{"id":"https://openalex.org/W2743321363","doi":"https://doi.org/10.1109/lra.2017.2737485","title":"Vision-Based Calibration of Dual RCM-Based Robot Arms in Human-Robot Collaborative Minimally Invasive Surgery","display_name":"Vision-Based Calibration of Dual RCM-Based Robot Arms in Human-Robot Collaborative Minimally Invasive Surgery","publication_year":2017,"publication_date":"2017-08-08","ids":{"openalex":"https://openalex.org/W2743321363","doi":"https://doi.org/10.1109/lra.2017.2737485","mag":"2743321363"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2737485","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2737485","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/A5100406050","display_name":"Ziwei Liu","orcid":"https://orcid.org/0000-0002-4220-5958"},"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":"Ziwei Liu","raw_affiliation_strings":["Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074805676","display_name":"Qianli Ma","orcid":"https://orcid.org/0000-0002-8127-9781"},"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":"Qianli Ma","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100333538","display_name":"Lei Chen","orcid":"https://orcid.org/0000-0002-9582-922X"},"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":"Alexis Cheng","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/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/A5100459311","display_name":"Sungmin Kim","orcid":"https://orcid.org/0000-0002-8790-2327"},"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":"Sungmin Kim","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/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/A5073346635","display_name":"Austin Reiter","orcid":null},"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":"Austin Reiter","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":10,"corresponding_author_ids":["https://openalex.org/A5076432970"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":11.9764,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":{"value":0.98350012,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"3","issue":"2","first_page":"672","last_page":"679"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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":0.998199999332428,"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-vision","display_name":"Computer vision","score":0.73332279920578},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6585129499435425},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6220352053642273},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5876221656799316},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5683877468109131},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.5061129927635193},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4806765019893646},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.47643691301345825},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4529291093349457},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4499833583831787},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.4138807952404022},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.4127904176712036},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.305559903383255},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20713233947753906},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09476631879806519}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.73332279920578},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6585129499435425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6220352053642273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5876221656799316},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5683877468109131},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.5061129927635193},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4806765019893646},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.47643691301345825},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4529291093349457},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4499833583831787},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4138807952404022},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.4127904176712036},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.305559903383255},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20713233947753906},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09476631879806519},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2017.2737485","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2737485","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":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W92914038","https://openalex.org/W1516923186","https://openalex.org/W1527225842","https://openalex.org/W1530383867","https://openalex.org/W1541336868","https://openalex.org/W1570709545","https://openalex.org/W1845558254","https://openalex.org/W1980752330","https://openalex.org/W1981857103","https://openalex.org/W1988882685","https://openalex.org/W1989173793","https://openalex.org/W1993267444","https://openalex.org/W2011111079","https://openalex.org/W2015898583","https://openalex.org/W2021278996","https://openalex.org/W2021599527","https://openalex.org/W2025031482","https://openalex.org/W2025939589","https://openalex.org/W2047374551","https://openalex.org/W2061417916","https://openalex.org/W2062691475","https://openalex.org/W2069133372","https://openalex.org/W2070927739","https://openalex.org/W2072884984","https://openalex.org/W2084188715","https://openalex.org/W2093220968","https://openalex.org/W2094801294","https://openalex.org/W2099910026","https://openalex.org/W2101707625","https://openalex.org/W2102151476","https://openalex.org/W2107105904","https://openalex.org/W2107768848","https://openalex.org/W2111079173","https://openalex.org/W2113735881","https://openalex.org/W2121349631","https://openalex.org/W2123446940","https://openalex.org/W2135166042","https://openalex.org/W2139442815","https://openalex.org/W2146563043","https://openalex.org/W2150382645","https://openalex.org/W2154688471","https://openalex.org/W2158288882","https://openalex.org/W2160732528","https://openalex.org/W2160899683","https://openalex.org/W2167667767","https://openalex.org/W2167916881","https://openalex.org/W2243910751","https://openalex.org/W2294666031","https://openalex.org/W2316166657","https://openalex.org/W2415581019","https://openalex.org/W2519007024","https://openalex.org/W2591985941","https://openalex.org/W6631996978","https://openalex.org/W6675397669","https://openalex.org/W6679900657","https://openalex.org/W6683604425"],"related_works":["https://openalex.org/W2355512144","https://openalex.org/W4283266117","https://openalex.org/W2385860114","https://openalex.org/W2136233762","https://openalex.org/W2163965645","https://openalex.org/W2412081987","https://openalex.org/W2391937455","https://openalex.org/W2124274328","https://openalex.org/W2114832778","https://openalex.org/W3163162109"],"abstract_inverted_index":{"This":[0],"letter":[1],"reports":[2],"the":[3,42,46,62,69,74,78,90,93,102,106,131,146,155],"development":[4],"of":[5,68,77,105,121,127],"a":[6,19,56,125,140],"vision-based":[7,110],"calibration":[8,51],"method":[9,28,132],"for":[10,124],"dual":[11],"remote":[12],"center-of-motion":[13],"(RCM)":[14],"based":[15],"robot":[16,47],"arms":[17],"in":[18,61,139,144],"human-robot":[20],"collaborative":[21],"minimally":[22],"invasive":[23],"surgery":[24],"(MIS)":[25],"scenario.":[26],"The":[27],"does":[29],"not":[30],"require":[31],"any":[32],"external":[33],"tracking":[34],"sensors":[35],"and":[36,45,58,82,92,135,163],"directly":[37],"uses":[38],"images":[39],"captured":[40],"by":[41,73,154],"endoscopic":[43],"camera":[44,97],"encoder":[48],"readings":[49],"as":[50],"data,":[52],"which":[53,117,145],"leads":[54],"to":[55],"minimal":[57],"practical":[59],"system":[60,152],"operating":[63],"room.":[64],"By":[65],"taking":[66],"advantage":[67],"motion":[70],"constraints":[71],"imposed":[72],"RCM-based":[75],"kinematics":[76],"robotic":[79],"surgical":[80,94,151],"tools":[81],"cameras,":[83],"we":[84],"can":[85],"find":[86],"unique":[87],"relationships":[88],"between":[89],"endoscope":[91],"tool":[95],"using":[96],"perspective":[98],"projection":[99],"geometry":[100],"without":[101],"geometric":[103],"information":[104],"tool.":[107],"A":[108],"customized":[109],"centerline":[111,122],"detection":[112],"algorithm":[113],"is":[114,167],"also":[115],"proposed,":[116],"provides":[118],"robust":[119],"estimation":[120],"positions":[123],"variety":[126],"settings.":[128],"We":[129],"validate":[130],"through":[133],"simulations":[134],"an":[136],"experimental":[137],"study":[138],"simulated":[141],"MIS":[142],"scenario,":[143],"first":[147],"generation":[148],"da":[149,158],"Vinci":[150,159],"controlled":[153],"open":[156],"source":[157],"research":[160],"kit":[161],"electronics":[162],"cisst/SAW":[164],"software":[165],"environment":[166],"used.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}