{"id":"https://openalex.org/W3119888110","doi":"https://doi.org/10.1109/ismr48331.2020.9312948","title":"Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot","display_name":"Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot","publication_year":2020,"publication_date":"2020-11-18","ids":{"openalex":"https://openalex.org/W3119888110","doi":"https://doi.org/10.1109/ismr48331.2020.9312948","mag":"3119888110"},"language":"en","primary_location":{"id":"doi:10.1109/ismr48331.2020.9312948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48331.2020.9312948","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Symposium on Medical Robotics (ISMR)","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/A5051115770","display_name":"Minho Hwang","orcid":"https://orcid.org/0000-0002-9190-7876"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Minho Hwang","raw_affiliation_strings":["University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041660944","display_name":"Daniel Seita","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Seita","raw_affiliation_strings":["University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055891784","display_name":"Brijen Thananjeyan","orcid":"https://orcid.org/0000-0003-1841-5071"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brijen Thananjeyan","raw_affiliation_strings":["University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005587345","display_name":"Jeffrey Ichnowski","orcid":"https://orcid.org/0000-0003-4874-9478"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey Ichnowski","raw_affiliation_strings":["University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060882416","display_name":"Samuel Paradis","orcid":"https://orcid.org/0000-0002-3581-312X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samuel Paradis","raw_affiliation_strings":["University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112596691","display_name":"Danyal Fer","orcid":null},"institutions":[{"id":"https://openalex.org/I180670191","display_name":"University of California, San Francisco","ror":"https://ror.org/043mz5j54","country_code":"US","type":"education","lineage":["https://openalex.org/I180670191"]},{"id":"https://openalex.org/I184813773","display_name":"California State University, East Bay","ror":"https://ror.org/04jaeba88","country_code":"US","type":"education","lineage":["https://openalex.org/I184813773"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Danyal Fer","raw_affiliation_strings":["UC San Francisco, East Bay, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC San Francisco, East Bay, USA","institution_ids":["https://openalex.org/I184813773","https://openalex.org/I180670191"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016049426","display_name":"Thomas Low","orcid":"https://orcid.org/0000-0002-1949-2055"},"institutions":[{"id":"https://openalex.org/I1298353152","display_name":"SRI International","ror":"https://ror.org/05s570m15","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1298353152"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Low","raw_affiliation_strings":["SRI International, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SRI International, USA","institution_ids":["https://openalex.org/I1298353152"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050342525","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0002-2661-4524"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.5694,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.96893974,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"22","last_page":"29"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9991999864578247,"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/T10888","display_name":"Augmented Reality Applications","score":0.9987999796867371,"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/computer-science","display_name":"Computer science","score":0.6731356382369995},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5828567147254944},{"id":"https://openalex.org/keywords/transfer","display_name":"Transfer (computing)","score":0.5798219442367554},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.5709649920463562},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5367876887321472},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.5179080367088318},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.48708677291870117},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4793625473976135},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4671086072921753},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.41759616136550903},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.416831910610199},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3569972515106201},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.35133153200149536},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1375025510787964},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10191988945007324},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09196984767913818},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08674311637878418},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.08257773518562317}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6731356382369995},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5828567147254944},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.5798219442367554},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.5709649920463562},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5367876887321472},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.5179080367088318},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.48708677291870117},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4793625473976135},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