{"id":"https://openalex.org/W4400579814","doi":"https://doi.org/10.1109/ismr63436.2024.10585789","title":"Expanding the Surgical Robotics Community: An Intuitive Sim-to-Real Control Framework for Raven-II with a Budget-Friendly Gamepad Controller","display_name":"Expanding the Surgical Robotics Community: An Intuitive Sim-to-Real Control Framework for Raven-II with a Budget-Friendly Gamepad Controller","publication_year":2024,"publication_date":"2024-06-03","ids":{"openalex":"https://openalex.org/W4400579814","doi":"https://doi.org/10.1109/ismr63436.2024.10585789"},"language":"en","primary_location":{"id":"doi:10.1109/ismr63436.2024.10585789","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ismr63436.2024.10585789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5089539640","display_name":"Mai Bui","orcid":"https://orcid.org/0000-0002-2658-250X"},"institutions":[{"id":"https://openalex.org/I150693791","display_name":"Mount Holyoke College","ror":"https://ror.org/031z8pr38","country_code":"US","type":"education","lineage":["https://openalex.org/I150693791"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mai Bui","raw_affiliation_strings":["Mount Holyoke College,Department of Computer Science,South Hadley,MA,01075"],"affiliations":[{"raw_affiliation_string":"Mount Holyoke College,Department of Computer Science,South Hadley,MA,01075","institution_ids":["https://openalex.org/I150693791"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104422837","display_name":"Natalie Chalfant","orcid":null},"institutions":[{"id":"https://openalex.org/I150693791","display_name":"Mount Holyoke College","ror":"https://ror.org/031z8pr38","country_code":"US","type":"education","lineage":["https://openalex.org/I150693791"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Natalie Chalfant","raw_affiliation_strings":["Mount Holyoke College,Department of Computer Science,South Hadley,MA,01075"],"affiliations":[{"raw_affiliation_string":"Mount Holyoke College,Department of Computer Science,South Hadley,MA,01075","institution_ids":["https://openalex.org/I150693791"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111296964","display_name":"Cuiling Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I150693791","display_name":"Mount Holyoke College","ror":"https://ror.org/031z8pr38","country_code":"US","type":"education","lineage":["https://openalex.org/I150693791"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cuiling Sun","raw_affiliation_strings":["Mount Holyoke College,Department of Computer Science,South Hadley,MA,01075"],"affiliations":[{"raw_affiliation_string":"Mount Holyoke College,Department of Computer Science,South Hadley,MA,01075","institution_ids":["https://openalex.org/I150693791"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104422838","display_name":"Sean Fabrega","orcid":null},"institutions":[{"id":"https://openalex.org/I150693791","display_name":"Mount Holyoke College","ror":"https://ror.org/031z8pr38","country_code":"US","type":"education","lineage":["https://openalex.org/I150693791"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sean Fabrega","raw_affiliation_strings":["Mount Holyoke College,Department of Computer Science,South Hadley,MA,01075"],"affiliations":[{"raw_affiliation_string":"Mount Holyoke College,Department of Computer Science,South Hadley,MA,01075","institution_ids":["https://openalex.org/I150693791"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080890753","display_name":"Haonan Peng","orcid":"https://orcid.org/0000-0001-8909-3343"},"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":"Haonan Peng","raw_affiliation_strings":["University of Washington,Department of Electrical and Computer Engineering,Seattle,WA,98195"],"affiliations":[{"raw_affiliation_string":"University of Washington,Department of Electrical and Computer Engineering,Seattle,WA,98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062032121","display_name":"Kevin Huang","orcid":"https://orcid.org/0000-0002-0300-9911"},"institutions":[{"id":"https://openalex.org/I202524275","display_name":"Smith College","ror":"https://ror.org/0497crr92","country_code":"US","type":"education","lineage":["https://openalex.org/I202524275"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Huang","raw_affiliation_strings":["Smith College,Picker Engineering Program,Northampton,MA,01063"],"affiliations":[{"raw_affiliation_string":"Smith College,Picker Engineering Program,Northampton,MA,01063","institution_ids":["https://openalex.org/I202524275"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030494145","display_name":"Yun-Hsuan Su","orcid":"https://orcid.org/0000-0002-9122-7264"},"institutions":[{"id":"https://openalex.org/I150693791","display_name":"Mount Holyoke College","ror":"https://ror.org/031z8pr38","country_code":"US","type":"education","lineage":["https://openalex.org/I150693791"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yun-Hsuan Su","raw_affiliation_strings":["Mount Holyoke College,Department of Computer Science,South Hadley,MA,01075"],"affiliations":[{"raw_affiliation_string":"Mount Holyoke College,Department of Computer Science,South