{"id":"https://openalex.org/W2884059774","doi":"https://doi.org/10.1109/lra.2018.2858744","title":"Towards Robotic Eye Surgery: Marker-Free, Online Hand-Eye Calibration Using Optical Coherence Tomography Images","display_name":"Towards Robotic Eye Surgery: Marker-Free, Online Hand-Eye Calibration Using Optical Coherence Tomography Images","publication_year":2018,"publication_date":"2018-07-23","ids":{"openalex":"https://openalex.org/W2884059774","doi":"https://doi.org/10.1109/lra.2018.2858744","mag":"2884059774"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2858744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2858744","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1808.05805","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Mingchuan Zhou","orcid":"https://orcid.org/0000-0002-6944-1483"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Mingchuan Zhou","raw_affiliation_strings":["Chair for Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6944-1483","affiliations":[{"raw_affiliation_string":"Chair for Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mahdi Hamad","orcid":"https://orcid.org/0000-0002-4541-3509"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mahdi Hamad","raw_affiliation_strings":["Chair for Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-4541-3509","affiliations":[{"raw_affiliation_string":"Chair for Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jakob Weiss","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jakob Weiss","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Abouzar Eslami","orcid":null},"institutions":[{"id":"https://openalex.org/I1302207122","display_name":"Carl Zeiss (Germany)","ror":"https://ror.org/02mp31p96","country_code":"DE","type":"company","lineage":["https://openalex.org/I1302207122"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Abouzar Eslami","raw_affiliation_strings":["Carl Zeiss Meditec, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carl Zeiss Meditec, Munich, Germany","institution_ids":["https://openalex.org/I1302207122"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Kai Huang","orcid":"https://orcid.org/0000-0003-0359-7810"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Huang","raw_affiliation_strings":["School of Data and Computer Science, Sun Yat-Sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-0359-7810","affiliations":[{"raw_affiliation_string":"School of Data and Computer Science, Sun Yat-Sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mathias Maier","orcid":null},"institutions":[{"id":"https://openalex.org/I2802619606","display_name":"TUM Klinikum","ror":"https://ror.org/04jc43x05","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mathias Maier","raw_affiliation_strings":["Augenklinik und Poliklinik, Klinikum rechts der Isar der Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Augenklinik und Poliklinik, Klinikum rechts der Isar der Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chris P. Lohmann","orcid":null},"institutions":[{"id":"https://openalex.org/I2802619606","display_name":"TUM Klinikum","ror":"https://ror.org/04jc43x05","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Chris P. Lohmann","raw_affiliation_strings":["Augenklinik und Poliklinik, Klinikum rechts der Isar der Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Augenklinik und Poliklinik, Klinikum rechts der Isar der Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Nassir Navab","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Alois Knoll","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Chair for Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair for Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":null,"display_name":"M. Ali Nasseri","orcid":null},"institutions":[{"id":"https://openalex.org/I2802619606","display_name":"TUM Klinikum","ror":"https://ror.org/04jc43x05","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Ali Nasseri","raw_affiliation_strings":["Augenklinik und Poliklinik, Klinikum rechts der Isar der Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Augenklinik und Poliklinik, Klinikum rechts der Isar der Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I2802619606","https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.6715,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.8310207,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"3","issue":"4","first_page":"3944","last_page":"3951"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.8766000270843506,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.8766000270843506,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.03959999978542328,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11569","display_name":"Optical Coherence Tomography Applications","score":0.016300000250339508,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/optical-coherence-tomography","display_name":"Optical coherence tomography","score":0.7524999976158142},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6205999851226807},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.5913000106811523},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5626999735832214},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44269999861717224},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4350000023841858},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.3732999861240387}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7674999833106995},{"id":"https://openalex.org/C2778818243","wikidata":"https://www.wikidata.org/wiki/Q899552","display_name":"Optical coherence