},{"id":"https://openalex.org/C2778074680","wikidata":"https://www.wikidata.org/wiki/Q2125439","display_name":"Cannula","level":2,"score":0.45007091760635376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44277486205101013},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4362741708755493},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4140397310256958},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.1801961064338684},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13187038898468018}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094599","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W82396490","https://openalex.org/W1424654272","https://openalex.org/W1502517891","https://openalex.org/W1521785144","https://openalex.org/W1866797514","https://openalex.org/W2006010000","https://openalex.org/W2039618341","https://openalex.org/W2058240764","https://openalex.org/W2092507038","https://openalex.org/W2095668460","https://openalex.org/W2112765698","https://openalex.org/W2121734178","https://openalex.org/W2128990851","https://openalex.org/W2151887427","https://openalex.org/W2156123119","https://openalex.org/W2165023100","https://openalex.org/W2167480813","https://openalex.org/W2220541317","https://openalex.org/W2259423446","https://openalex.org/W2397696187","https://openalex.org/W2611243847","https://openalex.org/W4299799888","https://openalex.org/W6678073246","https://openalex.org/W6712765503","https://openalex.org/W7002014674"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W2037146085","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W1988150353"],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"a":[3,11,53,69,127],"sensor-":[4],"and":[5,92],"sampling-based":[6],"motion":[7],"planner":[8,65,79,88],"to":[9,16,101,109,114,162,172],"control":[10],"surgical":[12,30],"robot":[13,70,112,130,151],"in":[14,20,36,48,82,116,137,183],"order":[15],"explore":[17],"osteolytic":[18,58,133,169],"lesions":[19],"orthopedic":[21],"surgery.":[22],"Because":[23],"of":[24,27,39,56,140,168],"the":[25,57,64,78,111,117,146,150],"difficulty":[26],"using":[28,126],"conventional":[29],"tools,":[31],"such":[32],"exploration":[33,105],"is":[34,60,143],"needed":[35],"minimally-invasive":[37,138],"treatments":[38],"\u00bfparticle":[40],"diseases,\u00bf":[41],"which":[42,99],"commonly":[43],"result":[44],"from":[45],"material":[46],"wear":[47],"total":[49],"hip":[50],"replacements.":[51],"Since":[52],"geometric":[54],"model":[55,71],"cavity":[59],"not":[61],"always":[62],"available,":[63],"relies":[66],"only":[67],"on":[68,131],"that":[72,119,164],"can":[73,80],"detect":[74],"collisions.":[75],"As":[76,135],"such,":[77],"work":[81,175],"conjunction":[83],"with":[84],"real":[85],"systems.":[86],"The":[87,95,153],"effectively":[89],"combines":[90],"global":[91,96],"local":[93,104],"exploration.":[94,121],"layer":[97],"determines":[98],"regions":[100],"explore,":[102],"while":[103],"uses":[106],"information":[107],"gain":[108],"move":[110],"tip":[113],"positions":[115],"region":[118],"increase":[120],"Simulation":[122],"experiments":[123],"are":[124],"conducted":[125],"snake-like":[128],"cannula":[129],"surgically-relevant":[132],"cavities.":[134,170],"desired":[136],"treatment":[139],"osteolysis,":[141],"performance":[142,158],"measured":[144],"as":[145],"volume":[147],"explored":[148],"by":[149],"tip.":[152],"proposed":[154],"method":[155],"achieves":[156],"83-92%":[157],"rate":[159],"when":[160],"compared":[161],"methods":[163],"require":[165],"3D":[166,178],"models":[167],"Comparisons":[171],"sensor-based":[173],"related":[174],"(i.e.,":[176],"no":[177],"models)":[179],"show":[180],"significant":[181],"improvements":[182],"performance.":[184]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}