{"id":"https://openalex.org/W4319303111","doi":"https://doi.org/10.1109/lra.2023.3242466","title":"Keep Your Eye on the Best: Contrastive Regression Transformer for Skill Assessment in Robotic Surgery","display_name":"Keep Your Eye on the Best: Contrastive Regression Transformer for Skill Assessment in Robotic Surgery","publication_year":2023,"publication_date":"2023-02-06","ids":{"openalex":"https://openalex.org/W4319303111","doi":"https://doi.org/10.1109/lra.2023.3242466"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3242466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3242466","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":true,"oa_status":"green","oa_url":"https://discovery.ucl.ac.uk/10164755/2/Anastasiou_Keep%20Your%20Eye%20on%20the%20Best_AAM.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034986735","display_name":"Dimitrios Anastasiou","orcid":"https://orcid.org/0000-0003-1772-522X"},"institutions":[{"id":"https://openalex.org/I4210122016","display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences","ror":"https://ror.org/03r42r570","country_code":"GB","type":"facility","lineage":["https://openalex.org/I124357947","https://openalex.org/I1299528221","https://openalex.org/I4210087105","https://openalex.org/I4210122016","https://openalex.org/I45129253","https://openalex.org/I87048295"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dimitrios Anastasiou","raw_affiliation_strings":["Wellcome / EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-1772-522X","affiliations":[{"raw_affiliation_string":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K","institution_ids":["https://openalex.org/I4210122016","https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050163233","display_name":"Yueming Jin","orcid":"https://orcid.org/0000-0003-3775-3877"},"institutions":[{"id":"https://openalex.org/I4210122016","display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences","ror":"https://ror.org/03r42r570","country_code":"GB","type":"facility","lineage":["https://openalex.org/I124357947","https://openalex.org/I1299528221","https://openalex.org/I4210087105","https://openalex.org/I4210122016","https://openalex.org/I45129253","https://openalex.org/I87048295"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yueming Jin","raw_affiliation_strings":["Wellcome / EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-3775-3877","affiliations":[{"raw_affiliation_string":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K","institution_ids":["https://openalex.org/I4210122016","https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077630267","display_name":"Danail Stoyanov","orcid":"https://orcid.org/0000-0002-0980-3227"},"institutions":[{"id":"https://openalex.org/I4210122016","display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences","ror":"https://ror.org/03r42r570","country_code":"GB","type":"facility","lineage":["https://openalex.org/I124357947","https://openalex.org/I1299528221","https://openalex.org/I4210087105","https://openalex.org/I4210122016","https://openalex.org/I45129253","https://openalex.org/I87048295"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Danail Stoyanov","raw_affiliation_strings":["Wellcome / EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-0980-3227","affiliations":[{"raw_affiliation_string":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K","institution_ids":["https://openalex.org/I4210122016","https://openalex.org/I45129253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048400975","display_name":"Evangelos B. Mazomenos","orcid":"https://orcid.org/0000-0003-0357-5996"},"institutions":[{"id":"https://openalex.org/I4210122016","display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences","ror":"https://ror.org/03r42r570","country_code":"GB","type":"facility","lineage":["https://openalex.org/I124357947","https://openalex.org/I1299528221","https://openalex.org/I4210087105","https://openalex.org/I4210122016","https://openalex.org/I45129253","https://openalex.org/I87048295"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Evangelos Mazomenos","raw_affiliation_strings":["Wellcome / EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0357-5996","affiliations":[{"raw_affiliation_string":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K","institution_ids":["https://openalex.org/I4210122016","https://openalex.org/I45129253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.2212,"has_fulltext":true,"cited_by_count":28,"citation_normalized_percentile":{"value":0.97932857,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"8","issue":"3","first_page":"1755","last_page":"1762"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9994000196456909,"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":0.9994000196456909,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9958000183105469,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9857000112533569,"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/computer-science","display_name":"Computer science","score":0.7356240153312683},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6369203329086304},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5959346890449524},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5231400728225708},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45057421922683716},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.43926575779914856},{"id":"https://openalex.org/keywords/feature-vector","display_name":"Feature vector","score":0.4184757471084595},{"id":"https://openalex.org/keywords/regression","display_name":"Regression","score":0.41529756784439087},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.4123593866825104},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.38443270325660706},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3204312026500702},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.12653470039367676},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11523911356925964}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7356240153312683},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6369203329086304},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5959346890449524},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5231400728225708},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45057421922683716},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.43926575779914856},{"id":"https://openalex.org/C83665646","wikidata":"https://www.wikidata.org/wiki/Q42139305","display_name":"Feature vector","level":2,"score":0.4184757471084595},{"id":"https://openalex.org/C83546350","wikidata":"https://www.wikidata.org/wiki/Q1139051","display_name":"Regression","level":2,"score":0.41529756784439087},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.4123593866825104},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.38443270325660706},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3204312026500702},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.12653470039367676},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11523911356925964},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3242466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3242466","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:eprints.ucl.ac.uk.OAI2:10164755","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10164755/","pdf_url":"https://discovery.ucl.ac.uk/10164755/2/Anastasiou_Keep%20Your%20Eye%20on%20the%20Best_AAM.