{"id":"https://openalex.org/W4313166209","doi":"https://doi.org/10.1109/iros47612.2022.9981164","title":"Automated Flexible Needle Trajectory Planning for Keyhole Neurosurgery Using Reinforcement Learning","display_name":"Automated Flexible Needle Trajectory Planning for Keyhole Neurosurgery Using Reinforcement Learning","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313166209","doi":"https://doi.org/10.1109/iros47612.2022.9981164"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981164","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/A5101394080","display_name":"Jayesh Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"facility","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Jayesh Kumar","raw_affiliation_strings":["Department of Engineering Design at Indian Institute of Technology Madras,Chennai,India,6000036"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Design at Indian Institute of Technology Madras,Chennai,India,6000036","institution_ids":["https://openalex.org/I24676775"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004896215","display_name":"Chinmay Satish Raut","orcid":null},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"facility","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Chinmay Satish Raut","raw_affiliation_strings":["Department of Engineering Design at Indian Institute of Technology Madras,Chennai,India,6000036"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Design at Indian Institute of Technology Madras,Chennai,India,6000036","institution_ids":["https://openalex.org/I24676775"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046099375","display_name":"Niravkumar Patel","orcid":"https://orcid.org/0000-0002-8113-6078"},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"facility","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Niravkumar Patel","raw_affiliation_strings":["Department of Engineering Design at Indian Institute of Technology Madras,Chennai,India,6000036"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Design at Indian Institute of Technology Madras,Chennai,India,6000036","institution_ids":["https://openalex.org/I24676775"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101394080"],"corresponding_institution_ids":["https://openalex.org/I24676775"],"apc_list":null,"apc_paid":null,"fwci":0.5393,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.75688008,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4018","last_page":"4023"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9983000159263611,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9950000047683716,"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/keyhole","display_name":"Keyhole","score":0.6779805421829224},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6450395584106445},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6269770264625549},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6055081486701965},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5550004839897156},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5340686440467834},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5115329027175903},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.47729694843292236},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.42069464921951294},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18827703595161438},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1149042546749115},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10979381203651428}],"concepts":[{"id":"https://openalex.org/C2776139624","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Keyhole","level":3,"score":0.6779805421829224},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6450395584106445},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6269770264625549},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6055081486701965},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5550004839897156},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5340686440467834},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5115329027175903},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.47729694843292236},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.42069464921951294},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18827703595161438},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1149042546749115},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10979381203651428},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19474535","wikidata":"https://www.wikidata.org/wiki/Q131172","display_name":"Welding","level":2,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981164","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W571818863","https://openalex.org/W1641498739","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W2006134281","https://openalex.org/W2024591926","https://openalex.org/W2098029503","https://openalex.org/W2098306053","https://openalex.org/W2120884642","https://openalex.org/W2134558064","https://openalex.org/W2156737235","https://openalex.org/W2168278516","https://openalex.org/W2201506230","https://openalex.org/W2464708700","https://openalex.org/W2732715059","https://openalex.org/W2786650180","https://openalex.org/W2788503139","https://openalex.org/W2793998795","https://openalex.org/W2930849944","https://openalex.org/W2963864421","https://openalex.org/W2975243818","https://openalex.org/W3033878890","https://openalex.org/W3090407809","https://openalex.org/W4200553277","https://openalex.org/W6683195989","https://openalex.org/W6684921986"],"related_works":["https://openalex.org/W2364182771","https://openalex.org/W4283011689","https://openalex.org/W2052585506","https://openalex.org/W1992164165","https://openalex.org/W2009266040","https://openalex.org/W1996117774","https://openalex.org/W1480869454","https://openalex.org/W1963656340","https://openalex.org/W2896295868","https://openalex.org/W2366140387"],"abstract_inverted_index":{"Planning":[0],"a":[1,43,67],"safe":[2],"trajectory":[3,25],"for":[4,47,52],"minimally":[5],"invasive":[6],"(keyhole)":[7],"neurosurgery":[8],"procedures":[9],"require":[10],"avoiding":[11,161],"critical":[12,89,163],"anatomical":[13,164],"structures":[14,90],"such":[15,27],"as":[16,28],"blood":[17,102],"vessels":[18,103],"and":[19,30,118,151],"ventricles":[20],"while":[21,160],"optimizing":[22],"the":[23,35,125,131,145,162],"needle":[24,36,54],"parameters":[26],"length":[29],"curvature":[31],"to":[32,155],"comply":[33],"with":[34,115,130],"kinematics.":[37],"In":[38],"this":[39],"paper,":[40],"we":[41],"propose":[42],"reinforcement":[44,69],"learning-based":[45],"method":[46],"obtaining":[48],"kinematically":[49],"feasible":[50],"trajectories":[51,153],"flexible":[53],"insertions.":[55],"Proposed":[56],"approach":[57,147],"utilizes":[58],"Bezier":[59],"curve":[60],"control":[61],"points":[62],"that":[63,85,144],"are":[64,128],"generated":[65],"by":[66],"reward-based":[68],"learning":[70],"framework,":[71],"called":[72],"Flexible":[73],"Needle":[74],"Path":[75],"Generation":[76],"(FNPG).":[77],"FNPG":[78,126,146],"framework":[79,127],"is":[80],"trained":[81],"using":[82],"an":[83],"environment":[84],"consists":[86],"of":[87,98],"(1)":[88],"(e.g.":[91],"ventricles)":[92],"obtained":[93,123],"through":[94,124],"atlas":[95],"based":[96,134],"segmentation":[97],"MRI-T1":[99],"images,":[100],"(2)":[101],"segmented":[104],"from":[105],"MR":[106],"angiography":[107],"(MRA)":[108],"data":[109],"and,":[110],"(3)":[111],"simulated":[112],"brain":[113],"tumor":[114],"varying":[116],"size":[117],"location.":[119],"The":[120,141],"curvilinear":[121],"paths":[122],"compared":[129,154],"traditional":[132],"sampling":[133],"algorithm":[135],"RRT":[136,156],"<sup":[137,157],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[138,158],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">*</sup>":[139,159],".":[140],"results":[142],"show":[143],"can":[148],"produce":[149],"smoother":[150],"shorter":[152],"structures.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}