{"id":"https://openalex.org/W4206058966","doi":"https://doi.org/10.1109/ismr48346.2021.9661506","title":"Real Time Localization of Cystoscope Angulation in 2D Bladder Phantom for Telecystoscopy","display_name":"Real Time Localization of Cystoscope Angulation in 2D Bladder Phantom for Telecystoscopy","publication_year":2021,"publication_date":"2021-11-17","ids":{"openalex":"https://openalex.org/W4206058966","doi":"https://doi.org/10.1109/ismr48346.2021.9661506"},"language":"en","primary_location":{"id":"doi:10.1109/ismr48346.2021.9661506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48346.2021.9661506","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5082077038","display_name":"Andrew Lewis","orcid":"https://orcid.org/0000-0002-3714-6711"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Lewis","raw_affiliation_strings":["Mechanical Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000249670","display_name":"Chen Gong","orcid":"https://orcid.org/0000-0002-4142-7380"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chen Gong","raw_affiliation_strings":["Mechanical Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061750495","display_name":"Yaxuan Zhou","orcid":"https://orcid.org/0000-0002-6639-0078"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yaxuan Zhou","raw_affiliation_strings":["Mechanical Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101979962","display_name":"Pengcheng Chen","orcid":"https://orcid.org/0000-0001-7473-1285"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pengcheng Chen","raw_affiliation_strings":["Mechanical Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111638498","display_name":"Michael P. Porter","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael P. Porter","raw_affiliation_strings":["Department of Urology, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Urology, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074967911","display_name":"Blake Hannaford","orcid":"https://orcid.org/0000-0001-7370-4920"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Blake Hannaford","raw_affiliation_strings":["Electrical and Computer Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004492656","display_name":"Eric J. Seibel","orcid":"https://orcid.org/0000-0002-3382-6541"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric J. Seibel","raw_affiliation_strings":["Mechanical Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0986,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.90847343,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10916","display_name":"Surgical Simulation and Training","score":0.9812999963760376,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9807999730110168,"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/cystoscope","display_name":"Cystoscope","score":0.7993021011352539},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7657374143600464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7479691505432129},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6455311179161072},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.5167314410209656},{"id":"https://openalex.org/keywords/cystoscopy","display_name":"Cystoscopy","score":0.46115872263908386},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.42509496212005615},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.2832734286785126},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.24718210101127625},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.13553941249847412},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.10130882263183594}],"concepts":[{"id":"https://openalex.org/C2909269795","wikidata":"https://www.wikidata.org/wiki/Q246090","display_name":"Cystoscope","level":2,"score":0.7993021011352539},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7657374143600464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7479691505432129},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6455311179161072},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.5167314410209656},{"id":"https://openalex.org/C2778769751","wikidata":"https://www.wikidata.org/wiki/Q246090","display_name":"Cystoscopy","level":3,"score":0.46115872263908386},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.42509496212005615},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2832734286785126},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.24718210101127625},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.13553941249847412},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.10130882263183594},{"id":"https://openalex.org/C77411442","wikidata":"https://www.wikidata.org/wiki/Q181100","display_name":"Urinary