{"id":"https://openalex.org/W4416750255","doi":"https://doi.org/10.1109/iros60139.2025.11246299","title":"Tactile-Guided Robotic Ultrasound: Mapping Preplanned Scan Paths for Intercostal Imaging","display_name":"Tactile-Guided Robotic Ultrasound: Mapping Preplanned Scan Paths for Intercostal Imaging","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750255","doi":"https://doi.org/10.1109/iros60139.2025.11246299"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246299","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5114686064","display_name":"Yifan Zhang","orcid":"https://orcid.org/0000-0002-9190-3509"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Yifan Zhang","raw_affiliation_strings":["Technical University of Munich,Chair for Computer Aided Medical Procedures and Augmented Reality,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair for Computer Aided Medical Procedures and Augmented Reality,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102782165","display_name":"Dianye Huang","orcid":"https://orcid.org/0000-0001-7719-6505"},"institutions":[{"id":"https://openalex.org/I4210142743","display_name":"Munich Center for Quantum Science and Technology","ror":"https://ror.org/04xrcta15","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210142743","https://openalex.org/I8204097"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dianye Huang","raw_affiliation_strings":["Munich Center for Machine Learning (MCML),Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Munich Center for Machine Learning (MCML),Munich,Germany","institution_ids":["https://openalex.org/I4210142743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046896448","display_name":"Nassir Navab","orcid":"https://orcid.org/0000-0002-6032-5611"},"institutions":[{"id":"https://openalex.org/I4210142743","display_name":"Munich Center for Quantum Science and Technology","ror":"https://ror.org/04xrcta15","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210142743","https://openalex.org/I8204097"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Munich Center for Machine Learning (MCML),Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Munich Center for Machine Learning (MCML),Munich,Germany","institution_ids":["https://openalex.org/I4210142743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045257827","display_name":"Zhongliang Jiang","orcid":"https://orcid.org/0000-0001-7461-2200"},"institutions":[{"id":"https://openalex.org/I4210142743","display_name":"Munich Center for Quantum Science and Technology","ror":"https://ror.org/04xrcta15","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210142743","https://openalex.org/I8204097"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zhongliang Jiang","raw_affiliation_strings":["Munich Center for Machine Learning (MCML),Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Munich Center for Machine Learning (MCML),Munich,Germany","institution_ids":["https://openalex.org/I4210142743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5114686064"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38416066,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2177","last_page":"2184"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.6577000021934509,"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":0.6577000021934509,"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/T10727","display_name":"Ultrasound Imaging and Elastography","score":0.07890000194311142,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.023399999365210533,"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/point-cloud","display_name":"Point cloud","score":0.7222999930381775},{"id":"https://openalex.org/keywords/hausdorff-distance","display_name":"Hausdorff distance","score":0.4309000074863434},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4047999978065491},{"id":"https://openalex.org/keywords/scanner","display_name":"Scanner","score":0.4007999897003174},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.38929998874664307},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.38839998841285706},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.3880999982357025},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.36959999799728394}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7222999930381775},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7050999999046326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6743000149726868},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6053000092506409},{"id":"https://openalex.org/C141898687","wikidata":"https://www.wikidata.org/wiki/Q1501997","display_name":"Hausdorff distance","level":2,"score":0.4309000074863434},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4047999978065491},{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.4007999897003174},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.38929998874664307},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.38839998841285706},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3880999982357025},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.36959999799728394},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3499000072479248},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.33399999141693115},{"id":"https://openalex.org/C31601959","wikidata":"https://www.wikidata.org/wiki/Q931309","display_name":"Medical