{"id":"https://openalex.org/W4401750418","doi":"https://doi.org/10.1109/isbi56570.2024.10635411","title":"SPEVA: Stiffness Prediction from Environmental Visual Variation for Autonomous Robot-Assisted Soft Tissue Manipulation","display_name":"SPEVA: Stiffness Prediction from Environmental Visual Variation for Autonomous Robot-Assisted Soft Tissue Manipulation","publication_year":2024,"publication_date":"2024-05-27","ids":{"openalex":"https://openalex.org/W4401750418","doi":"https://doi.org/10.1109/isbi56570.2024.10635411"},"language":"en","primary_location":{"id":"doi:10.1109/isbi56570.2024.10635411","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/isbi56570.2024.10635411","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Symposium on Biomedical Imaging (ISBI)","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/A5115596354","display_name":"Jie Wang","orcid":"https://orcid.org/0000-0003-2031-7227"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Wang","raw_affiliation_strings":["Tsinghua University,School of Medicine,Department of Biomedical Engineering,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,School of Medicine,Department of Biomedical Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026458499","display_name":"Lu Xu","orcid":"https://orcid.org/0000-0003-4028-6990"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Lu","raw_affiliation_strings":["Tsinghua University,School of Medicine,Department of Biomedical Engineering,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,School of Medicine,Department of Biomedical Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100554067","display_name":"Yihua Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihua Sun","raw_affiliation_strings":["Tsinghua University,School of Medicine,Department of Biomedical Engineering,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,School of Medicine,Department of Biomedical Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025027284","display_name":"Hee Guan Khor","orcid":"https://orcid.org/0000-0002-4935-7815"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hee Guan Khor","raw_affiliation_strings":["Tsinghua University,School of Medicine,Department of Biomedical Engineering,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,School of Medicine,Department of Biomedical Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060620393","display_name":"Xueling Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueling Wei","raw_affiliation_strings":["Tsinghua University,School of Medicine,Department of Biomedical Engineering,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,School of Medicine,Department of Biomedical Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031766048","display_name":"Guochen Ning","orcid":"https://orcid.org/0000-0003-0282-7303"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guochen Ning","raw_affiliation_strings":["Tsinghua University,The School of Clinical Medicine,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,The School of Clinical Medicine,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004439774","display_name":"Longfei Ma","orcid":"https://orcid.org/0000-0001-6267-2177"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longfei Ma","raw_affiliation_strings":["Tsinghua University,School of Medicine,Department of Biomedical Engineering,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,School of Medicine,Department of Biomedical Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018740222","display_name":"Hongen Liao","orcid":"https://orcid.org/0000-0003-3847-9347"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongen Liao","raw_affiliation_strings":["Tsinghua University,School of Medicine,Department of Biomedical Engineering,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,School of Medicine,Department of Biomedical Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5115596354"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.3488,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.57738064,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9790999889373779,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9790999889373779,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10868","display_name":"Soft Robotics and Applications","score":0.9715999960899353,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9269000291824341,"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/variation","display_name":"Variation (astronomy)","score":0.5887921452522278},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5793617963790894},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5673774480819702},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5354625582695007},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5086373090744019},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4781402349472046},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4775717556476593},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19021961092948914},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09085175395011902},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08389264345169067}],"concepts":[{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.5887921452522278},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5793617963790894},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5673774480819702},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5354625582695007},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5086373090744019},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4781402349472046},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4775717556476593},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19021961092948914},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09085175395011902},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08389264345169067},{"id":"https://openalex.org/C44870925","wikidata":"https://www.wikidata.org/wiki/Q37547","display_name":"Astrophysics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isbi56570.2024.10635411","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/isbi56570.2024.10635411","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Symposium on Biomedical Imaging (ISBI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322392","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549"},{"id":"https://openalex.org/F4320334977","display_name":"Beijing Municipal Natural Science Foundation","ror":null},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"},{"id":"https://openalex.org/F4320338440","display_name":"HORIZON EUROPE Health","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2148687996","https://openalex.org/W2194775991","https://openalex.org/W2346178339","https://openalex.org/W2412454633","https://openalex.org/W2941276819","https://openalex.org/W2963446712","https://openalex.org/W3033193681","https://openalex.org/W3096597946","https://openalex.org/W3097968638","https://openalex.org/W3118635606","https://openalex.org/W4205387087","https://openalex.org/W4206994504","https://openalex.org/W4210656949"],"related_works":["https://openalex.org/W2386430105","https://openalex.org/W2356521405","https://openalex.org/W2038534795","https://openalex.org/W2384358604","https://openalex.org/W1567829292","https://openalex.org/W3001063351","https://openalex.org/W3196905815","https://openalex.org/W2351370765","https://openalex.org/W3133811809","https://openalex.org/W2526555730"],"abstract_inverted_index":{"Autonomous":[0],"Robotic":[1],"Surgery":[2],"(ARS)":[3],"is":[4,32,99,119,129],"gaining":[5],"traction":[6],"for":[7,34,166,177],"its":[8,164],"potential":[9,165],"to":[10,50,61,75,101,131],"ease":[11],"surgeon":[12],"workload,":[13],"enhance":[14],"surgical":[15,26],"consistency,":[16],"and":[17,106,145],"improve":[18],"patient":[19],"outcomes.":[20],"The":[21],"accurate":[22],"perception":[23],"of":[24,156,183],"the":[25,48,51,116,122,133,136,154,157,174,181],"environment,":[27],"particularly":[28],"soft":[29,56,81],"tissue":[30,57,73,82,117,142],"deformation,":[31],"critical":[33],"ARS":[35],"success.":[36],"However,":[37],"existing":[38],"depth":[39],"estimation":[40],"techniques":[41],"fall":[42],"short":[43],"by":[44],"focusing":[45],"solely":[46],"on":[47,71,110],"distance":[49],"target":[52],"surface,":[53],"neglecting":[54],"post-contact":[55],"deformation.":[58],"In":[59,90],"response":[60],"this":[62,126],"challenge,":[63],"a":[64,94],"novel":[65],"approach":[66],"has":[67],"been":[68],"proposed,":[69],"centered":[70],"predicting":[72,161],"stiffness":[74,118],"address":[76],"motion":[77],"errors":[78],"arising":[79],"from":[80,121,141],"movement":[83,107,146],"after":[84],"contact":[85],"in":[86,160,180],"endoscopic":[87,111],"robot":[88],"systems.":[89],"liver":[91],"puncture":[92,103],"scenarios,":[93],"network":[95],"featuring":[96],"two":[97],"encoders":[98],"employed":[100],"predict":[102],"needle":[104],"force":[105],"information":[108,128],"based":[109],"images.":[112],"Utilizing":[113],"Hooke\u2019s":[114],"law,":[115],"calculated":[120],"predicted":[123],"data.":[124],"Subsequently,":[125],"forecasted":[127],"utilized":[130],"determine":[132],"displacement":[134],"at":[135],"targeted":[137],"operative":[138],"site":[139],"resulting":[140],"elastic":[143],"deformation":[144],"during":[147],"tissue-instrument":[148,169],"interaction.":[149,170],"Preliminary":[150],"experimental":[151],"results":[152,172],"affirm":[153],"efficacy":[155],"proposed":[158],"method":[159],"stiffness,":[162],"demonstrating":[163],"facilitating":[167],"precise":[168],"These":[171],"highlight":[173],"method\u2019s":[175],"promise":[176],"future":[178],"applications":[179],"field":[182],"ARS.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
