{"id":"https://openalex.org/W2564414401","doi":"https://doi.org/10.1109/iros.2016.7759292","title":"Making robots mill bone more like human surgeons: Using bone density and anatomic information to mill safely and efficiently","display_name":"Making robots mill bone more like human surgeons: Using bone density and anatomic information to mill safely and efficiently","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2564414401","doi":"https://doi.org/10.1109/iros.2016.7759292","mag":"2564414401","pmid":"https://pubmed.ncbi.nlm.nih.gov/28824818"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759292","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/5558793","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030341212","display_name":"Neal P. Dillon","orcid":null},"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":true,"raw_author_name":"Neal P. Dillon","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN USA","Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN USA","institution_ids":[]},{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007273054","display_name":"Loris Fichera","orcid":"https://orcid.org/0000-0001-7347-9479"},"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":"Loris Fichera","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN USA","Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN USA","institution_ids":[]},{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029034501","display_name":"Patrick S. Wellborn","orcid":"https://orcid.org/0000-0003-0357-2998"},"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":"Patrick S. Wellborn","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN USA","Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN USA","institution_ids":[]},{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056906575","display_name":"Robert F. Labadie","orcid":"https://orcid.org/0000-0003-0541-4336"},"institutions":[{"id":"https://openalex.org/I901861585","display_name":"Vanderbilt University Medical Center","ror":"https://ror.org/05dq2gs74","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210162197","https://openalex.org/I901861585"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert F. Labadie","raw_affiliation_strings":["Department of Otolaryngology, Vanderbilt University Medical Center, Nashville, TN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Otolaryngology, Vanderbilt University Medical Center, Nashville, TN, USA","institution_ids":["https://openalex.org/I901861585"]}]},{"author_position":"last","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 USA","Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN USA","institution_ids":[]},{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5030341212"],"corresponding_institution_ids":["https://openalex.org/I200719446"],"apc_list":null,"apc_paid":null,"fwci":0.8761,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.75709758,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"2016","issue":null,"first_page":"1837","last_page":"1843"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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":0.9987999796867371,"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/T10359","display_name":"Dental Implant Techniques and Outcomes","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/3504","display_name":"Oral Surgery"},"field":{"id":"https://openalex.org/fields/35","display_name":"Dentistry"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10776","display_name":"Spinal Fractures and Fixation Techniques","score":0.9772999882698059,"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/robot","display_name":"Robot","score":0.7207419276237488},{"id":"https://openalex.org/keywords/mill","display_name":"Mill","score":0.7052003145217896},{"id":"https://openalex.org/keywords/human-bone","display_name":"Human bone","score":0.5432379245758057},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5049605965614319},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4420815408229828},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36225926876068115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2546287775039673},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.22903349995613098},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.12074089050292969}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7207419276237488},{"id":"https://openalex.org/C16057445","wikidata":"https://www.wikidata.org/wiki/Q44494","display_name":"Mill","level":2,"score":0.7052003145217896},{"id":"https://openalex.org/C2993373878","wikidata":"https://www.wikidata.org/wiki/Q9621","display_name":"Human bone","level":3,"score":0.5432379245758057},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5049605965614319},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4420815408229828},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36225926876068115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2546287775039673},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.22903349995613098},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.12074089050292969},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C202751555","wikidata":"https://www.wikidata.org/wiki/Q221681","display_name":"In vitro","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2016.7759292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759292","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmid:28824818","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/28824818","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:5558793","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5558793","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:5558793","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5558793","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W64901539","https://openalex.org/W1570869269","https://openalex.org/W1854262898","https://openalex.org/W1966036053","https://openalex.org/W1979874325","https://openalex.org/W2002208310","https://openalex.org/W2011246361","https://openalex.org/W2011843892","https://openalex.org/W2034699205","https://openalex.org/W2048650656","https://openalex.org/W2056358469","https://openalex.org/W2071882623","https://openalex.org/W2075244165","https://openalex.org/W2087318557","https://openalex.org/W2111178429","https://openalex.org/W2113387871","https://openalex.org/W2115060260","https://openalex.org/W2141892017","https://openalex.org/W2142346507","https://openalex.org/W2147256805","https://openalex.org/W2155216368","https://openalex.org/W4231800612","https://openalex.org/W6813424279"],"related_works":["https://openalex.org/W4379116282","https://openalex.org/W2042170913","https://openalex.org/W2133145600","https://openalex.org/W2151511218","https://openalex.org/W4251774980","https://openalex.org/W2367531444","https://openalex.org/W3177744229","https://openalex.org/W2028639636","https://openalex.org/W3024937940","https://openalex.org/W2041946918"],"abstract_inverted_index":{"Surgeons":[0,10,27],"and":[1,14,35,50,62,76,93,110,129,144,156],"robots":[2],"typically":[3],"use":[4,57],"different":[5],"approaches":[6],"for":[7,96],"bone":[8,59,142],"milling.":[9],"adjust":[11,29],"their":[12],"speed":[13,34],"tool":[15],"incidence":[16,94],"angle":[17],"constantly,":[18],"which":[19],"enables":[20],"them":[21],"to":[22,45,67,163,170],"efficiently":[23],"mill":[24,71],"porous":[25],"bone.":[26,116],"also":[28],"milling":[30,85,121],"parameters":[31],"such":[32],"as":[33],"depth":[36],"of":[37,64,107],"cut":[38],"throughout":[39],"the":[40,113,138,171],"procedure":[41,127],"based":[42],"on":[43,140],"proximity":[44],"sensitive":[46],"structures":[47],"like":[48,73,78,112],"nerves":[49],"blood":[51],"vessels.":[52],"In":[53],"this":[54],"paper":[55],"we":[56],"image-based":[58],"density":[60,109],"estimates":[61],"segmentations":[63],"vital":[65,133,152],"anatomy":[66,153],"make":[68],"a":[69,74,164],"robot":[70],"more":[72],"surgeon":[75],"less":[77],"an":[79],"industrial":[80],"computer":[81],"numeric":[82],"controlled":[83],"(CNC)":[84],"machine.":[86],"We":[87,135],"produce":[88],"patient-specific":[89],"plans":[90,101],"optimizing":[91],"velocity":[92],"angles":[95],"spherical":[97],"cutting":[98],"burrs.":[99],"These":[100],"are":[102],"particularly":[103],"useful":[104],"in":[105,119,122,161],"bones":[106],"variable":[108],"porosity":[111],"human":[114],"temporal":[115,141],"They":[117],"result":[118],"fast":[120],"non-critical":[123],"areas,":[124],"reducing":[125],"overall":[126],"time,":[128],"lower":[130],"forces":[131,150,158],"near":[132,151],"anatomy.":[134],"experimentally":[136],"demonstrate":[137],"algorithm":[139],"phantoms":[143],"show":[145],"that":[146],"it":[147],"reduces":[148],"mean":[149],"by":[154,159],"63%":[155],"peak":[157],"50%":[160],"comparison":[162],"CNC-type":[165],"path,":[166],"without":[167],"adding":[168],"time":[169],"procedure.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}