{"id":"https://openalex.org/W4416748924","doi":"https://doi.org/10.1109/iros60139.2025.11246843","title":"Real-Time 3D Guidewire Reconstruction from Intraoperative DSA Images for Robot-Assisted Endovascular Interventions","display_name":"Real-Time 3D Guidewire Reconstruction from Intraoperative DSA Images for Robot-Assisted Endovascular Interventions","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748924","doi":"https://doi.org/10.1109/iros60139.2025.11246843"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246843","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/A5032978967","display_name":"Tianliang Yao","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianliang Yao","raw_affiliation_strings":["Tongji University,College of Electronic and Information Engineering, and Shanghai Institute of Intelligent Science and Technology,Department of Control Science and Engineering,Shanghai,China,200092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,College of Electronic and Information Engineering, and Shanghai Institute of Intelligent Science and Technology,Department of Control Science and Engineering,Shanghai,China,200092","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101653513","display_name":"Bingrui Li","orcid":"https://orcid.org/0000-0002-4807-1452"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Bingrui Li","raw_affiliation_strings":["University of Birmingham,School of Computer Science,Department of Artificial Intelligence and Computer Science,Birmingham,United Kingdom,B15 2TT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Birmingham,School of Computer Science,Department of Artificial Intelligence and Computer Science,Birmingham,United Kingdom,B15 2TT","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101776400","display_name":"Bo L\u00fc","orcid":"https://orcid.org/0000-0003-0471-7546"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Lu","raw_affiliation_strings":["Soochow University,Robotics and Microsystems Center, School of Mechanical and Electric Engineering,Suzhou,China,215131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soochow University,Robotics and Microsystems Center, School of Mechanical and Electric Engineering,Suzhou,China,215131","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102286428","display_name":"Zhiqiang Pei","orcid":null},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Pei","raw_affiliation_strings":["University of Shanghai for Science and Technology,School of Oriental Pan-Vascular Devices Innovation College,Shanghai,China,200093"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Shanghai for Science and Technology,School of Oriental Pan-Vascular Devices Innovation College,Shanghai,China,200093","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yixuan Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yixuan Yuan","raw_affiliation_strings":["The Chinese University of Hong Kong,Faculty of Engineering,Department of Electronic Engineering,Hong Kong SAR,China,999077"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Faculty of Engineering,Department of Electronic Engineering,Hong Kong SAR,China,999077","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025104684","display_name":"Peng Qi","orcid":"https://orcid.org/0000-0003-0514-9464"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Qi","raw_affiliation_strings":["Tongji University,College of Electronic and Information Engineering, and Shanghai Institute of Intelligent Science and Technology,Department of Control Science and Engineering,Shanghai,China,200092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,College of Electronic and Information Engineering, and Shanghai Institute of Intelligent Science and Technology,Department of Control Science and Engineering,Shanghai,China,200092","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"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":0.30393705,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"17344","last_page":"17351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.6833000183105469,"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":0.6833000183105469,"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/T10983","display_name":"Aortic aneurysm repair treatments","score":0.04010000079870224,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.03840000182390213,"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/digital-subtraction-angiography","display_name":"Digital subtraction angiography","score":0.5861999988555908},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.4925999939441681},{"id":"https://openalex.org/keywords/angiography","display_name":"Angiography","score":0.4702000021934509},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4153999984264374},{"id":"https://openalex.org/keywords/iterative-reconstruction","display_name":"Iterative reconstruction","score":0.4108999967575073},{"id":"https://openalex.org/keywords/computed-tomography-angiography","display_name":"Computed tomography angiography","score":0.4011000096797943},{"id":"https://openalex.org/keywords/biplane","display_name":"Biplane","score":0.3928000032901764},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.38920000195503235},{"id":"https://openalex.org/keywords/rotational-angiography","display_name":"Rotational angiography","score":0.388700008392334}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.684499979019165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6383000016212463},{"id":"https://openalex.org/C2778286760","wikidata":"https://www.wikidata.org/wiki/Q1224954","display_name":"Digital subtraction