system","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr48346.2021.9661506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48346.2021.9661506","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W15003330","https://openalex.org/W114775221","https://openalex.org/W309515887","https://openalex.org/W1529711420","https://openalex.org/W1598123022","https://openalex.org/W1711618159","https://openalex.org/W1773703924","https://openalex.org/W1889064210","https://openalex.org/W1967329161","https://openalex.org/W2007769540","https://openalex.org/W2008073424","https://openalex.org/W2033819227","https://openalex.org/W2043355595","https://openalex.org/W2047349548","https://openalex.org/W2078954581","https://openalex.org/W2101720110","https://openalex.org/W2113006252","https://openalex.org/W2119605622","https://openalex.org/W2122313934","https://openalex.org/W2124386111","https://openalex.org/W2126239496","https://openalex.org/W2134622552","https://openalex.org/W2145962650","https://openalex.org/W2151103935","https://openalex.org/W2177066871","https://openalex.org/W2293125362","https://openalex.org/W2329048676","https://openalex.org/W2331426679","https://openalex.org/W2436818562","https://openalex.org/W2461937780","https://openalex.org/W2502183017","https://openalex.org/W2592027433","https://openalex.org/W2592277026","https://openalex.org/W2773952085","https://openalex.org/W2781352416","https://openalex.org/W2795078861","https://openalex.org/W2883362502","https://openalex.org/W2887843685","https://openalex.org/W2915341535","https://openalex.org/W2944033464","https://openalex.org/W2946361619","https://openalex.org/W2955346027","https://openalex.org/W2959226257","https://openalex.org/W2963959798","https://openalex.org/W2968093824","https://openalex.org/W2988394346","https://openalex.org/W3119005666","https://openalex.org/W3124420883","https://openalex.org/W3141971679","https://openalex.org/W6631653865","https://openalex.org/W6652231383","https://openalex.org/W6701793493","https://openalex.org/W6734003919"],"related_works":["https://openalex.org/W3048236305","https://openalex.org/W2168620136","https://openalex.org/W3204876922","https://openalex.org/W1977213985","https://openalex.org/W2981119606","https://openalex.org/W2230269989","https://openalex.org/W3125442832","https://openalex.org/W4252712924","https://openalex.org/W2049935401","https://openalex.org/W3130540790"],"abstract_inverted_index":{"Telecystoscopy":[0],"can":[1,74],"lower":[2],"the":[3,14,30,33,50,87,139,143,159],"barrier":[4],"to":[5,18,53,77,91,138,167,207,210],"access":[6],"of":[7,21,29,32,49,103,134,142,152,199,217,232,243],"critical":[8],"urologic":[9],"diagnostics":[10],"for":[11,177,240],"patients":[12],"around":[13],"world.":[15],"A":[16,117],"challenge":[17],"robotic":[19,247],"control":[20],"flexible":[22],"cystoscopes":[23],"and":[24,46,107,154,162,173,183],"intuitive":[25],"teleoperation":[26],"is":[27,84,236],"estimation":[28,242],"pose":[31],"scope":[34],"tip.":[35],"We":[36,57],"demonstrate":[37],"real-time":[38,241],"localization":[39],"using":[40],"video":[41,60,108],"recordings":[42],"from":[43,109],"prior":[44,59,250],"cystoscopies":[45,97],"3D":[47,169],"reconstructions":[48],"patient\u2019s":[51],"bladder":[52,104,129,155],"estimate":[54],"cystoscope":[55,82,118],"angulation":[56,121],"map":[58],"data":[61,175],"into":[62,124,158],"a":[63,68,78,92,125,132,135,187,193,228,237],"low":[64],"dimensional":[65],"space":[66],"as":[67],"dictionary":[69,94,171],"so":[70],"that":[71],"new":[72],"images":[73,252],"be":[75,113],"matched":[76,93],"nearest":[79,194],"neighbor.":[80],"The":[81],"position":[83],"estimated":[85],"by":[86],"current":[88],"image\u2019s":[89],"relationship":[90],"frame.":[95],"Frequent":[96],"are":[98,253],"necessary":[99],"in":[100,197,201,215,219,246],"post-treatment":[101],"surveillance":[102],"cancer":[105],"patients,":[106],"previous":[110],"procedures":[111],"may":[112],"available":[114],"during":[115],"telecystoscopy.":[116],"with":[119,131,186,227],"servo-controlled":[120],"was":[122],"inserted":[123,157],"2D":[126],"+":[127],"height":[128],"shape":[130],"panorama":[133,160],"urothelium":[136],"on":[137],"inside.":[140],"Scans":[141],"surface":[144],"were":[145,165],"performed":[146],"with:":[147],"varying":[148],"speeds;":[149],"different":[150],"fields":[151],"view;":[153],"tumors":[156],"physically":[161],"digitally.":[163],"Videos":[164],"used":[166],"create":[168],"reconstructions,":[170],"sets,":[172],"test":[174],"sets":[176],"analyzing":[178],"our":[179],"algorithm\u2019s":[180],"computational":[181],"efficiency":[182],"accuracy":[184],"compared":[185,206],"SIFT-only":[188],"localization.":[189],"Our":[190,225],"algorithm":[191],"found":[192],"neighbor":[195],"image":[196,205,213],"96-100%":[198],"frames":[200,218],"under":[202],"60ms":[203],"per":[204,223],"SIFT\u2019s":[208],"ability":[209],"find":[211],"an":[212],"match":[214],"56-84%":[216],"more":[220],"than":[221],"6000ms":[222],"image.":[224],"algorithm,":[226],"first":[229],"stage":[230],"rate":[231],"nearly":[233],"20":[234],"Hz,":[235],"promising":[238],"tool":[239],"tip":[244],"location":[245],"cystoscopy":[248,251],"when":[249],"available.":[254]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
