{"id":"https://openalex.org/W4323914534","doi":"https://doi.org/10.1109/lra.2023.3254860","title":"Sim-to-Real Surgical Robot Learning and Autonomous Planning for Internal Tissue Points Manipulation Using Reinforcement Learning","display_name":"Sim-to-Real Surgical Robot Learning and Autonomous Planning for Internal Tissue Points Manipulation Using Reinforcement Learning","publication_year":2023,"publication_date":"2023-03-10","ids":{"openalex":"https://openalex.org/W4323914534","doi":"https://doi.org/10.1109/lra.2023.3254860"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3254860","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3254860","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/2306.14085","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023350625","display_name":"Yafei Ou","orcid":"https://orcid.org/0000-0002-2989-9991"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yafei Ou","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada"],"raw_orcid":"https://orcid.org/0000-0002-2989-9991","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018636421","display_name":"Mahdi Tavakoli","orcid":"https://orcid.org/0000-0002-7427-6961"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mahdi Tavakoli","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada"],"raw_orcid":"https://orcid.org/0000-0002-7427-6961","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I154425047"],"apc_list":null,"apc_paid":null,"fwci":2.8299,"has_fulltext":true,"cited_by_count":37,"citation_normalized_percentile":{"value":0.91469433,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"8","issue":"5","first_page":"2502","last_page":"2509"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987000226974487,"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":0.9987000226974487,"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":0.9983000159263611,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7723200917243958},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6767439842224121},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.639423668384552},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6069371700286865},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.5772889852523804},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5768353343009949},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5367103815078735},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5263016223907471},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.46329745650291443},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4326794445514679},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42502668499946594},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40903937816619873},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3434709906578064},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.24136745929718018},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22217726707458496},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09798973798751831}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7723200917243958},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6767439842224121},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.639423668384552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6069371700286865},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.5772889852523804},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5768353343009949},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5367103815078735},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5263016223907471},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.46329745650291443},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4326794445514679},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42502668499946594},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40903937816619873},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3434709906578064},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.24136745929718018},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22217726707458496},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09798973798751831},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3254860","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3254860","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:2306.14085","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2306.14085","pdf_url":"https://arxiv.org/pdf/2306.14085","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2306.14085","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2306.14085","pdf_url":"https://arxiv.org/pdf/2306.14085","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":[{"display_name":"Peace, Justice and strong institutions","score":0.5299999713897705,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4323914534.pdf","grobid_xml":"https://content.openalex.org/works/W4323914534.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W2061417916","https://openalex.org/W2102425682","https://openalex.org/W2146990154","https://openalex.org/W2152670157","https://openalex.org/W2565234518","https://openalex.org/W2605102758","https://openalex.org/W2736750746","https://openalex.org/W2809199532","https://openalex.org/W2904246096","https://openalex.org/W2918665764","https://openalex.org/W2940581269","https://openalex.org/W2972836290","https://openalex.org/W3013672175","https://openalex.org/W3026452467","https://openalex.org/W3040477237","https://openalex.org/W3099462921","https://openalex.org/W3102313808","https://openalex.org/W3116608781","https://openalex.org/W3127265496","https://openalex.org/W3133389372","https://openalex.org/W3202309648","https://openalex.org/W3205960420","https://openalex.org/W3206787706","https://openalex.org/W3207132575","https://openalex.org/W4285299678","https://openalex.org/W4309676047","https://openalex.org/W4383108447","https://openalex.org/W6757592117","https://openalex.org/W6804601995"],"related_works":["https://openalex.org/W3096874164","https://openalex.org/W1985560493","https://openalex.org/W2937181779","https://openalex.org/W2386410636","https://openalex.org/W2357975469","https://openalex.org/W2145363145","https://openalex.org/W1626977535","https://openalex.org/W2341346307","https://openalex.org/W3168977894","https://openalex.org/W2182304831"],"abstract_inverted_index":{"Indirect":[0],"simultaneous":[1],"positioning":[2],"(ISP),":[3],"where":[4],"internal":[5,141,168],"tissue":[6,35,77,142,153,169],"points":[7,73,100,143,150],"are":[8,101],"placed":[9],"at":[10],"desired":[11],"locations":[12],"indirectly":[13],"through":[14],"the":[15,38,43,57,71,90,104,108,122,136,140,147,156,176],"manipulation":[16,171],"of":[17,23,45],"boundary":[18],"points,":[19],"is":[20,82,118,164],"a":[21,50,62,125],"type":[22],"subtask":[24],"frequently":[25],"performed":[26],"in":[27,89,103,172],"robotic":[28],"surgeries.":[29],"Although":[30],"challenging":[31],"due":[32],"to":[33,55,69,96,166,178,181],"complex":[34,182],"dynamics,":[36],"automating":[37],"task":[39,58],"can":[40],"potentially":[41],"reduce":[42],"workload":[44],"surgeons.":[46],"This":[47],"letter":[48],"presents":[49],"sim-to-real":[51],"framework":[52],"for":[53,66],"learning":[54,87,160],"automate":[56,167],"without":[59],"interacting":[60],"with":[61],"real":[63],"environment,":[64],"and":[65,94,145,161,174],"planning":[67,162],"preoperatively":[68],"find":[70],"grasping":[72,149],"that":[74,135,146],"minimize":[75],"local":[76],"deformation.":[78],"A":[79],"control":[80],"policy":[81,110,138],"learned":[83,137],"using":[84,111],"deep":[85],"reinforcement":[86],"(DRL)":[88],"FEM-based":[91],"simulation":[92,116],"environment":[93],"transferred":[95],"real-world":[97],"situation.":[98],"Grasping":[99],"planned":[102,148],"simulator":[105],"by":[106,120],"utilizing":[107],"trained":[109],"Bayesian":[112],"optimization":[113],"(BO).":[114],"Inconsistent":[115],"performance":[117],"overcome":[119],"formulating":[121],"problem":[123],"as":[124],"state":[126],"augmented":[127],"Markov":[128],"decision":[129],"process":[130],"(MDP).":[131],"Experimental":[132],"results":[133],"show":[134],"places":[139],"accurately,":[144],"yield":[151],"small":[152],"deformation":[154],"among":[155],"trials.":[157],"The":[158],"proposed":[159],"scheme":[163],"able":[165],"point":[170],"surgeries":[173],"has":[175],"potential":[177],"be":[179],"generalized":[180],"surgical":[183],"scenarios.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-18T07:49:30.821534","created_date":"2023-03-12T00:00:00"}
