{"id":"https://openalex.org/W3183858554","doi":"https://doi.org/10.1109/lra.2021.3099080","title":"Deformation-Aware Robotic 3D Ultrasound","display_name":"Deformation-Aware Robotic 3D Ultrasound","publication_year":2021,"publication_date":"2021-07-26","ids":{"openalex":"https://openalex.org/W3183858554","doi":"https://doi.org/10.1109/lra.2021.3099080","mag":"3183858554"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3099080","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3099080","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/2107.08411","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045257827","display_name":"Zhongliang Jiang","orcid":"https://orcid.org/0000-0001-7461-2200"},"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":"Zhongliang Jiang","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059395980","display_name":"Yue Zhou","orcid":"https://orcid.org/0000-0003-1548-1284"},"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":"Yue Zhou","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034938918","display_name":"Yuan Bi","orcid":"https://orcid.org/0000-0002-1083-3802"},"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":"Yuan Bi","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061386768","display_name":"Mingchuan Zhou","orcid":"https://orcid.org/0000-0002-6944-1483"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingchuan Zhou","raw_affiliation_strings":["College of Biosystems of Engineering and Food Science, Zhejiang University, China"],"affiliations":[{"raw_affiliation_string":"College of Biosystems of Engineering and Food Science, Zhejiang University, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011729018","display_name":"Thomas Wendler","orcid":"https://orcid.org/0000-0002-0915-0510"},"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":"Thomas Wendler","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046896448","display_name":"Nassir Navab","orcid":"https://orcid.org/0000-0002-6032-5611"},"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"]},{"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","US"],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, USA"],"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5045257827"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":2.7074,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.90288639,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"6","issue":"4","first_page":"7675","last_page":"7682"},"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/T10727","display_name":"Ultrasound Imaging and Elastography","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9898999929428101,"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/stiffness","display_name":"Stiffness","score":0.7724686861038208},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.7322657108306885},{"id":"https://openalex.org/keywords/palpation","display_name":"Palpation","score":0.6973978281021118},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5941661596298218},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.46546483039855957},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46069735288619995},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.447075754404068},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43906891345977783},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4384533762931824},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42574116587638855},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.424116849899292},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4031631350517273},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.38478729128837585},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3616786599159241},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2408888339996338},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13608318567276},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12128651142120361},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1024533212184906},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.07415643334388733}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7724686861038208},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.7322657108306885},{"id":"https://openalex.org/C2781167935","wikidata":"https://www.wikidata.org/wiki/Q795090","display_name":"Palpation","level":2,"score":0.6973978281021118},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5941661596298218},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.46546483039855957},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46069735288619995},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.447075754404068},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43906891345977783},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4384533762931824},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42574116587638855},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.424116849899292},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4031631350517273},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.38478729128837585},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3616786599159241},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2408888339996338},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13608318567276},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12128651142120361},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1024533212184906},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.07415643334388733},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2021.3099080","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3099080","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:2107.08411","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.08411","pdf_url":"https://arxiv.org/pdf/2107.08411","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:hub.hku.hk:10722/365391","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/365391","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"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":"Article"},{"id":"pmh:oai:uni-augsburg.opus-bayern.de:107064","is_oa":false,"landing_page_url":"https://opus.bibliothek.uni-augsburg.de/opus4/frontdoor/index/index/docId/107064","pdf_url":null,"source":{"id":"https://openalex.org/S4306400930","display_name":"OPUS (Augsburg University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I119916105","host_organization_name":"Augsburg University","host_organization_lineage":["https://openalex.org/I119916105"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2107.08411","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.08411","pdf_url":"https://arxiv.org/pdf/2107.08411","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":26,"referenced_works":["https://openalex.org/W1487667890","https://openalex.org/W1522301498","https://openalex.org/W1826787825","https://openalex.org/W1983756891","https://openalex.org/W1990937338","https://openalex.org/W1991477582","https://openalex.org/W2032791703","https://openalex.org/W2105680618","https://openalex.org/W2118877769","https://openalex.org/W2430543258","https://openalex.org/W2503967141","https://openalex.org/W2592972368","https://openalex.org/W2790170680","https://openalex.org/W2893379190","https://openalex.org/W2948347114","https://openalex.org/W2964121744","https://openalex.org/W3002801921","https://openalex.org/W3098362553","https://openalex.org/W3099763198","https://openalex.org/W3186292497","https://openalex.org/W3201913774","https://openalex.org/W6631190155","https://openalex.org/W6677548441","https://openalex.org/W6734680243","https://openalex.org/W6785061520","https://openalex.org/W6801725020"],"related_works":["https://openalex.org/W2396260350","https://openalex.org/W1481335984","https://openalex.org/W2323625407","https://openalex.org/W1503243521","https://openalex.org/W2627174696","https://openalex.org/W2417898593","https://openalex.org/W638052727","https://openalex.org/W2068818069","https://openalex.org/W1862956069","https://openalex.org/W4285212181"],"abstract_inverted_index":{"Tissue":[0],"deformation":[1,21,122,136,196],"in":[2,55],"ultrasound":[3],"(US)":[4],"imaging":[5],"leads":[6],"to":[7,14,50,98,108,113],"geometrical":[8],"errors":[9],"when":[10],"measuring":[11],"tissues":[12],"due":[13],"the":[15,32,38,52,62,73,84,93,100,115,119,135,141,153,158,162,167,189,194],"pressure":[16],"exerted":[17],"by":[18,37,128],"probes.":[19],"Such":[20],"has":[22],"an":[23,109,147],"even":[24],"larger":[25],"effect":[26],"on":[27,72,140,152,177],"3D":[28,57,145,200],"US":[29,58,78],"volumes":[30],"as":[31],"correct":[33,51,134,193],"compounding":[34],"is":[35,67,126,149],"limited":[36],"inconsistent":[39],"location":[40],"and":[41,80,92,164,197],"geometry.":[42],"This":[43],"work":[44],"proposes":[45],"a":[46,129],"patient-specified":[47,63],"stiffness-based":[48],"method":[49,174,190],"tissue":[53,102,121,168,201],"deformations":[54],"robotic":[56,65],"acquisitions.":[59],"To":[60,133],"obtain":[61],"model,":[64],"palpation":[66,85],"performed":[68,150],"at":[69,137,157],"sampling":[70,159],"positions":[71,139],"tissue.":[74],"The":[75,89,104,173,185],"contact":[76,90],"force,":[77,166],"images":[79,105],"probe":[81,94],"poses":[82,95],"of":[83],"procedure":[86],"are":[87,96,106],"recorded.":[88],"force":[91],"used":[97],"estimate":[99],"nonlinear":[101],"stiffness.":[103,184],"fed":[107],"optical":[110],"flow":[111],"algorithm":[112],"compute":[114],"pixel":[116],"displacement.":[117],"Then":[118],"pixel-wise":[120],"under":[123],"different":[124,183],"forces":[125],"characterized":[127],"coupled":[130],"quadratic":[131],"regression.":[132],"unseen":[138],"trajectory":[142],"for":[143],"building":[144],"volumes,":[146],"interpolation":[148],"based":[151],"stiffness":[154,163],"values":[155],"computed":[156],"positions.":[160],"With":[161],"recorded":[165],"displacement":[169],"could":[170],"be":[171],"corrected.":[172],"was":[175],"validated":[176],"two":[178],"blood":[179],"vessel":[180],"phantoms":[181],"with":[182],"results":[186],"demonstrate":[187],"that":[188],"can":[191],"effectively":[192],"force-induced":[195],"finally":[198],"generate":[199],"geometries.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":5}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}
