{"id":"https://openalex.org/W4416749475","doi":"https://doi.org/10.1109/iros60139.2025.11246300","title":"Towards Autonomous Robotic Electrosurgery via Thermal Imaging","display_name":"Towards Autonomous Robotic Electrosurgery via Thermal Imaging","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749475","doi":"https://doi.org/10.1109/iros60139.2025.11246300"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246300","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/A5074736549","display_name":"Naveed D. Riaziat","orcid":"https://orcid.org/0000-0003-4759-7660"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Naveed D. Riaziat","raw_affiliation_strings":["Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,Maryland,USA,21211"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,Maryland,USA,21211","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100644990","display_name":"Joseph S. Chen","orcid":"https://orcid.org/0000-0002-3789-8083"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph Chen","raw_affiliation_strings":["Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,Maryland,USA,21211"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,Maryland,USA,21211","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008331040","display_name":"Axel Krieger","orcid":"https://orcid.org/0000-0001-8169-075X"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Axel Krieger","raw_affiliation_strings":["Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,Maryland,USA,21211"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,Maryland,USA,21211","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024658484","display_name":"Jeremy D. Brown","orcid":"https://orcid.org/0000-0001-5586-455X"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeremy D. Brown","raw_affiliation_strings":["Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,Maryland,USA,21211"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,Maryland,USA,21211","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.51280791,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21700","last_page":"21707"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11728","display_name":"Thyroid and Parathyroid Surgery","score":0.9136000275611877,"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/T11728","display_name":"Thyroid and Parathyroid Surgery","score":0.9136000275611877,"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/T10916","display_name":"Surgical Simulation and Training","score":0.05700000002980232,"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/T10868","display_name":"Soft Robotics and Applications","score":0.005799999926239252,"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/electrosurgery","display_name":"Electrosurgery","score":0.9147999882698059},{"id":"https://openalex.org/keywords/thermography","display_name":"Thermography","score":0.6363000273704529},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.423799991607666},{"id":"https://openalex.org/keywords/thermal","display_name":"Thermal","score":0.40779998898506165},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.3887999951839447},{"id":"https://openalex.org/keywords/lead","display_name":"Lead (geology)","score":0.3212999999523163}],"concepts":[{"id":"https://openalex.org/C2778842199","wikidata":"https://www.wikidata.org/wiki/Q1563560","display_name":"Electrosurgery","level":2,"score":0.9147999882698059},{"id":"https://openalex.org/C2779222261","wikidata":"https://www.wikidata.org/wiki/Q624587","display_name":"Thermography","level":3,"score":0.6363000273704529},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4268999993801117},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.423799991607666},{"id":"https://openalex.org/C204530211","wikidata":"https://www.wikidata.org/wiki/Q752823","display_name":"Thermal","level":2,"score":0.40779998898506165},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3887999951839447},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.36410000920295715},{"id":"https://openalex.org/C2777093003","wikidata":"https://www.wikidata.org/wiki/Q6508345","display_name":"Lead (geology)","level":2,"score":0.3212999999523163},{"id":"https://openalex.org/C112987892","wikidata":"https://www.wikidata.org/wiki/Q5051574","display_name":"Catastrophic failure","level":2,"score":0.301800012588501},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2939000129699707},{"id":"https://openalex.org/C2780531524","wikidata":"https://www.wikidata.org/wiki/Q551540","display_name":"Ghosting","level":2,"score":0.29019999504089355},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.27230000495910645},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C2780383046","wikidata":"https://www.wikidata.org/wiki/Q1760958","display_name":"Cutting tool","level":2,"score":0.259799987077713}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246300","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":[{"id":"https://openalex.org/F4320308319","display_name":"Link Foundation","ror":"https://ror.org/02agp0d04"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2000144812","https://openalex.org/W2079231228","https://openalex.org/W2118160709","https://openalex.org/W2346178339","https://openalex.org/W2989205596","https://openalex.org/W4200467713"],"related_works":[],"abstract_inverted_index":{"Electrosurgery":[0],"is":[1,47,62],"a":[2,19,44,143,154],"surgical":[3],"technique":[4],"that":[5,81,172],"can":[6,82,148],"improve":[7],"tissue":[8,69,125],"cutting":[9,12,31,91,114,151,170],"by":[10,93,116,142,153],"reducing":[11],"force":[13,92,115,152],"and":[14,127,147,168],"bleeding.":[15],"However,":[16],"electrosurgery":[17,54],"adds":[18],"risk":[20],"of":[21,52,145,156],"thermal":[22,87,110],"injury":[23,88,111],"to":[24,41,65,85,107,131,160,166],"surrounding":[25],"tissue.":[26],"Expert":[27],"surgeons":[28],"estimate":[29],"desirable":[30],"velocities":[32],"based":[33],"on":[34],"experience":[35],"but":[36],"have":[37,55],"no":[38],"quantifiable":[39],"reference":[40],"indicate":[42],"if":[43],"particular":[45],"velocity":[46,134,182],"optimal.":[48],"Furthermore,":[49],"prior":[50],"demonstrations":[51],"autonomous":[53],"primarily":[56],"used":[57,84],"constant":[58,133,181],"tool":[59,74,95,119],"velocity,":[60],"which":[61],"not":[63],"robust":[64],"changes":[66],"in":[67,124,176],"electrosurgical":[68],"characteristics,":[70],"power":[71],"settings,":[72],"or":[73],"type.":[75],"Thermal":[76],"imaging":[77],"feedback":[78],"provides":[79],"information":[80],"be":[83],"reduce":[86,109,149],"while":[89,112],"balancing":[90,113],"controlling":[94,118],"velocity.":[96,120],"We":[97,121],"introduce":[98],"Thermography":[99],"for":[100,179],"Electrosurgical":[101],"Rate":[102],"Modulation":[103],"via":[104],"Optimization":[105],"(ThERMO)":[106],"autonomously":[108],"intelligently":[117],"demonstrate":[122],"ThERMO":[123,137,158],"phantoms":[126],"compare":[128],"its":[129],"performance":[130],"the":[132,180],"approach.":[135,183],"Overall,":[136],"improves":[138],"cut":[139],"success":[140],"rate":[141],"factor":[144,155],"three":[146],"peak":[150],"two.":[157],"responds":[159],"varying":[161],"environmental":[162],"disturbances,":[163],"reduces":[164],"damage":[165],"tissue,":[167],"completes":[169],"tasks":[171],"would":[173],"otherwise":[174],"result":[175],"catastrophic":[177],"failure":[178]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}