{"id":"https://openalex.org/W4312548324","doi":"https://doi.org/10.1109/iros47612.2022.9981141","title":"Towards Autonomous Control of Surgical Instruments using Adaptive-Fusion Tracking and Robot Self-Calibration","display_name":"Towards Autonomous Control of Surgical Instruments using Adaptive-Fusion Tracking and Robot Self-Calibration","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312548324","doi":"https://doi.org/10.1109/iros47612.2022.9981141"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981141","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5085313543","display_name":"Chiyu Wang","orcid":"https://orcid.org/0000-0002-4721-8942"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Chiyu Wang","raw_affiliation_strings":["The Hamlyn Centre for Robotic Surgery, Imperial College London,London,UK,SW7 2AZ"],"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London,London,UK,SW7 2AZ","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067359986","display_name":"Jo\u00e3o Cartucho","orcid":"https://orcid.org/0000-0001-8600-2979"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jo\u00e3o Cartucho","raw_affiliation_strings":["The Hamlyn Centre for Robotic Surgery, Imperial College London,London,UK,SW7 2AZ"],"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London,London,UK,SW7 2AZ","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086866155","display_name":"Daniel S. Elson","orcid":"https://orcid.org/0000-0002-5578-3941"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Daniel Elson","raw_affiliation_strings":["The Hamlyn Centre for Robotic Surgery, Imperial College London,London,UK,SW7 2AZ"],"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London,London,UK,SW7 2AZ","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055785355","display_name":"Ara Darzi","orcid":"https://orcid.org/0000-0001-7815-7989"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ara Darzi","raw_affiliation_strings":["The Hamlyn Centre for Robotic Surgery, Imperial College London,London,UK,SW7 2AZ"],"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London,London,UK,SW7 2AZ","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054387003","display_name":"Stamatia Giannarou","orcid":"https://orcid.org/0000-0002-8745-1343"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Stamatia Giannarou","raw_affiliation_strings":["The Hamlyn Centre for Robotic Surgery, Imperial College London,London,UK,SW7 2AZ"],"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London,London,UK,SW7 2AZ","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5085313543"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":2.222,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.91210139,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2395","last_page":"2401"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9887999892234802,"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/sensor-fusion","display_name":"Sensor fusion","score":0.7316536903381348},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6892743706703186},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6858228445053101},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6855478882789612},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6362082958221436},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5540767312049866},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5425217747688293},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5126344561576843},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4912814497947693},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4816807210445404},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14661002159118652},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08398514986038208}],"concepts":[{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.7316536903381348},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6892743706703186},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6858228445053101},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6855478882789612},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6362082958221436},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5540767312049866},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5425217747688293},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5126344561576843},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4912814497947693},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4816807210445404},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14661002159118652},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08398514986038208},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981141","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2016959837","https://openalex.org/W2030276001","https://openalex.org/W2055749938","https://openalex.org/W2061417916","https://openalex.org/W2072884984","https://openalex.org/W2093735221","https://openalex.org/W2107105904","https://openalex.org/W2119842211","https://openalex.org/W2336187651","https://openalex.org/W2370549573","https://openalex.org/W2558247857","https://openalex.org/W2799460431","https://openalex.org/W2989672669","https://openalex.org/W3003257820","https://openalex.org/W3023564891","https://openalex.org/W3090701241","https://openalex.org/W3092541598","https://openalex.org/W3094103188","https://openalex.org/W3099641329","https://openalex.org/W3101167135","https://openalex.org/W3174683534","https://openalex.org/W3190556283","https://openalex.org/W3213581965"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2353265673","https://openalex.org/W2031175860","https://openalex.org/W2152662039","https://openalex.org/W2145797872"],"abstract_inverted_index":{"The":[0,70],"ability":[1],"to":[2,27,83,85,102,113,135],"track":[3,28],"surgical":[4,29],"instruments":[5],"in":[6,51,142,186],"realtime":[7],"is":[8,76,92],"crucial":[9],"for":[10,109,155],"autonomous":[11,97,156],"Robotic":[12],"Assisted":[13],"Surgery":[14],"(RAS).":[15],"Recently,":[16],"the":[17,54,115,118,133,138,143,146,164,183],"fusion":[18,81,151],"of":[19,53,73,145],"visual":[20],"and":[21,41,88,152,160,188],"kinematic":[22],"data":[23],"has":[24],"been":[25],"proposed":[26,180],"instruments.":[30],"However,":[31],"these":[32,99],"methods":[33],"assume":[34],"that":[35,77,93,131,163,178],"both":[36,185],"sensors":[37],"are":[38,48],"equally":[39],"reliable,":[40],"cannot":[42],"successfully":[43],"handle":[44],"cases":[45],"where":[46],"there":[47],"significant":[49],"perturbations":[50,87],"one":[52],"sensors'":[55],"data.":[56],"In":[57],"this":[58,62,124],"paper,":[59],"we":[60,126,161],"address":[61,123],"problem":[63,91],"by":[64,106,140],"proposing":[65],"an":[66,96],"enhanced":[67],"fusion-based":[68],"method.":[69,173],"main":[71],"advantage":[72],"our":[74,150,172,179],"method":[75,181],"it":[78],"can":[79],"adjust":[80],"weights":[82],"adapt":[84],"sensor":[86],"failures.":[89],"Another":[90],"before":[94],"performing":[95],"task,":[98],"robots":[100],"have":[101],"be":[103],"repetitively":[104],"recalibrated":[105],"a":[107,128],"human":[108],"each":[110],"new":[111],"patient":[112],"estimate":[114],"transformations":[116,139],"between":[117],"different":[119],"robotic":[120],"arms.":[121],"To":[122],"problem,":[125],"propose":[127],"self-calibration":[129],"algorithm":[130],"empowers":[132],"robot":[134,165],"autonomously":[136],"calibrate":[137],"itself":[141],"beginning":[144],"surgery.":[147],"We":[148],"applied":[149],"selfcalibration":[153],"algorithms":[154],"ultrasound":[157,168],"tissue":[158],"scanning":[159],"showed":[162],"achieved":[166],"stable":[167],"imaging":[169],"when":[170],"using":[171],"Our":[174],"performance":[175],"evaluation":[176],"shows":[177],"outperforms":[182],"state-of-art":[184],"normal":[187],"challenging":[189],"situations.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-02-08T09:19:03.324500","created_date":"2025-10-10T00:00:00"}