{"id":"https://openalex.org/W4405785227","doi":"https://doi.org/10.1109/iros58592.2024.10802079","title":"SuPerPM: A Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data","display_name":"SuPerPM: A Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785227","doi":"https://doi.org/10.1109/iros58592.2024.10802079"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802079","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802079","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5021443603","display_name":"Shan Lin","orcid":"https://orcid.org/0000-0001-8898-6481"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shan Lin","raw_affiliation_strings":["University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093"],"affiliations":[{"raw_affiliation_string":"University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032379848","display_name":"Albert J. Miao","orcid":null},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Albert J. Miao","raw_affiliation_strings":["University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093"],"affiliations":[{"raw_affiliation_string":"University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092950239","display_name":"Ali Alabiad","orcid":null},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali Alabiad","raw_affiliation_strings":["University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093"],"affiliations":[{"raw_affiliation_string":"University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101783051","display_name":"Fei Liu","orcid":"https://orcid.org/0000-0003-0266-6896"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fei Liu","raw_affiliation_strings":["University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093"],"affiliations":[{"raw_affiliation_string":"University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100681012","display_name":"Kaiyuan Wang","orcid":"https://orcid.org/0000-0002-1114-6481"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaiyuan Wang","raw_affiliation_strings":["University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093"],"affiliations":[{"raw_affiliation_string":"University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081984167","display_name":"Jingpei Lu","orcid":"https://orcid.org/0000-0002-9136-6096"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingpei Lu","raw_affiliation_strings":["University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093"],"affiliations":[{"raw_affiliation_string":"University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058235831","display_name":"Florian Richter","orcid":"https://orcid.org/0000-0002-7669-1923"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Florian Richter","raw_affiliation_strings":["University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093"],"affiliations":[{"raw_affiliation_string":"University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054598974","display_name":"Michael C. Yip","orcid":"https://orcid.org/0000-0001-9689-0172"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael C. Yip","raw_affiliation_strings":["University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093"],"affiliations":[{"raw_affiliation_string":"University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5021443603"],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":1.2114,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.82147008,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"12780","last_page":"12786"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9954000115394592,"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"}},"topics":[{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9954000115394592,"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":0.9776999950408936,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9448999762535095,"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/computer-science","display_name":"Computer science","score":0.6874220371246338},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6366419196128845},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6262545585632324},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5916377305984497},{"id":"https://openalex.org/keywords/surgical-simulation","display_name":"Surgical simulation","score":0.5767349600791931},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47292524576187134},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34014222025871277},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.14867958426475525},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09382948279380798}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6874220371246338},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6366419196128845},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6262545585632324},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5916377305984497},{"id":"https://openalex.org/C3018608816","wikidata":"https://www.wikidata.org/wiki/Q195818","display_name":"Surgical simulation","level":2,"score":0.5767349600791931},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47292524576187134},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34014222025871277},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.14867958426475525},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09382948279380798},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","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},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802079","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802079","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/5","score":0.4399999976158142,"display_name":"Gender equality"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1967329161","https://openalex.org/W2047947369","https://openalex.org/W2049582733","https://openalex.org/W2061417916","https://openalex.org/W2065906272","https://openalex.org/W2091199605","https://openalex.org/W2119851068","https://openalex.org/W2131675109","https://openalex.org/W2151103935","https://openalex.org/W2325034626","https://openalex.org/W2518605621","https://openalex.org/W2735048916","https://openalex.org/W2805360354","https://openalex.org/W2883758202","https://openalex.org/W2909237156","https://openalex.org/W2941276819","https://openalex.org/W2972836290","https://openalex.org/W2990974996","https://openalex.org/W3035456643","https://openalex.org/W3035671825","https://openalex.org/W3088230178","https://openalex.org/W3150252053","https://openalex.org/W3158545781","https://openalex.org/W3159776191","https://openalex.org/W3166855724","https://openalex.org/W3179159099","https://openalex.org/W3201665470","https://openalex.org/W3205069315","https://openalex.org/W3205146762","https://openalex.org/W3205231824","https://openalex.org/W3206787706","https://openalex.org/W3207132575","https://openalex.org/W3216353509","https://openalex.org/W4226265017","https://openalex.org/W4285102336","https://openalex.org/W4383108447","https://openalex.org/W4390874575","https://openalex.org/W6618372016","https://openalex.org/W6675606146","https://openalex.org/W6736683735","https://openalex.org/W6780739596"],"related_works":["https://openalex.org/W1972035260","https://openalex.org/W2628861693","https://openalex.org/W3203087560","https://openalex.org/W4301594054","https://openalex.org/W2794488505","https://openalex.org/W4361279463","https://openalex.org/W3125889879","https://openalex.org/W4232814730","https://openalex.org/W2975814312","https://openalex.org/W3124422538"],"abstract_inverted_index":{"A":[0],"major":[1],"source":[2],"of":[3,95],"endoscopic":[4,93],"tissue":[5,97],"tracking":[6,162],"errors":[7],"during":[8],"deformations":[9,47],"stems":[10],"from":[11],"wrong":[12],"data":[13,42,67,94],"association":[14],"between":[15,108],"observed":[16],"sensor":[17],"measurements":[18],"with":[19,68],"previously":[20],"tracked":[21],"scene.":[22],"To":[23],"mitigate":[24],"this":[25],"issue,":[26],"we":[27,91],"present":[28],"a":[29,101,125],"surgical":[30,83,102,147,160],"perception":[31],"framework,":[32],"SuPerPM,":[33],"that":[34,132,149],"leverages":[35],"learning-based":[36],"non-rigid":[37],"point":[38,59,71,109],"cloud":[39,72],"matching":[40],"for":[41,58,86],"association,":[43],"thus":[44],"accommodating":[45],"larger":[46],"than":[48],"previous":[49],"approaches":[50],"which":[51,74],"relied":[52],"on":[53,144],"Iterative":[54],"Closest":[55],"Point":[56],"(ICP)":[57],"associations.":[60],"The":[61,139],"learning":[62,89],"models":[63],"typically":[64],"require":[65],"training":[66],"ground":[69,118],"truth":[70],"correspondences,":[73],"is":[75,142],"challenging":[76,146],"or":[77],"even":[78],"impractical":[79],"to":[80,115,130,136],"collect":[81],"in":[82],"environments.":[84],"Thus,":[85],"tuning":[87],"the":[88,133],"model,":[90],"gather":[92],"soft":[96],"being":[98],"manipulated":[99],"by":[100,123,152],"robot":[103],"and":[104],"then":[105],"establish":[106],"correspondences":[107,134],"clouds":[110],"at":[111],"different":[112],"time":[113],"points":[114],"serve":[116],"as":[117],"truth.":[119],"This":[120],"was":[121],"achieved":[122],"employing":[124],"position-based":[126],"dynamics":[127],"(PBD)":[128],"simulation":[129],"ensure":[131],"adhered":[135],"physical":[137],"constraints.":[138],"proposed":[140],"framework":[141],"demonstrated":[143],"several":[145],"datasets":[148],"are":[150],"characterized":[151],"large":[153],"deformations,":[154],"achieving":[155],"superior":[156],"performance":[157],"over":[158],"advanced":[159],"scene":[161],"algorithms.":[163],"<sup":[164],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[165],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[166]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}