{"id":"https://openalex.org/W2201506230","doi":"https://doi.org/10.1109/iros.2015.7353829","title":"Motion planning for a three-stage multilumen transoral lung access system","display_name":"Motion planning for a three-stage multilumen transoral lung access system","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2201506230","doi":"https://doi.org/10.1109/iros.2015.7353829","mag":"2201506230","pmid":"https://pubmed.ncbi.nlm.nih.gov/26942041"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353829","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/4771380","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068912132","display_name":"Alan Kuntz","orcid":"https://orcid.org/0000-0003-0017-3932"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alan Kuntz","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA. adkuntz@cs.unc.edu","Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA. adkuntz@cs.unc.edu","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108091395","display_name":"Luis G. Torres","orcid":null},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis G. Torres","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA. luis@cs.unc.edu","Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA. luis@cs.unc.edu","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112757115","display_name":"Richard H. Feins","orcid":null},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard H. Feins","raw_affiliation_strings":["Division of Cardiothoracic Surgery, Department of Surgery, University of North Carolina School of Medicine, Chapel Hill, NC 27599, USA","Division of Cardiothoracic Surgery, School of Medicine, Chapel Hill, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Cardiothoracic Surgery, Department of Surgery, University of North Carolina School of Medicine, Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Division of Cardiothoracic Surgery, School of Medicine, Chapel Hill, NC, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009794922","display_name":"Robert J. Webster","orcid":"https://orcid.org/0000-0003-1389-224X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Webster","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA","Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054402635","display_name":"Ron Alterovitz","orcid":"https://orcid.org/0000-0002-4492-1384"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ron Alterovitz","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA. ron@cs.unc.edu","Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA. ron@cs.unc.edu","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2734,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.79712013,"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":"3255","last_page":"3261"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9969000220298767,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9919000267982483,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/parenchyma","display_name":"Parenchyma","score":0.6722617149353027},{"id":"https://openalex.org/keywords/lung-cancer","display_name":"Lung cancer","score":0.6255853176116943},{"id":"https://openalex.org/keywords/stage","display_name":"Stage (stratigraphy)","score":0.5870620608329773},{"id":"https://openalex.org/keywords/lung","display_name":"Lung","score":0.5619884729385376},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5194829702377319},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5100961327552795},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.39251649379730225},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.3569425344467163},{"id":"https://openalex.org/keywords/oncology","display_name":"Oncology","score":0.19517144560813904},{"id":"https://openalex.org/keywords/internal-medicine","display_name":"Internal medicine","score":0.1821800172328949},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16678497195243835},{"id":"https://openalex.org/keywords/pathology","display_name":"Pathology","score":0.1319507658481598},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07923489809036255}],"concepts":[{"id":"https://openalex.org/C196822366","wikidata":"https://www.wikidata.org/wiki/Q270524","display_name":"Parenchyma","level":2,"score":0.6722617149353027},{"id":"https://openalex.org/C2776256026","wikidata":"https://www.wikidata.org/wiki/Q47912","display_name":"Lung cancer","level":2,"score":0.6255853176116943},{"id":"https://openalex.org/C146357865","wikidata":"https://www.wikidata.org/wiki/Q1123245","display_name":"Stage (stratigraphy)","level":2,"score":0.5870620608329773},{"id":"https://openalex.org/C2777714996","wikidata":"https://www.wikidata.org/wiki/Q7886","display_name":"Lung","level":2,"score":0.5619884729385376},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5194829702377319},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5100961327552795},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.39251649379730225},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3569425344467163},{"id":"https://openalex.org/C143998085","wikidata":"https://www.wikidata.org/wiki/Q162555","display_name":"Oncology","level":1,"score":0.19517144560813904},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.1821800172328949},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16678497195243835},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.1319507658481598},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07923489809036255},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2015.7353829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353829","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:26942041","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26942041","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:4771380","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4771380","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:4771380","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4771380","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":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W343994056","https://openalex.org/W1424654272","https://openalex.org/W1486932855","https://openalex.org/W1528755127","https://openalex.org/W1589824090","https://openalex.org/W1964102168","https://openalex.org/W1987421030","https://openalex.org/W2004139909","https://openalex.org/W2024382047","https://openalex.org/W2040709641","https://openalex.org/W2055466277","https://openalex.org/W2057960800","https://openalex.org/W2072558512","https://openalex.org/W2081709636","https://openalex.org/W2090415875","https://openalex.org/W2091884377","https://openalex.org/W2093664976","https://openalex.org/W2100156971","https://openalex.org/W2107550832","https://openalex.org/W2118742040","https://openalex.org/W2119531408","https://openalex.org/W2121939955","https://openalex.org/W2131150943","https://openalex.org/W2132386660","https://openalex.org/W2141933910","https://openalex.org/W2149228151","https://openalex.org/W2158703827","https://openalex.org/W2159751112","https://openalex.org/W2168278516","https://openalex.org/W2180065899","https://openalex.org/W2525425589","https://openalex.org/W2611243847","https://openalex.org/W3104753760","https://openalex.org/W6664274544","https://openalex.org/W6684910095","https://openalex.org/W6728102747"],"related_works":["https://openalex.org/W2417903212","https://openalex.org/W4254799820","https://openalex.org/W2281741346","https://openalex.org/W2128541281","https://openalex.org/W1992581245","https://openalex.org/W4248756257","https://openalex.org/W1998429617","https://openalex.org/W2463748233","https://openalex.org/W1972477889","https://openalex.org/W2617262006"],"abstract_inverted_index":{"Lung":[0],"cancer":[1],"is":[2,12,17,84],"the":[3,54,62,88,96,100,117,121,143,147,150,158],"leading":[4],"cause":[5],"of":[6,71,77,142,149],"cancer-related":[7],"death,":[8],"and":[9,103,114,145,163],"early-stage":[10,69],"diagnosis":[11,70],"critical":[13],"to":[14,56,87,120,165],"survival.":[15],"Biopsy":[16],"typically":[18],"required":[19],"for":[20,29,42,139],"a":[21,39,43,49,82,90,104,109],"definitive":[22],"diagnosis,":[23],"but":[24],"current":[25],"low-risk":[26],"clinical":[27],"options":[28],"lung":[30,46,72,101,118],"biopsy":[31,35],"cannot":[32],"access":[33,47],"all":[34],"sites.":[36],"We":[37,156],"introduce":[38],"motion":[40,135,159],"planner":[41,136],"multilumen":[44],"transoral":[45],"system,":[48],"new":[50],"system":[51,75,144],"that":[52],"has":[53],"potential":[55],"perform":[57],"safe":[58],"biopsies":[59],"anywhere":[60],"in":[61,80,152,173],"lung,":[63,89],"which":[64,81],"could":[65],"enable":[66],"more":[67],"effective":[68],"cancer.":[73],"The":[74],"consists":[76],"three":[78],"stages":[79,151],"bronchoscope":[83],"deployed":[85],"transorally":[86],"concentric":[91,112],"tube":[92,113],"robot":[93],"pierces":[94],"through":[95,108,116],"bronchial":[97],"tubes":[98],"into":[99],"parenchyma,":[102],"steerable":[105],"needle":[106],"deploys":[107],"properly":[110],"oriented":[111],"steers":[115],"parenchyma":[119],"target":[122],"site":[123],"while":[124],"avoiding":[125],"anatomical":[126,175],"obstacles":[127,172],"such":[128],"as":[129],"significant":[130],"blood":[131],"vessels.":[132],"A":[133],"sampling-based":[134],"computes":[137],"actions":[138],"each":[140],"stage":[141],"considers":[146],"coupling":[148],"an":[153],"efficient":[154],"manner.":[155],"demonstrate":[157],"planner's":[160],"fast":[161],"performance":[162],"ability":[164],"compute":[166],"plans":[167],"with":[168],"high":[169],"clearance":[170],"from":[171],"simulated":[174],"scenarios.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"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"}