{"id":"https://openalex.org/W2908968328","doi":"https://doi.org/10.1109/iros.2018.8593689","title":"Towards to a Robotic Assisted System for Percutaneous Nephrolithotomy","display_name":"Towards to a Robotic Assisted System for Percutaneous Nephrolithotomy","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2908968328","doi":"https://doi.org/10.1109/iros.2018.8593689","mag":"2908968328"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593689","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593689","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5075221193","display_name":"Hsieh-Yu Li","orcid":"https://orcid.org/0000-0003-2651-917X"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Hsieh-Yu Li","raw_affiliation_strings":["Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore"],"affiliations":[{"raw_affiliation_string":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054377933","display_name":"Ishara Paranawithana","orcid":"https://orcid.org/0000-0001-6509-9687"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ishara Paranawithana","raw_affiliation_strings":["Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore"],"affiliations":[{"raw_affiliation_string":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031502311","display_name":"Zhong Hoo Chau","orcid":null},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhong Hoo Chau","raw_affiliation_strings":["Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore"],"affiliations":[{"raw_affiliation_string":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048861559","display_name":"L. Yang","orcid":"https://orcid.org/0000-0002-3294-0879"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Liangjing Yang","raw_affiliation_strings":["Zhejiang University, University of Illinois at Urbana-Champaign Institute, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University, University of Illinois at Urbana-Champaign Institute, China","institution_ids":["https://openalex.org/I157725225","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018833949","display_name":"Terence Sey Kiat Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I2802225915","display_name":"Changi General Hospital","ror":"https://ror.org/02q854y08","country_code":"SG","type":"healthcare","lineage":["https://openalex.org/I2802225915"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Terence Sey Kiat Lim","raw_affiliation_strings":["Department of Urology, Changi General Hospital, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Urology, Changi General Hospital, Singapore","institution_ids":["https://openalex.org/I2802225915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021980751","display_name":"Shaohui Foong","orcid":"https://orcid.org/0000-0002-9724-6159"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shaohui Foong","raw_affiliation_strings":["Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore"],"affiliations":[{"raw_affiliation_string":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112001779","display_name":"Foo Cheong Ng","orcid":null},"institutions":[{"id":"https://openalex.org/I2802225915","display_name":"Changi General Hospital","ror":"https://ror.org/02q854y08","country_code":"SG","type":"healthcare","lineage":["https://openalex.org/I2802225915"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Foo Cheong Ng","raw_affiliation_strings":["Department of Urology, Changi General Hospital, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Urology, Changi General Hospital, Singapore","institution_ids":["https://openalex.org/I2802225915"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023142347","display_name":"U-Xuan Tan","orcid":"https://orcid.org/0000-0002-5757-1379"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"U-Xuan Tan","raw_affiliation_strings":["Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore"],"affiliations":[{"raw_affiliation_string":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5075221193"],"corresponding_institution_ids":["https://openalex.org/I152815399"],"apc_list":null,"apc_paid":null,"fwci":1.8483,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.85779708,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"791","last_page":"797"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.989799976348877,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9843999743461609,"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/percutaneous-nephrolithotomy","display_name":"Percutaneous nephrolithotomy","score":0.8441088199615479},{"id":"https://openalex.org/keywords/percutaneous","display_name":"Percutaneous","score":0.6364338397979736},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5970454216003418},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5964211821556091},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.509460985660553},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.3953137993812561},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3830416202545166},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.3812418580055237},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3731005787849426}],"concepts":[{"id":"https://openalex.org/C2780885103","wikidata":"https://www.wikidata.org/wiki/Q7167200","display_name":"Percutaneous nephrolithotomy","level":3,"score":0.8441088199615479},{"id":"https://openalex.org/C2780813298","wikidata":"https://www.wikidata.org/wiki/Q2071287","display_name":"Percutaneous","level":2,"score":0.6364338397979736},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5970454216003418},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5964211821556091},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.509460985660553},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.3953137993812561},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3830416202545166},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3812418580055237},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3731005787849426},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8593689","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593689","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":32,"referenced_works":["https://openalex.org/W107769492","https://openalex.org/W312501302","https://openalex.org/W1535810436","https://openalex.org/W1548528537","https://openalex.org/W1967377907","https://openalex.org/W1986012074","https://openalex.org/W1990552485","https://openalex.org/W2005573164","https://openalex.org/W2006171429","https://openalex.org/W2009192474","https://openalex.org/W2020624939","https://openalex.org/W2045783741","https://openalex.org/W2052901269","https://openalex.org/W2061812187","https://openalex.org/W2062864099","https://openalex.org/W2093341216","https://openalex.org/W2094111095","https://openalex.org/W2113520545","https://openalex.org/W2124067196","https://openalex.org/W2127480863","https://openalex.org/W2140367382","https://openalex.org/W2141878121","https://openalex.org/W2159126926","https://openalex.org/W2167767036","https://openalex.org/W2169107926","https://openalex.org/W2170127248","https://openalex.org/W2482792214","https://openalex.org/W2524241018","https://openalex.org/W2593465928","https://openalex.org/W2792539092","https://openalex.org/W4254005064","https://openalex.org/W4299605682"],"related_works":["https://openalex.org/W2367666192","https://openalex.org/W2373712671","https://openalex.org/W4310334663","https://openalex.org/W2994267115","https://openalex.org/W2781059303","https://openalex.org/W2019824262","https://openalex.org/W2385187611","https://openalex.org/W3157976030","https://openalex.org/W1980209090","https://openalex.org/W2366481033"],"abstract_inverted_index":{"Percutaneous":[0],"Nephrolithotomy":[1],"is":[2,36,41,94],"a":[3,48,57,103],"recommended":[4],"treatment":[5],"method":[6],"for":[7,71,87,153],"large":[8],"kidney":[9,128],"stone":[10,129],"removal.":[11],"However,":[12],"the":[13,21,26,29,33,39,64,72,99,118,122,126,132,136,139,146,149],"first":[14],"and":[15,32,66,117,130],"most":[16],"important":[17],"step,":[18],"i.e.,":[19],"getting":[20],"percutaneous":[22,105],"access":[23],"to":[24,74,101,144],"create":[25],"tract":[27],"between":[28],"targeted":[30],"calyx":[31],"flank":[34],"skin,":[35],"challenging":[37],"as":[38],"surgeon":[40,65,100,137],"often":[42],"occupied":[43],"by":[44],"several":[45],"tasks":[46],"at":[47],"given":[49],"time.":[50],"Therefore,":[51],"in":[52,69,81],"this":[53,88],"paper,":[54],"we":[55],"propose":[56],"robotic":[58],"assisted":[59,151],"system":[60],"that":[61],"collaborates":[62],"with":[63,148],"provides":[67],"assistance":[68],"order":[70],"surgeons":[73],"focus":[75],"on":[76,112],"more":[77],"critical":[78],"jobs":[79],"resulting":[80],"better":[82],"surgical":[83],"performance.":[84],"A":[85],"procedure":[86,97,147],"robot":[89,119,152],"including":[90],"three":[91],"working":[92],"stages":[93],"described.":[95],"This":[96],"allows":[98],"choose":[102],"suitable":[104],"target":[106,127],"using":[107],"an":[108],"ultrasound":[109],"probe":[110],"based":[111],"his":[113],"or":[114],"her":[115],"experience":[116],"will":[120],"track":[121],"respiratory":[123],"motion":[124],"of":[125],"insert":[131],"needle":[133],"automatically":[134],"after":[135],"releases":[138],"probe.":[140],"Experiments":[141],"are":[142],"conducted":[143],"demonstrate":[145],"proposed":[150],"PCNL.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}