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"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":"   IEEE Robotics and Automation Letters     pp. 1-8.   (2023)      ","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10164755","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10164755/","pdf_url":"https://discovery.ucl.ac.uk/10164755/2/Anastasiou_Keep%20Your%20Eye%20on%20the%20Best_AAM.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"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":"   IEEE Robotics and Automation Letters     pp. 1-8.   (2023)      ","raw_type":"Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.7900000214576721}],"awards":[{"id":"https://openalex.org/G1320193412","display_name":"Robotic Assisted Imaging","funder_award_id":"EP/P012841/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G1737217355","display_name":null,"funder_award_id":"EP/P012841/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G2432213981","display_name":"DTP 2018-19 University College London","funder_award_id":"EP/R513143/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4835011613","display_name":null,"funder_award_id":"NS/A000050/","funder_id":"https://openalex.org/F4320330765","funder_display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences"},{"id":"https://openalex.org/G4884426978","display_name":"EPSRC Centre for Doctoral Training in Intelligent, Integrated Imaging In Healthcare (i4health)","funder_award_id":"EP/S021930/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5445067660","display_name":null,"funder_award_id":"203145Z/16/Z","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7564478775","display_name":null,"funder_award_id":"EP/R513143","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7705462073","display_name":null,"funder_award_id":"863146","funder_id":"https://openalex.org/F4320330765","funder_display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences"},{"id":"https://openalex.org/G8686463902","display_name":null,"funder_award_id":"EP/S021930/1","funder_id":"https://openalex.org/F4320330765","funder_display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences"},{"id":"https://openalex.org/G8834228055","display_name":"DTP 2020-2021 University College London","funder_award_id":"EP/T517793/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8925563342","display_name":null,"funder_award_id":"Horizon 2020 FET","funder_id":"https://openalex.org/F4320330765","funder_display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences"},{"id":"https://openalex.org/G985999274","display_name":null,"funder_award_id":"203145Z/16/Z","funder_id":"https://openalex.org/F4320330765","funder_display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences"}],"funders":[{"id":"https://openalex.org/F4320330765","display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences","ror":"https://ror.org/03r42r570"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4319303111.pdf","grobid_xml":"https://content.openalex.org/works/W4319303111.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W2109498513","https://openalex.org/W2194775991","https://openalex.org/W2262715205","https://openalex.org/W2552035314","https://openalex.org/W2568518337","https://openalex.org/W2891574165","https://openalex.org/W2951058133","https://openalex.org/W2963139324","https://openalex.org/W2963853051","https://openalex.org/W2964446959","https://openalex.org/W2979726199","https://openalex.org/W2990759760","https://openalex.org/W3035714233","https://openalex.org/W3088390354","https://openalex.org/W3090581617","https://openalex.org/W3103878770","https://openalex.org/W3104144143","https://openalex.org/W3105393320","https://openalex.org/W3155981689","https://openalex.org/W3193654597","https://openalex.org/W3196971551","https://openalex.org/W3207394861","https://openalex.org/W4205801416","https://openalex.org/W4210446704","https://openalex.org/W4296053327","https://openalex.org/W4385245566"],"related_works":["https://openalex.org/W2537963312","https://openalex.org/W2066003895","https://openalex.org/W2537762514","https://openalex.org/W2349788282","https://openalex.org/W577271088","https://openalex.org/W2120801881","https://openalex.org/W1982853263","https://openalex.org/W1974473538","https://openalex.org/W2020010749","https://openalex.org/W2796116650"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"a":[3,32,36,48,59,139],"novel":[4],"video-based,":[5],"contrastive":[6,87],"regression":[7],"architecture,":[8],"Contra-Sformer,":[9],"for":[10],"automated":[11],"surgical":[12,29,42],"skill":[13,95,125],"assessment":[14],"in":[15,27,111],"robot-assisted":[16],"surgery.":[17],"The":[18],"proposed":[19],"framework":[20],"is":[21],"structured":[22],"to":[23,120],"capture":[24],"the":[25,28,68,94,98,112,122,129],"differences":[26],"performance,":[30],"between":[31,97,144],"test":[33,69],"video":[34,38],"and":[35,58,70,108,149],"reference":[37,71],"which":[39,116],"represents":[40],"optimal":[41],"execution.":[43],"A":[44],"feature":[45,65,114],"extractor":[46],"combining":[47],"spatial":[49],"component":[50,61],"(ResNet-18),":[51],"supervised":[52],"on":[53,128,146],"frame-level":[54],"with":[55,81,138],"gesture":[56],"labels,":[57],"temporal":[60],"(TCN),":[62],"generates":[63],"spatio-temporal":[64],"matrices":[66],"of":[67,93,102],"videos.":[72,100],"These":[73],"are":[74,117],"then":[75],"fed":[76],"into":[77],"an":[78],"action-aware":[79],"Transformer":[80],"multi-head":[82],"attention":[83],"that":[84],"produces":[85],"inter-video":[86],"features":[88],"at":[89],"frame":[90],"level,":[91],"representative":[92],"similarity/deviation":[96],"two":[99],"Moments":[101],"sub-optimal":[103],"performance":[104,135],"can":[105],"be":[106],"identified":[107],"temporally":[109],"localized":[110],"obtained":[113],"vectors,":[115],"ultimately":[118],"used":[119],"regress":[121],"manually":[123],"assigned":[124],"scores.":[126],"Validated":[127],"JIGSAWS":[130],"dataset,":[131],"Contra-Sformer":[132],"achieves":[133],"competitive":[134],"(Spearman":[136],"0.65\u20130.89),":[137],"normalized":[140],"mean":[141],"absolute":[142],"error":[143],"5.8%-13.4%":[145],"all":[147],"tasks":[148],"across":[150],"validation":[151],"setups.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":5}],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2025-10-10T00:00:00"}