Hadley,MA,01075","institution_ids":["https://openalex.org/I150693791"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5089539640"],"corresponding_institution_ids":["https://openalex.org/I150693791"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21440227,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"26","issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9488999843597412,"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":0.9488999843597412,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6361056566238403},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6353711485862732},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5677002668380737},{"id":"https://openalex.org/keywords/user-friendly","display_name":"User Friendly","score":0.4794817864894867},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4233244061470032},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4148731529712677},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35403627157211304},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33930835127830505},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32613247632980347},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.22048944234848022},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20121535658836365}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6361056566238403},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6353711485862732},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5677002668380737},{"id":"https://openalex.org/C61437842","wikidata":"https://www.wikidata.org/wiki/Q281291","display_name":"User Friendly","level":2,"score":0.4794817864894867},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4233244061470032},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4148731529712677},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35403627157211304},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33930835127830505},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32613247632980347},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.22048944234848022},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20121535658836365},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr63436.2024.10585789","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ismr63436.2024.10585789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3376778073","display_name":null,"funder_award_id":"IIS-2101107","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W2035775024","https://openalex.org/W2061417916","https://openalex.org/W2088392499","https://openalex.org/W2142999592","https://openalex.org/W2770632643","https://openalex.org/W3003705467","https://openalex.org/W3114818598","https://openalex.org/W3115373916","https://openalex.org/W6652514511"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W4240485100","https://openalex.org/W4254970379","https://openalex.org/W2056130799","https://openalex.org/W2045758229","https://openalex.org/W405964254","https://openalex.org/W2000675896"],"abstract_inverted_index":{"This":[0,45,191],"paper":[1],"proposes":[2,82],"a":[3,69,83,127,150],"low-cost":[4],"interface":[5,88],"and":[6,37,66,76,93,108,120,145,185,196,211],"refined":[7],"digital":[8,162,183],"twin":[9,184],"for":[10,59,73,89,105,156,160,166,208],"the":[11,18,22,64,101,116,124,131,142,219],"Raven-II":[12,35,106,147],"surgical":[13,134],"robot.":[14],"Previous":[15],"simulations":[16],"of":[17,39,49,96,123,133,213],"Raven-II,":[19,65,97],"e.g.":[20,155],"via":[21],"Asynchronous":[23],"Multibody":[24],"Framework":[25],"(AMBF),":[26],"presented":[27],"salient":[28],"drawbacks,":[29],"including":[30],"control":[31,172,212],"inputs":[32],"inconsistent":[33],"with":[34,63],"software,":[36],"lack":[38],"stable,":[40],"high-fidelity":[41],"physical":[42,61,77,146,186],"contact":[43,57],"simulations.":[44],"work":[46,112,192],"bridges":[47],"both":[48,52,74,91,209],"these":[50],"gaps,":[51],"(1)":[53],"enabling":[54],"robust,":[55],"simulated":[56,75,119,143],"mechanics":[58],"dynamic":[60],"interactions":[62],"(2)":[67],"developing":[68,202],"universal":[70],"input":[71],"format":[72],"platforms.":[78],"The":[79],"method":[80],"furthermore":[81],"low":[84],"cost,":[85],"commodity":[86],"game-controller":[87],"controlling":[90],"virtual":[92],"real":[94,121,158,214],"realizations":[95],"thus":[98],"greatly":[99],"reducing":[100],"barrier":[102],"to":[103,114],"access":[104],"research":[107],"collaboration.":[109],"Overall,":[110],"this":[111,176],"aims":[113],"eliminate":[115],"inconsistencies":[117],"between":[118,141,182],"representations":[122],"Raven-II.":[125],"Such":[126],"development":[128],"can":[129],"expand":[130],"reach":[132],"robotics":[135],"research.":[136],"Namely,":[137],"providing":[138],"end-to-end":[139],"transparency":[140,177],"AMBF":[144],"platforms":[148],"enables":[149],"software":[151,206],"testbed":[152,187],"previously":[153],"unavailable,":[154],"training":[157],"surgeons,":[159],"creating":[161],"synthetic":[163],"datasets,":[164],"or":[165,204],"prototyping":[167],"novel":[168],"architectures":[169],"like":[170],"shared":[171],"strategies.":[173],"Experiments":[174],"validate":[175],"by":[178],"comparing":[179],"joint":[180],"trajectories":[181],"given":[188],"identical":[189],"inputs.":[190],"may":[193],"be":[194],"extended":[195],"incorporated":[197],"into":[198],"recent":[199],"efforts":[200],"in":[201],"modular":[203],"common":[205],"infrastructures":[207],"simulation":[210],"robotic":[215],"devices,":[216],"such":[217],"as":[218],"Collaborative":[220],"Robotics":[221],"Toolkit":[222],"(CRTK).":[223]},"counts_by_year":[],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}
