{"id":"https://openalex.org/W2594030682","doi":"https://doi.org/10.1109/lra.2017.2676350","title":"Image-Based Trajectory Tracking Control of 4-DoF Laparoscopic Instruments Using a Rotation Distinguishing Marker","display_name":"Image-Based Trajectory Tracking Control of 4-DoF Laparoscopic Instruments Using a Rotation Distinguishing Marker","publication_year":2017,"publication_date":"2017-03-01","ids":{"openalex":"https://openalex.org/W2594030682","doi":"https://doi.org/10.1109/lra.2017.2676350","mag":"2594030682"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2676350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2676350","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5076432970","display_name":"Zerui Wang","orcid":"https://orcid.org/0000-0003-4281-5120"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zerui Wang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025454355","display_name":"Sing Chun Lee","orcid":"https://orcid.org/0000-0002-3486-5665"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sing Chun Lee","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010124359","display_name":"Fangxun Zhong","orcid":"https://orcid.org/0000-0002-1151-1995"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangxun Zhong","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056734737","display_name":"David Navarro-Alarc\u00f3n","orcid":"https://orcid.org/0000-0002-3426-6638"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"David Navarro-Alarcon","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun-hui Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060559135","display_name":"Anton Deguet","orcid":"https://orcid.org/0000-0003-3856-2095"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anton Deguet","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022619253","display_name":"Peter Kazanzides","orcid":"https://orcid.org/0000-0002-6117-5467"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Kazanzides","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004170925","display_name":"Russell H. Taylor","orcid":"https://orcid.org/0000-0001-6272-1100"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Russell H. Taylor","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5076432970"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":0.3641,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.67248486,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"2","issue":"3","first_page":"1586","last_page":"1592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996999979019165,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7341808080673218},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7227115035057068},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7217578887939453},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5641153454780579},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.550892174243927},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5475465059280396},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5028071403503418},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.48233935236930847},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.378145307302475},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34064990282058716},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12512192130088806},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11490759253501892}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7341808080673218},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7227115035057068},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7217578887939453},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5641153454780579},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.550892174243927},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5475465059280396},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5028071403503418},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.48233935236930847},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.378145307302475},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34064990282058716},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12512192130088806},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11490759253501892},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2017.2676350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2676350","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5024458346","display_name":null,"funder_award_id":"8115053","funder_id":"https://openalex.org/F4320322942","funder_display_name":"Chinese University of Hong Kong"}],"funders":[{"id":"https://openalex.org/F4320310145","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95"},{"id":"https://openalex.org/F4320322942","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W64871464","https://openalex.org/W1508960934","https://openalex.org/W1516923186","https://openalex.org/W1520561156","https://openalex.org/W1971523475","https://openalex.org/W1994107103","https://openalex.org/W2000260548","https://openalex.org/W2028919185","https://openalex.org/W2035481038","https://openalex.org/W2042849704","https://openalex.org/W2043258148","https://openalex.org/W2061078511","https://openalex.org/W2061417916","https://openalex.org/W2070927739","https://openalex.org/W2077544344","https://openalex.org/W2098701449","https://openalex.org/W2105901613","https://openalex.org/W2116123087","https://openalex.org/W2117699252","https://openalex.org/W2138355347","https://openalex.org/W2158416304","https://openalex.org/W2166374794","https://openalex.org/W2168691632","https://openalex.org/W2218716403","https://openalex.org/W2309425207","https://openalex.org/W2317764781","https://openalex.org/W2467585782"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2018658498","https://openalex.org/W2111820485"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3,80],"propose":[4],"a":[5,30,34,76,89],"new":[6],"method":[7],"to":[8,70,86],"fully":[9],"control":[10],"complete":[11],"4-image-DoF":[12],"manipulation":[13],"of":[14,20,29,42,75,104,116],"laparoscopic":[15,77],"instruments":[16,44],"[with":[17],"remote":[18],"center":[19],"motion":[21],"(RCM)":[22],"mechanism]":[23],"based":[24],"on":[25],"the":[26,40,43,50,73,93,98],"geometric":[27,47,67],"features":[28,48],"designed":[31],"marker":[32,38,107],"in":[33,57,114],"2-D":[35],"image.":[36],"Our":[37],"encodes":[39],"configuration":[41,74],"by":[45,111],"computing":[46],"among":[49],"projected":[51],"image":[52,66],"points":[53],"from":[54],"segmented":[55],"areas":[56],"hue-saturation-value":[58],"(HSV)":[59],"space.":[60],"We":[61,100],"can":[62],"then":[63],"construct":[64],"an":[65,82],"feature":[68,95],"vector":[69,96],"locally":[71],"characterize":[72],"instrument.":[78],"Furthermore,":[79],"design":[81],"image-based":[83],"kinematic":[84,109],"controller":[85,110,122],"asymptotically":[87],"track":[88],"planned":[90],"trajectory":[91],"using":[92],"constructed":[94],"as":[97],"feedback.":[99],"evaluate":[101],"our":[102],"integration":[103],"rotation":[105,118],"distinguishing":[106],"and":[108,121],"several":[112],"experiments":[113],"terms":[115],"illumination-invariance,":[117],"angle":[119],"accuracy,":[120],"performance.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