angiography","level":3,"score":0.5861999988555908},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.538100004196167},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4925999939441681},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.47530001401901245},{"id":"https://openalex.org/C2780643987","wikidata":"https://www.wikidata.org/wiki/Q468414","display_name":"Angiography","level":2,"score":0.4702000021934509},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.4699999988079071},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4153999984264374},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.4108999967575073},{"id":"https://openalex.org/C2781347138","wikidata":"https://www.wikidata.org/wiki/Q1024492","display_name":"Computed tomography angiography","level":3,"score":0.4011000096797943},{"id":"https://openalex.org/C91158637","wikidata":"https://www.wikidata.org/wiki/Q223818","display_name":"Biplane","level":2,"score":0.3928000032901764},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.38920000195503235},{"id":"https://openalex.org/C55138121","wikidata":"https://www.wikidata.org/wiki/Q7370320","display_name":"Rotational angiography","level":3,"score":0.388700008392334},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.38760000467300415},{"id":"https://openalex.org/C68060419","wikidata":"https://www.wikidata.org/wiki/Q40754","display_name":"Subtraction","level":2,"score":0.3393999934196472},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.32510000467300415},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.3156999945640564},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3154999911785126},{"id":"https://openalex.org/C31601959","wikidata":"https://www.wikidata.org/wiki/Q931309","display_name":"Medical imaging","level":2,"score":0.30329999327659607},{"id":"https://openalex.org/C163294075","wikidata":"https://www.wikidata.org/wiki/Q581861","display_name":"Noise reduction","level":2,"score":0.287200003862381},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.2806999981403351},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.2799000144004822},{"id":"https://openalex.org/C544519230","wikidata":"https://www.wikidata.org/wiki/Q32566","display_name":"Computed tomography","level":2,"score":0.2709999978542328},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.2694000005722046},{"id":"https://openalex.org/C205372480","wikidata":"https://www.wikidata.org/wiki/Q210521","display_name":"Image resolution","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C32653426","wikidata":"https://www.wikidata.org/wiki/Q3813641","display_name":"Background subtraction","level":3,"score":0.26170000433921814},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246843","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/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2544641369","https://openalex.org/W3131308264","https://openalex.org/W3181697859","https://openalex.org/W3187145306","https://openalex.org/W4200045126","https://openalex.org/W4375957612","https://openalex.org/W4383109114","https://openalex.org/W4383109137","https://openalex.org/W4387354583","https://openalex.org/W4391992477","https://openalex.org/W4399527314","https://openalex.org/W4399562613","https://openalex.org/W4400487986","https://openalex.org/W4401415019","https://openalex.org/W4401415309","https://openalex.org/W4402148085","https://openalex.org/W4402623247","https://openalex.org/W4402859803","https://openalex.org/W4402961768","https://openalex.org/W4404605984","https://openalex.org/W4405787059","https://openalex.org/W4408951584","https://openalex.org/W4412379670","https://openalex.org/W4412403825","https://openalex.org/W4413513871","https://openalex.org/W4413917697","https://openalex.org/W4413926014"],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"three-dimensional":[1],"(3D)":[2],"reconstruction":[3,138],"of":[4,27,150,157,163,183],"guidewire":[5,37,50,102],"shapes":[6],"is":[7,22],"crucial":[8],"for":[9,47,115],"precise":[10],"navigation":[11],"in":[12,75,134],"robot-assisted":[13],"endovascular":[14,117,185],"interventions.":[15],"Conventional":[16],"2D":[17,61,76,87],"Digital":[18],"Subtraction":[19],"Angiography":[20,57],"(DSA)":[21],"limited":[23],"by":[24,80],"the":[25,86,90,95,100,121,173,181],"absence":[26],"depth":[28],"information,":[29],"leading":[30],"to":[31,70,84,175,189],"spatial":[32,107,113],"ambiguities":[33],"that":[34],"hinder":[35],"reliable":[36],"shape":[38],"sensing.":[39],"This":[40,109],"paper":[41],"introduces":[42],"a":[43,147,154,160],"novel":[44],"multimodal":[45],"framework":[46,110],"real-time":[48,135],"3D":[49,54,91,101],"reconstruction,":[51],"combining":[52],"preoperative":[53,124],"Computed":[55],"Tomography":[56],"(CTA)":[58],"with":[59,89,159],"intraoperative":[60,127],"DSA":[62,77],"images.":[63],"The":[64,129,143],"method":[65,145],"utilizes":[66],"robust":[67],"feature":[68],"extraction":[69],"address":[71],"noise":[72],"and":[73,126,140,153,179],"distortion":[74],"data,":[78],"followed":[79],"deformable":[81],"image":[82],"registration":[83],"align":[85],"projections":[88],"CTA":[92],"model.":[93],"Subsequently,":[94],"inverse":[96],"projection":[97,148],"algorithm":[98],"reconstructs":[99],"shape,":[103],"providing":[104],"real-time,":[105],"accurate":[106],"information.":[108],"significantly":[111],"enhances":[112],"awareness":[114],"robotic-assisted":[116],"procedures,":[118],"effectively":[119],"bridging":[120],"gap":[122],"between":[123],"planning":[125],"execution.":[128],"system":[130],"demonstrates":[131],"notable":[132],"improvements":[133],"processing":[136],"speed,":[137],"accuracy,":[139],"computational":[141],"efficiency.":[142],"proposed":[144],"achieves":[146],"error":[149],"1.76\u00b10.08":[151],"pixels":[152],"length":[155],"deviation":[156],"2.93\u00b10.15%,":[158],"frame":[161],"rate":[162],"39.3":[164],"1.5":[165],"frames":[166],"per":[167],"second":[168],"(FPS).":[169],"These":[170],"advancements":[171],"have":[172],"\u00b1potential":[174],"optimize":[176],"robotic":[177],"performance":[178],"increase":[180],"precision":[182],"complex":[184],"interventions,":[186],"ultimately":[187],"contributing":[188],"better":[190],"clinical":[191],"outcomes.":[192]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}