tomography","level":2,"score":0.7524999976158142},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7139000296592712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6277999877929688},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6205999851226807},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.5913000106811523},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5626999735832214},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44269999861717224},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4350000023841858},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.3732999861240387},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.33340001106262207},{"id":"https://openalex.org/C2781181686","wikidata":"https://www.wikidata.org/wiki/Q4226068","display_name":"Coherence (philosophical gambling strategy)","level":2,"score":0.32820001244544983},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.30709999799728394},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.273499995470047},{"id":"https://openalex.org/C163716698","wikidata":"https://www.wikidata.org/wiki/Q841267","display_name":"Tomography","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.2572999894618988},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.2563000023365021},{"id":"https://openalex.org/C126795593","wikidata":"https://www.wikidata.org/wiki/Q7333813","display_name":"Rigid transformation","level":2,"score":0.2522999942302704}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2018.2858744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2858744","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"},{"id":"pmh:oai:arXiv.org:1808.05805","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1808.05805","pdf_url":"https://arxiv.org/pdf/1808.05805","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1446957","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1446957","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1808.05805","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1808.05805","pdf_url":"https://arxiv.org/pdf/1808.05805","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W406058028","https://openalex.org/W1514315998","https://openalex.org/W1977606080","https://openalex.org/W1985221028","https://openalex.org/W1988874269","https://openalex.org/W1990552485","https://openalex.org/W1990867038","https://openalex.org/W1993267444","https://openalex.org/W2011741122","https://openalex.org/W2046528545","https://openalex.org/W2070186199","https://openalex.org/W2084122690","https://openalex.org/W2092875123","https://openalex.org/W2093220968","https://openalex.org/W2105085370","https://openalex.org/W2131873618","https://openalex.org/W2134204474","https://openalex.org/W2149985621","https://openalex.org/W2150382645","https://openalex.org/W2293765516","https://openalex.org/W2296482359","https://openalex.org/W2307939460","https://openalex.org/W2331874877","https://openalex.org/W2418802570","https://openalex.org/W2561316912","https://openalex.org/W2605547838","https://openalex.org/W2606215192","https://openalex.org/W2756272332","https://openalex.org/W2964042038","https://openalex.org/W6622929317","https://openalex.org/W6674239029","https://openalex.org/W6680166621","https://openalex.org/W6684734564","https://openalex.org/W6725204576"],"related_works":[],"abstract_inverted_index":{"Ophthalmic":[0],"microsurgery":[1],"is":[2,20,57],"known":[3],"to":[4],"be":[5,42,48],"a":[6,21,76,87,170,180,189],"challenging":[7],"operation,":[8],"which":[9],"requires":[10],"very":[11],"precise":[12],"and":[13,30,67,123,146,165,196],"dexterous":[14],"manipulation.":[15],"Image":[16],"guided":[17],"robot-assisted":[18],"surgery":[19],"promising":[22],"solution":[23],"that":[24],"brings":[25],"significant":[26],"improvements":[27],"in":[28,51,128,160],"outcomes":[29],"reduces":[31],"the":[32,55,58,64,109,119,125,136,139,143,147,151,155,167,184,201,205,208],"physical":[33],"limitations":[34],"of":[35,54,60,82,100,142,150,157,193,207],"human":[36],"surgeons.":[37],"However,":[38],"this":[39,72],"technology":[40],"must":[41],"further":[43],"developed":[44,75],"before":[45],"it":[46],"can":[47],"routinely":[49],"used":[50],"clinics.":[52],"One":[53],"problems":[56],"lack":[59],"proper":[61],"calibration":[62,81,111,191],"between":[63,138],"robotic":[65],"manipulator":[66],"appropriate":[68],"imaging":[69],"device.":[70],"In":[71,174],"letter,":[73],"we":[74,107,121,134],"flexible":[77],"framework":[78,159],"for":[79],"hand-eye":[80],"an":[83],"ophthalmic":[84],"robot":[85],"with":[86,114,169,188],"microscope-integrated":[88],"optical":[89],"coherence":[90],"tomography":[91],"(OCT)":[92],"without":[93],"any":[94],"markers.":[95],"The":[96],"proposed":[97,209],"method":[98,172,178],"consists":[99],"three":[101],"main":[102],"steps":[103],"are":[104],"following:":[105],"First,":[106],"estimate":[108],"OCT":[110,130,144],"parameters;":[112],"second,":[113],"micro-scale":[115],"displacements":[116],"controlled":[117],"by":[118],"robot,":[120],"detect":[122],"segment":[124],"needle":[126],"tip":[127],"three-dimensional":[129],"volume":[131],"and;":[132],"finally,":[133],"find":[135],"transformation":[137],"coordinate":[140,148],"system":[141,149],"camera":[145],"robot.":[152],"We":[153],"verified":[154],"capability":[156],"our":[158,177],"ex-vivo":[161],"pig":[162],"eye":[163],"experiments":[164],"compared":[166],"results":[168],"reference":[171],"(marker-based).":[173],"all":[175],"experiments,":[176],"showed":[179],"small":[181],"difference":[182],"from":[183],"marker":[185],"based":[186],"method,":[187],"mean":[190],"error":[192],"9.2":[194],"\u03bcm":[195],"7.0":[197],"\u03bcm,":[198],"respectively.":[199],"Additionally,":[200],"noise":[202],"test":[203],"shows":[204],"robustness":[206],"method.":[210]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2018-08-03T00:00:00"}