{"id":"https://openalex.org/W3134247921","doi":"https://doi.org/10.1109/lra.2021.3062308","title":"A Kinematic Bottleneck Approach for Pose Regression of Flexible Surgical Instruments Directly From Images","display_name":"A Kinematic Bottleneck Approach for Pose Regression of Flexible Surgical Instruments Directly From Images","publication_year":2021,"publication_date":"2021-02-25","ids":{"openalex":"https://openalex.org/W3134247921","doi":"https://doi.org/10.1109/lra.2021.3062308","mag":"3134247921"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3062308","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3062308","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/2103.00586","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049689301","display_name":"Luca Sestini","orcid":"https://orcid.org/0000-0002-5993-468X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]},{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["FR","IT"],"is_corresponding":false,"raw_author_name":"Luca Sestini","raw_affiliation_strings":["Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy","ICube, University of Strasbourg, CNRS, IHU Strasbourg, Strasbourg, France"],"raw_orcid":"https://orcid.org/0000-0002-5993-468X","affiliations":[{"raw_affiliation_string":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"ICube, University of Strasbourg, CNRS, IHU Strasbourg, Strasbourg, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I68947357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082681793","display_name":"Beno\u00eet Rosa","orcid":"https://orcid.org/0000-0002-7605-2056"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Benoit Rosa","raw_affiliation_strings":["ICube, University of Strasbourg, CNRS, IHU Strasbourg, Strasbourg, France"],"raw_orcid":"https://orcid.org/0000-0002-7605-2056","affiliations":[{"raw_affiliation_string":"ICube, University of Strasbourg, CNRS, IHU Strasbourg, Strasbourg, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I68947357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083795699","display_name":"Elena De Momi","orcid":"https://orcid.org/0000-0002-8819-2734"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elena De Momi","raw_affiliation_strings":["Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy"],"raw_orcid":"https://orcid.org/0000-0002-8819-2734","affiliations":[{"raw_affiliation_string":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045080493","display_name":"Giancarlo Ferrigno","orcid":"https://orcid.org/0000-0001-5913-9451"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giancarlo Ferrigno","raw_affiliation_strings":["Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy"],"raw_orcid":"https://orcid.org/0000-0001-5913-9451","affiliations":[{"raw_affiliation_string":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071976104","display_name":"Nicolas Padoy","orcid":"https://orcid.org/0000-0002-5010-4137"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210160625","display_name":"Institut de Chirurgie Guid\u00e9e par l'Image","ror":"https://ror.org/053694011","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4210160625"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Padoy","raw_affiliation_strings":["ICube, University of Strasbourg, CNRS, IHU Strasbourg, Strasbourg, France","IHU Strasbourg, Strasbourg, France"],"raw_orcid":"https://orcid.org/0000-0002-5010-4137","affiliations":[{"raw_affiliation_string":"ICube, University of Strasbourg, CNRS, IHU Strasbourg, Strasbourg, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I68947357"]},{"raw_affiliation_string":"IHU Strasbourg, Strasbourg, France","institution_ids":["https://openalex.org/I4210160625"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7415,"has_fulltext":true,"cited_by_count":28,"citation_normalized_percentile":{"value":0.8318829,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"2938","last_page":"2945"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9993000030517578,"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/T10888","display_name":"Augmented Reality Applications","score":0.9962999820709229,"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/kinematics","display_name":"Kinematics","score":0.7144142389297485},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.695574939250946},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6921672821044922},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6360831260681152},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6359180212020874},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6114290952682495},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.47902029752731323},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.43533599376678467}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7144142389297485},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.695574939250946},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6921672821044922},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6360831260681152},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6359180212020874},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6114290952682495},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.47902029752731323},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.43533599376678467},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/lra.2021.3062308","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3062308","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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:2103.00586","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.00586","pdf_url":"https://arxiv.org/pdf/2103.00586","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:HAL:hal-03238125v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03238125","pdf_url":"https://hal.science/hal-03238125v1/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2021, 6 (2), pp.2938-2945. ⟨10.1109/LRA.2021.3062308⟩","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:re.public.polimi.it:11311/1169551","is_oa":true,"landing_page_url":"http://hdl.handle.net/11311/1169551","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:univoak.eu:islandora_117414","is_oa":true,"landing_page_url":"https://univoak.eu/islandora/object/islandora%3A117414","pdf_url":null,"source":{"id":"https://openalex.org/S4306402449","display_name":"univOAK (4 institutions : Universit\u00e9 de Strasbourg, Universit\u00e9 de Haute Alsace, INSA Strasbourg, Biblioth\u00e8que Nationale et Universitaire de Strasbourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210100283","host_organization_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","host_organization_lineage":["https://openalex.org/I4210100283"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:univoak.eu:islandora_117829","is_oa":false,"landing_page_url":"https://univoak.eu/islandora/object/islandora%3A117829","pdf_url":null,"source":{"id":"https://openalex.org/S4306402449","display_name":"univOAK (4 institutions : Universit\u00e9 de Strasbourg, Universit\u00e9 de Haute Alsace, INSA Strasbourg, Biblioth\u00e8que Nationale et Universitaire de Strasbourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210100283","host_organization_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","host_organization_lineage":["https://openalex.org/I4210100283"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.00586","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.00586","pdf_url":"https://arxiv.org/pdf/2103.00586","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":[{"id":"https://openalex.org/G1536759560","display_name":null,"funder_award_id":"ANR-10-IAHU-02","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G1801824165","display_name":"Gestes M\u00e9dico-Chirurgicaux Assist\u00e9s par Ordinateur","funder_award_id":"ANR-11-LABX-0004","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G7240651115","display_name":null,"funder_award_id":"ANR-10","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G7760723010","display_name":"AuTonomous intraLuminAl Surgery","funder_award_id":"813782","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W1686810756","https://openalex.org/W1901129140","https://openalex.org/W1924619199","https://openalex.org/W1964047266","https://openalex.org/W1996181637","https://openalex.org/W2003533398","https://openalex.org/W2024492937","https://openalex.org/W2047441444","https://openalex.org/W2048201480","https://openalex.org/W2070328658","https://openalex.org/W2101667962","https://openalex.org/W2108598243","https://openalex.org/W2147492425","https://openalex.org/W2184993170","https://openalex.org/W2196707239","https://openalex.org/W2401482382","https://openalex.org/W2519007024","https://openalex.org/W2544641369","https://openalex.org/W2571807506","https://openalex.org/W2580456502","https://openalex.org/W2604690505","https://openalex.org/W2610976481","https://openalex.org/W2753115354","https://openalex.org/W2770938853","https://openalex.org/W2783059813","https://openalex.org/W2792810896","https://openalex.org/W2798365772","https://openalex.org/W2892948265","https://openalex.org/W2902067315","https://openalex.org/W2902264751","https://openalex.org/W2904601674","https://openalex.org/W2951260604","https://openalex.org/W2962936819","https://openalex.org/W2963527086","https://openalex.org/W2963864522","https://openalex.org/W2963920537","https://openalex.org/W2967498193","https://openalex.org/W2992838650","https://openalex.org/W3015385929","https://openalex.org/W3030373689","https://openalex.org/W3034487425","https://openalex.org/W3035069238","https://openalex.org/W3035523051","https://openalex.org/W3041533023","https://openalex.org/W3090715080","https://openalex.org/W3105938520","https://openalex.org/W3113653931","https://openalex.org/W3116678093","https://openalex.org/W3129553451","https://openalex.org/W4297800839","https://openalex.org/W6637373629","https://openalex.org/W6639824700","https://openalex.org/W6640174519","https://openalex.org/W6687214662","https://openalex.org/W6692550842","https://openalex.org/W6750997056","https://openalex.org/W6756515790","https://openalex.org/W6770636314","https://openalex.org/W6787676057"],"related_works":["https://openalex.org/W2595172197","https://openalex.org/W2084856301","https://openalex.org/W2127970246","https://openalex.org/W2885125400","https://openalex.org/W1001352512","https://openalex.org/W1989889224","https://openalex.org/W4382618745","https://openalex.org/W1973775000","https://openalex.org/W3213413335","https://openalex.org/W3171829319"],"abstract_inverted_index":{"3-D":[0,59,203],"pose":[1,60,204],"estimation":[2,61,205],"of":[3,65,111,159,163,180,206],"instruments":[4,166],"is":[5,29,149],"a":[6,93,108,122,160,171,193],"crucial":[7],"step":[8],"towards":[9],"automatic":[10],"scene":[11],"understanding":[12],"in":[13,82],"robotic":[14,19,165],"minimally":[15],"invasive":[16],"surgery.":[17],"Although":[18],"systems":[20],"can":[21],"potentially":[22],"directly":[23],"provide":[24],"joint":[25],"values,":[26],"this":[27,54,118],"information":[28,134],"not":[30],"commonly":[31],"exploited":[32],"inside":[33],"the":[34,45,63,83,131,137,147,157,164,181],"operating":[35],"room,":[36],"due":[37],"to":[38,141],"its":[39],"possible":[40],"unreliability,":[41],"limited":[42],"access":[43],"and":[44,167,176,188],"time-consuming":[46,144],"calibration":[47],"required,":[48],"especially":[49],"for":[50,58,97,104,114,200],"continuum":[51],"robots.":[52],"For":[53],"reason,":[55],"standard":[56],"approaches":[57,81],"involve":[62],"use":[64],"external":[66],"tracking":[67],"systems.":[68],"Recently,":[69],"image-based":[70,80,124,202],"methods":[71],"have":[72,85],"emerged":[73],"as":[74,151],"promising,":[75],"non-invasive":[76],"alternatives.":[77],"While":[78],"many":[79],"literature":[84],"shown":[86],"accurate":[87],"results,":[88],"they":[89],"generally":[90],"require":[91],"either":[92],"complex":[94],"iterative":[95],"optimization":[96],"each":[98],"processed":[99],"image,":[100],"making":[101],"them":[102],"unsuitable":[103],"real-time":[105,201],"applications,":[106],"or":[107],"large":[109],"number":[110],"manually-annotated":[112],"images":[113],"efficient":[115],"learning.":[116],"In":[117,139],"letter,":[119],"we":[120],"propose":[121],"self-supervised":[123],"method,":[125],"exploiting,":[126],"at":[127],"training":[128],"time":[129],"only,":[130],"imprecise":[132],"kinematic":[133,177],"provided":[135],"by":[136,156],"robot.":[138],"order":[140],"avoid":[142],"introducing":[143],"manual":[145],"annotations,":[146],"problem":[148],"formulated":[150],"an":[152],"auto-encoder,":[153],"smartly":[154],"bottlenecked":[155],"presence":[158],"physical":[161],"model":[162],"surgical":[168,207],"camera,":[169],"forcing":[170],"separation":[172],"between":[173],"image":[174],"background":[175],"content.":[178],"Validation":[179],"method":[182],"was":[183],"performed":[184],"on":[185],"semi-synthetic,":[186],"phantom":[187],"in-vivo":[189],"datasets,":[190],"obtained":[191],"using":[192],"flexible":[194],"robotized":[195],"endoscope,":[196],"showing":[197],"promising":[198],"results":[199],"instruments.":[208]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2021-03-15T00:00:00"}