4671086072921753},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.41759616136550903},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.416831910610199},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3569972515106201},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.35133153200149536},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1375025510787964},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10191988945007324},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09196984767913818},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08674311637878418},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.08257773518562317},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr48331.2020.9312948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48331.2020.9312948","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":73,"referenced_works":["https://openalex.org/W12410007","https://openalex.org/W101508493","https://openalex.org/W1584687743","https://openalex.org/W1644188304","https://openalex.org/W1900348229","https://openalex.org/W1963716360","https://openalex.org/W1970400381","https://openalex.org/W1988707210","https://openalex.org/W2013849211","https://openalex.org/W2015807465","https://openalex.org/W2018346149","https://openalex.org/W2023136255","https://openalex.org/W2025468671","https://openalex.org/W2042262752","https://openalex.org/W2061417916","https://openalex.org/W2064457183","https://openalex.org/W2065883524","https://openalex.org/W2079716332","https://openalex.org/W2088392499","https://openalex.org/W2096768886","https://openalex.org/W2114478552","https://openalex.org/W2201321853","https://openalex.org/W2262715205","https://openalex.org/W2293818481","https://openalex.org/W2341108136","https://openalex.org/W2409304865","https://openalex.org/W2415633882","https://openalex.org/W2555747011","https://openalex.org/W2556348820","https://openalex.org/W2558121610","https://openalex.org/W2600030077","https://openalex.org/W2735048916","https://openalex.org/W2736750746","https://openalex.org/W2738671059","https://openalex.org/W2790253694","https://openalex.org/W2885777315","https://openalex.org/W2905225265","https://openalex.org/W2914772737","https://openalex.org/W2918665764","https://openalex.org/W2923090615","https://openalex.org/W2924316106","https://openalex.org/W2940581269","https://openalex.org/W2953722837","https://openalex.org/W2962764078","https://openalex.org/W2963553847","https://openalex.org/W2963946413","https://openalex.org/W2964118482","https://openalex.org/W2964311356","https://openalex.org/W2966907449","https://openalex.org/W2967355195","https://openalex.org/W2974128639","https://openalex.org/W2979472564","https://openalex.org/W2979696013","https://openalex.org/W2998770346","https://openalex.org/W3003853839","https://openalex.org/W3009331570","https://openalex.org/W3037207827","https://openalex.org/W3093953259","https://openalex.org/W3099462921","https://openalex.org/W3102313808","https://openalex.org/W3130717831","https://openalex.org/W4242811155","https://openalex.org/W6600496096","https://openalex.org/W6693023243","https://openalex.org/W6740578593","https://openalex.org/W6745405225","https://openalex.org/W6760425463","https://openalex.org/W6764800732","https://openalex.org/W6768191015","https://openalex.org/W6769205994","https://openalex.org/W6769246701","https://openalex.org/W6780559895","https://openalex.org/W6785355434"],"related_works":["https://openalex.org/W2218202131","https://openalex.org/W84108837","https://openalex.org/W2519676117","https://openalex.org/W2155740880","https://openalex.org/W4253249845","https://openalex.org/W2148444631","https://openalex.org/W1826068234","https://openalex.org/W2125452230","https://openalex.org/W2977517636","https://openalex.org/W2810129309"],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,14,90],"depth-sensing":[3],"have":[4],"significantly":[5],"increased":[6],"accuracy,":[7],"resolution,":[8],"and":[9,18,38,109,115,122,131,144,157],"frame":[10],"rate,":[11],"as":[12],"shown":[13],"the":[15,31,52,57,66,78,91,103,129],"1920x1200":[16],"resolution":[17],"13":[19],"frames":[20],"per":[21],"second":[22],"Zivid":[23],"RGBD":[24],"camera.":[25],"In":[26],"this":[27],"study,":[28],"we":[29],"explore":[30],"potential":[32],"of":[33,41,51,59,102,155],"depth":[34],"sensing":[35],"for":[36,98,128,146],"efficient":[37],"reliable":[39],"automation":[40],"surgical":[42],"subtasks.":[43],"We":[44,72,94],"consider":[45],"a":[46,99],"monochrome":[47],"(all":[48],"red)":[49],"version":[50,101],"peg":[53,104,133],"transfer":[54,105,126,134,153],"task":[55,92],"from":[56,86],"Fundamentals":[58],"Laparoscopic":[60],"Surgery":[61],"training":[62],"suite":[63],"implemented":[64],"with":[65,113,142,150],"da":[67,81],"Vinci":[68,82],"Research":[69],"Kit":[70],"(dVRK).":[71],"use":[73],"calibration":[74],"techniques":[75],"that":[76,137],"allow":[77],"imprecise,":[79],"cable-driven":[80],"to":[83,88],"reduce":[84],"error":[85],"4-5mm":[87],"1-2mm":[89],"space.":[93],"report":[95],"experimental":[96],"results":[97],"handover-free":[100],"task,":[106],"performing":[107],"20":[108],"5":[110],"physical":[111],"episodes":[112],"single-":[114,130],"bilateral-arm":[116,132],"setups,":[117],"respectively.":[118],"Results":[119],"over":[120],"236":[121],"49":[123],"total":[124],"block":[125,152],"attempts":[127],"cases":[135],"suggest":[136],"reliability":[138],"can":[139],"be":[140],"attained":[141],"86.9%":[143],"78.0%":[145],"each":[147],"individual":[148],"block,":[149],"respective":[151],"speeds":[154],"10.02":[156],"5.72":[158],"seconds.":[159],"Supplementary":[160],"material":[161],"is":[162],"available":[163],"at":[164],"https://sites.google.com/view/peg-transfer.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}