{"id":"https://openalex.org/W2566902982","doi":"https://doi.org/10.1109/iros.2016.7759539","title":"Needle-tissue interaction force state estimation for robotic surgical suturing","display_name":"Needle-tissue interaction force state estimation for robotic surgical suturing","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2566902982","doi":"https://doi.org/10.1109/iros.2016.7759539","mag":"2566902982","pmid":"https://pubmed.ncbi.nlm.nih.gov/29214097"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759539","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":"conference-paper","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5713916","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081352818","display_name":"Russell C. Jackson","orcid":"https://orcid.org/0000-0002-1362-7182"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Russell C. Jackson","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA","department of Electrical Engineering, Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"department of Electrical Engineering, Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112757780","display_name":"Viraj Desai","orcid":null},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Viraj Desai","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA","department of Electrical Engineering, Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"department of Electrical Engineering, Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054485623","display_name":"Jean P. Castillo","orcid":null},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean P. Castillo","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA","department of Electrical Engineering, Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"department of Electrical Engineering, Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073651156","display_name":"M. Cenk \u00c7avu\u015fo\u011flu","orcid":"https://orcid.org/0000-0003-2800-5922"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Cenk Cavusoglu","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA","department of Electrical Engineering, Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"department of Electrical Engineering, Computer Science (EECS) at Case Western Reserve University in Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I58956616"],"apc_list":null,"apc_paid":null,"fwci":2.7444,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.9040341,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2016","issue":null,"first_page":"3659","last_page":"3664"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9970999956130981,"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"}},{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.9898999929428101,"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/surgical-robot","display_name":"Surgical robot","score":0.6835958957672119},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.5718249678611755},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5419775247573853},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5310397744178772},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5084701776504517},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5082373023033142},{"id":"https://openalex.org/keywords/internal-forces","display_name":"Internal forces","score":0.5078468918800354},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4501127004623413},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4232170581817627},{"id":"https://openalex.org/keywords/fibrous-joint","display_name":"Fibrous joint","score":0.41641560196876526},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37633007764816284},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3704473376274109},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2979273796081543},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.293306827545166},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27297818660736084},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2544161379337311},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2103520929813385},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14291387796401978},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13271352648735046},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09687018394470215},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.07684075832366943}],"concepts":[{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.6835958957672119},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.5718249678611755},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5419775247573853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5310397744178772},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5084701776504517},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5082373023033142},{"id":"https://openalex.org/C2986502102","wikidata":"https://www.wikidata.org/wiki/Q4291900","display_name":"Internal forces","level":2,"score":0.5078468918800354},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4501127004623413},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4232170581817627},{"id":"https://openalex.org/C2777327002","wikidata":"https://www.wikidata.org/wiki/Q2865760","display_name":"Fibrous joint","level":2,"score":0.41641560196876526},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37633007764816284},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3704473376274109},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2979273796081543},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.293306827545166},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27297818660736084},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2544161379337311},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2103520929813385},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14291387796401978},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13271352648735046},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09687018394470215},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.07684075832366943},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2016.7759539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759539","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:29214097","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29214097","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:5713916","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5713916","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:5713916","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5713916","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":[{"id":"https://openalex.org/G4842850444","display_name":null,"funder_award_id":"R01 EB018108","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"}],"funders":[{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1610082327","https://openalex.org/W2003810369","https://openalex.org/W2021923954","https://openalex.org/W2026573005","https://openalex.org/W2026988104","https://openalex.org/W2065424739","https://openalex.org/W2065720004","https://openalex.org/W2069656130","https://openalex.org/W2083717009","https://openalex.org/W2105605116","https://openalex.org/W2109121052","https://openalex.org/W2125511732","https://openalex.org/W2145981264","https://openalex.org/W2153691669","https://openalex.org/W2161404367","https://openalex.org/W2165513203","https://openalex.org/W2206458306","https://openalex.org/W2219779917","https://openalex.org/W2267090408","https://openalex.org/W2275718906","https://openalex.org/W2317096512","https://openalex.org/W2537813136","https://openalex.org/W2715688915","https://openalex.org/W4253528930","https://openalex.org/W6633694296","https://openalex.org/W6688487926","https://openalex.org/W6739716334"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W4233260495","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W3094485622","https://openalex.org/W3001080452"],"abstract_inverted_index":{"Robotically":[0],"Assisted":[1],"Minimally":[2],"Invasive":[3],"Surgery":[4],"(RAMIS)":[5],"offers":[6],"many":[7],"advantages":[8],"over":[9],"manual":[10],"surgical":[11,38],"techniques.":[12],"Most":[13],"of":[14,17,32,57,62,94,133],"the":[15,33,50,54,58,68,81,87,95,113,118],"limitations":[16,34],"RAMIS":[18],"stem":[19],"from":[20,91],"its":[21],"non-intuitive":[22],"user":[23],"interface":[24],"and":[25],"costs.":[26],"One":[27,60],"way":[28],"to":[29,36,52],"mitigate":[30],"some":[31],"is":[35,66,128],"automate":[37],"subtasks":[39],"(e.g.":[40,99],"suturing)":[41],"such":[42],"that":[43],"they":[44],"are":[45],"performed":[46],"faster":[47],"while":[48],"allowing":[49],"surgeon":[51],"plan":[53],"next":[55],"step":[56],"procedure.":[59],"component":[61],"successful":[63],"suture":[64],"automation":[65],"minimizing":[67],"internal":[69,82,119],"tissue":[70,83,88,97],"deformation":[71,89,120],"forces":[72,84,90],"generated":[73,122],"by":[74,123],"driving":[75],"a":[76,124,131],"needle":[77,96,125],"through":[78,130],"tissue.":[79,134],"Minimizing":[80],"requires":[85],"segmenting":[86],"other":[92],"components":[93],"interaction":[98],"friction":[100],"force).":[101],"This":[102],"paper":[103],"proposes":[104],"an":[105],"Unscented":[106],"Kalman":[107],"Filter":[108],"which":[109],"can":[110],"successfully":[111],"model":[112],"force":[114],"components,":[115],"in":[116],"particular":[117],"force,":[121],"as":[126],"it":[127],"driven":[129],"sample":[132]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}