{"id":"https://openalex.org/W4210557383","doi":"https://doi.org/10.1109/lra.2022.3146900","title":"Open Simulation Environment for Learning and Practice of Robot-Assisted Surgical Suturing","display_name":"Open Simulation Environment for Learning and Practice of Robot-Assisted Surgical Suturing","publication_year":2022,"publication_date":"2022-01-31","ids":{"openalex":"https://openalex.org/W4210557383","doi":"https://doi.org/10.1109/lra.2022.3146900"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3146900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3146900","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/A5036968620","display_name":"Adnan Munawar","orcid":"https://orcid.org/0000-0002-3400-4558"},"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":"Adnan Munawar","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-3400-4558","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/A5100724763","display_name":"Jie Ying Wu","orcid":"https://orcid.org/0000-0002-7306-8140"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jie Ying Wu","raw_affiliation_strings":["Department of Computer Science, Vanderbilt University, Nashville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057001205","display_name":"Gregory S. Fischer","orcid":"https://orcid.org/0000-0001-6723-6614"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory S. Fischer","raw_affiliation_strings":["Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6723-6614","affiliations":[{"raw_affiliation_string":"Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","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"],"raw_orcid":"https://orcid.org/0000-0001-6272-1100","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/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"],"raw_orcid":"https://orcid.org/0000-0002-6117-5467","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.0736,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.9785205,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"3843","last_page":"3850"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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":0.9987999796867371,"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-science","display_name":"Computer science","score":0.703667402267456},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.5399513244628906},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5274294018745422},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5032996535301208},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4992187023162842},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48435792326927185},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4821448028087616},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.48022040724754333},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4487074613571167},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.43218064308166504},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.41645359992980957},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.381552129983902},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.22305840253829956},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2069549262523651},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13822439312934875}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.703667402267456},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.5399513244628906},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5274294018745422},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5032996535301208},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4992187023162842},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48435792326927185},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4821448028087616},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.48022040724754333},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4487074613571167},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.43218064308166504},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.41645359992980957},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.381552129983902},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.22305840253829956},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2069549262523651},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13822439312934875},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3146900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3146900","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":[],"funders":[{"id":"https://openalex.org/F4320310145","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1594366634","https://openalex.org/W2007243548","https://openalex.org/W2019681680","https://openalex.org/W2028443292","https://openalex.org/W2040692352","https://openalex.org/W2050744010","https://openalex.org/W2061417916","https://openalex.org/W2066577423","https://openalex.org/W2067862350","https://openalex.org/W2082511574","https://openalex.org/W2117096927","https://openalex.org/W2132836675","https://openalex.org/W2151492375","https://openalex.org/W2156441448","https://openalex.org/W2159242227","https://openalex.org/W2161446118","https://openalex.org/W2167340365","https://openalex.org/W2891930862","https://openalex.org/W2897317266","https://openalex.org/W2923090615","https://openalex.org/W3003705467","https://openalex.org/W3004322459","https://openalex.org/W3006892992","https://openalex.org/W3089664991","https://openalex.org/W3091563142","https://openalex.org/W3115373916","https://openalex.org/W3127265496","https://openalex.org/W3133389372","https://openalex.org/W3135405740","https://openalex.org/W3136964767","https://openalex.org/W3155981689","https://openalex.org/W3196757288","https://openalex.org/W4205967786","https://openalex.org/W4229780036","https://openalex.org/W6605787634","https://openalex.org/W6636805334","https://openalex.org/W6720477642","https://openalex.org/W6756486208","https://openalex.org/W6760425463","https://openalex.org/W6780559895"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W2108167108","https://openalex.org/W4233260495","https://openalex.org/W3094485622","https://openalex.org/W2519742261","https://openalex.org/W2070240107"],"abstract_inverted_index":{"Automation":[0],"has":[1,104],"the":[2,6,79,106,113,119,158],"potential":[3],"to":[4,13,16,39,67,84,112,148],"improve":[5],"standard":[7],"of":[8,33,51,88,94,108,122,145,157,164],"care":[9],"but":[10,28,134],"is":[11,37,73,101,118],"difficult":[12],"realize":[14],"due":[15],"perceptual":[17],"challenges,":[18],"especially":[19],"in":[20,181],"soft-tissue":[21],"surgery.":[22],"Machine":[23],"learning":[24,183],"can":[25,47],"provide":[26],"solutions,":[27],"typically":[29],"requires":[30],"large":[31],"amounts":[32],"training":[34,63,177],"data,":[35,167],"which":[36,72],"time-consuming":[38],"collect.":[40],"Even":[41],"with":[42],"shared":[43],"platforms,":[44],"hardware":[45],"differences":[46],"prevent":[48],"effective":[49],"sharing":[50],"data":[52],"between":[53],"institutions.":[54],"This":[55],"letter":[56],"proposes":[57],"a":[58,95,99,109,123,132,143],"standardized":[59],"simulation":[60,125],"platform":[61],"for":[62,184],"and":[64,103,142,152,160,162,178,188],"testing":[65],"algorithms":[66],"control":[68,151],"surgical":[69,176,185],"robotic":[70],"systems,":[71],"built":[74],"upon":[75],"an":[76],"open-source":[77,120],"simulator,":[78],"Asynchronous":[80],"Multi-Body":[81],"Framework":[82],"(AMBF),":[83],"enable":[85,174],"quick":[86],"prototyping":[87],"different":[89],"scenes.":[90],"An":[91],"illustrative":[92],"example":[93],"suturing":[96,130],"task":[97],"on":[98,131],"phantom":[100],"presented":[102],"formed":[105],"basis":[107],"challenge,":[110],"released":[111],"community.":[114],"The":[115],"top-level":[116],"contribution":[117],"release":[121],"dynamic":[124],"environment":[126],"that":[127],"enables":[128],"realistic":[129,155],"phantom,":[133],"supporting":[135],"contributions":[136],"include":[137],"its":[138],"extendable":[139],"architectural":[140],"design":[141],"series":[144],"algorithmic":[146],"optimizations":[147],"achieve":[149],"real-time":[150],"collision":[153],"detection,":[154],"behavior":[156],"needle":[159],"suture,":[161],"generation":[163],"multi-modal":[165],"ground-truth":[166],"including":[168],"labeled":[169],"depth":[170],"data.":[171],"These":[172],"capabilities":[173],"simulation-based":[175],"support":[179],"research":[180],"machine":[182],"scene":[186],"perception":[187],"autonomous":[189],"action.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}