imaging","level":2,"score":0.3197999894618988},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.3000999987125397},{"id":"https://openalex.org/C160306043","wikidata":"https://www.wikidata.org/wiki/Q2576226","display_name":"Rib cage","level":2,"score":0.29660001397132874},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.28610000014305115},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.2827000021934509},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.27720001339912415},{"id":"https://openalex.org/C544519230","wikidata":"https://www.wikidata.org/wiki/Q32566","display_name":"Computed tomography","level":2,"score":0.2639999985694885},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.2614000141620636},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2540000081062317}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246299","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":36,"referenced_works":["https://openalex.org/W2134236847","https://openalex.org/W2503967141","https://openalex.org/W2562785209","https://openalex.org/W2612628788","https://openalex.org/W2753487131","https://openalex.org/W2893379190","https://openalex.org/W3133068115","https://openalex.org/W3157010837","https://openalex.org/W3183858554","https://openalex.org/W3186292497","https://openalex.org/W3195793660","https://openalex.org/W4221166649","https://openalex.org/W4285194566","https://openalex.org/W4285505126","https://openalex.org/W4301392650","https://openalex.org/W4378195137","https://openalex.org/W4379507164","https://openalex.org/W4384701644","https://openalex.org/W4385595204","https://openalex.org/W4385988101","https://openalex.org/W4387790141","https://openalex.org/W4389666134","https://openalex.org/W4390495662","https://openalex.org/W4390788260","https://openalex.org/W4390873692","https://openalex.org/W4390911354","https://openalex.org/W4399849384","https://openalex.org/W4401415597","https://openalex.org/W4402389318","https://openalex.org/W4403094292","https://openalex.org/W4405386576","https://openalex.org/W4407247107","https://openalex.org/W4407376587","https://openalex.org/W4407937880","https://openalex.org/W4413157121","https://openalex.org/W4414375493"],"related_works":[],"abstract_inverted_index":{"Medical":[0],"ultrasound":[1,26,78],"(US)":[2],"imaging":[3,38],"is":[4,116,145,157],"widely":[5],"used":[6],"in":[7,35],"clinical":[8],"examinations":[9],"due":[10,41],"to":[11,42,86,101,148,160,177,194,252],"its":[12],"portability,":[13],"real-time":[14],"capability,":[15],"and":[16,22,97,104,224,232,248],"radiation-free":[17],"nature.":[18],"To":[19,57,128,200],"address":[20],"inter-":[21],"intra-operator":[23],"variability,":[24],"robotic":[25,108],"systems":[27],"have":[28],"gained":[29],"increasing":[30],"attention.":[31],"However,":[32],"their":[33],"application":[34],"challenging":[36],"intercostal":[37,136],"remains":[39],"limited":[40],"the":[43,53,63,123,131,135,138,182,198,202,237,241,253],"lack":[44],"of":[45,65,181,184,229,245],"an":[46,74,161,188],"effective":[47],"scan":[48,170],"path":[49,171],"generation":[50],"method":[51,193],"within":[52],"constrained":[54],"acoustic":[55,102],"window.":[56],"overcome":[58],"this":[59],"challenge,":[60],"we":[61,186,205],"explore":[62],"potential":[64],"tactile":[66,113,140],"cues":[67],"for":[68,77,173],"characterizing":[69],"subcutaneous":[70],"rib":[71],"structures":[72,196],"as":[73],"alternative":[75],"signal":[76],"segmentation-free":[79],"bone":[80,141,164,242],"surface":[81,165],"point":[82,114,143,155,166],"cloud":[83,115,144,156],"extraction.":[84],"Compared":[85],"2D":[87],"US":[88],"images,":[89],"1D":[90],"tactile-related":[91],"signals":[92],"offer":[93],"higher":[94],"processing":[95],"efficiency":[96],"are":[98],"less":[99],"susceptible":[100],"noise":[103],"artifacts.":[105],"By":[106],"leveraging":[107],"tracking":[109],"data,":[110],"a":[111,119,150],"sparse":[112,139],"generated":[117],"through":[118],"few":[120],"scans":[121],"along":[122],"rib,":[124],"mimicking":[125],"human":[126],"palpation.":[127],"robustly":[129],"map":[130],"scanning":[132,215],"trajectory":[133],"into":[134],"space,":[137],"location":[142],"first":[146],"interpolated":[147],"form":[149],"denser":[151],"representation.":[152],"This":[153],"refined":[154],"then":[158],"registered":[159],"image-based":[162],"dense":[163],"cloud,":[167],"enabling":[168],"accurate":[169],"mapping":[172,217],"individual":[174],"patients.":[175],"Additionally,":[176],"ensure":[178],"full":[179],"coverage":[180],"object":[183,239],"interest,":[185],"introduce":[187],"automated":[189],"tilt":[190],"angle":[191],"adjustment":[192],"visualize":[195],"beneath":[197,240],"bone.":[199],"validate":[201],"proposed":[203],"method,":[204],"conducted":[206],"comprehensive":[207],"experiments":[208],"on":[209],"four":[210],"distinct":[211],"phantoms.":[212],"The":[213],"final":[214],"waypoint":[216],"achieved":[218],"Mean":[219],"Nearest":[220],"Neighbor":[221],"Distance":[222],"(MNND)":[223],"Hausdorff":[225],"distance":[226],"(HD)":[227],"errors":[228,244],"3.41":[230],"mm":[231,247,250],"3.65":[233],"mm,":[234],"respectively,":[235],"while":[236],"reconstructed":[238],"had":[243],"0.69":[246],"2.2":[249],"compared":[251],"CT":[254],"ground":[255],"truth.":[256]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
