{"id":"https://openalex.org/W2215483507","doi":"https://doi.org/10.1109/iros.2015.7353737","title":"Path planning for semi-automated simulated robotic neurosurgery","display_name":"Path planning for semi-automated simulated robotic neurosurgery","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2215483507","doi":"https://doi.org/10.1109/iros.2015.7353737","mag":"2215483507","pmid":"https://pubmed.ncbi.nlm.nih.gov/26705501"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353737","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353737","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4687488","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045724983","display_name":"Danying Hu","orcid":"https://orcid.org/0000-0003-0692-4936"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Danying Hu","raw_affiliation_strings":["Biorobotics Laboratory, Department of Electrical Engineering, University of Washington, Seattle, WA 98195, USA","Department of Electrical Engineering, Biorobotics Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Department of Electrical Engineering, University of Washington, Seattle, WA 98195, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Electrical Engineering, Biorobotics Laboratory","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030934940","display_name":"Yuanzheng Gong","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuanzheng Gong","raw_affiliation_strings":["Human Photonics Laboratory, Department of Mechanical Engineering, University of Washington, Seattle, WA 98195, USA","Department of Mechanical Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Human Photonics Laboratory, Department of Mechanical Engineering, University of Washington, Seattle, WA 98195, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074967911","display_name":"Blake Hannaford","orcid":"https://orcid.org/0000-0001-7370-4920"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Blake Hannaford","raw_affiliation_strings":["Biorobotics Laboratory, Department of Electrical Engineering, University of Washington, Seattle, WA 98195, USA","Department of Electrical Engineering, Biorobotics Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Department of Electrical Engineering, University of Washington, Seattle, WA 98195, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Electrical Engineering, Biorobotics Laboratory","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004492656","display_name":"Eric J. Seibel","orcid":"https://orcid.org/0000-0002-3382-6541"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric J. Seibel","raw_affiliation_strings":["Human Photonics Laboratory, Department of Mechanical Engineering, University of Washington, Seattle, WA 98195, USA","Department of Mechanical Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Human Photonics Laboratory, Department of Mechanical Engineering, University of Washington, Seattle, WA 98195, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4553,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.81623338,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"2015","issue":null,"first_page":"2639","last_page":"2645"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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":0.9988999962806702,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9926000237464905,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.686512291431427},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.6651285290718079},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6187325119972229},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.550265908241272},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5448243021965027},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5380065441131592},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5028488039970398},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.45336395502090454},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.4509359300136566},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44592300057411194},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.43964725732803345},{"id":"https://openalex.org/keywords/ablation","display_name":"Ablation","score":0.4317622482776642},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34770429134368896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23583495616912842},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.15851357579231262},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.11713173985481262},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08588078618049622},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.06604096293449402}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.686512291431427},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.6651285290718079},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6187325119972229},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.550265908241272},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5448243021965027},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5380065441131592},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5028488039970398},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.45336395502090454},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.4509359300136566},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44592300057411194},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.43964725732803345},{"id":"https://openalex.org/C2778902805","wikidata":"https://www.wikidata.org/wiki/Q322177","display_name":"Ablation","level":2,"score":0.4317622482776642},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34770429134368896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23583495616912842},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.15851357579231262},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.11713173985481262},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08588078618049622},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.06604096293449402},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2015.7353737","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353737","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmid:26705501","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26705501","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":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:4687488","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4687488","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rep U S","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:4687488","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4687488","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rep U S","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","score":0.41999998688697815,"display_name":"Good health and well-being"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W145643835","https://openalex.org/W1499315759","https://openalex.org/W1588269491","https://openalex.org/W1756618330","https://openalex.org/W1969014399","https://openalex.org/W1971858686","https://openalex.org/W1977545263","https://openalex.org/W1986044163","https://openalex.org/W1993947032","https://openalex.org/W2024644834","https://openalex.org/W2026988104","https://openalex.org/W2036471941","https://openalex.org/W2054142925","https://openalex.org/W2056425658","https://openalex.org/W2057960800","https://openalex.org/W2057982268","https://openalex.org/W2060640461","https://openalex.org/W2064214863","https://openalex.org/W2074849287","https://openalex.org/W2086810223","https://openalex.org/W2088392499","https://openalex.org/W2109609195","https://openalex.org/W2123742371","https://openalex.org/W2129356845","https://openalex.org/W2131164344","https://openalex.org/W2154332114","https://openalex.org/W2171246729","https://openalex.org/W6629615857","https://openalex.org/W6647050974","https://openalex.org/W6663947719"],"related_works":["https://openalex.org/W2417440389","https://openalex.org/W4385556839","https://openalex.org/W4378746257","https://openalex.org/W2734382758","https://openalex.org/W2913786724","https://openalex.org/W2109481748","https://openalex.org/W2381719890","https://openalex.org/W2948918209","https://openalex.org/W2040853802","https://openalex.org/W4206096448"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"the":[3,10,15,52,61,65,69,91],"semi-automated":[4,92],"robotic":[5,33,71,93],"surgical":[6,85],"procedure":[7],"for":[8,24,32,63],"removing":[9],"brain":[11,94],"tumor":[12,36,95],"margins,":[13],"where":[14],"manual":[16],"operation":[17],"is":[18,77],"a":[19,99],"tedious":[20],"and":[21,80],"time-consuming":[22],"task":[23],"surgeons.":[25],"We":[26],"present":[27],"robust":[28],"path":[29,53,75],"planning":[30],"methods":[31],"ablation":[34,96],"of":[35,47,90],"residues":[37],"in":[38,44,68,98],"various":[39],"shapes,":[40],"which":[41],"are":[42,57],"represented":[43],"point-clouds":[45],"instead":[46],"analytical":[48],"geometry.":[49],"Along":[50],"with":[51],"plans,":[54],"corresponding":[55],"metrics":[56],"also":[58],"delivered":[59],"to":[60],"surgeon":[62],"selecting":[64],"optimal":[66],"candidate":[67],"automated":[70],"ablation.":[72],"The":[73],"selected":[74],"plan":[76],"then":[78],"executed":[79],"tested":[81],"on":[82],"RAVEN\u2122":[83],"II":[84],"robot":[86],"platform":[87],"as":[88],"part":[89],"surgery":[97],"simulated":[100],"tissue":[101],"phantom.":[102]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
