{"id":"https://openalex.org/W4379507164","doi":"https://doi.org/10.1109/lra.2023.3281267","title":"Skeleton Graph-Based Ultrasound-CT Non-Rigid Registration","display_name":"Skeleton Graph-Based Ultrasound-CT Non-Rigid Registration","publication_year":2023,"publication_date":"2023-05-30","ids":{"openalex":"https://openalex.org/W4379507164","doi":"https://doi.org/10.1109/lra.2023.3281267"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3281267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3281267","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/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, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101571560","display_name":"Xuesong Li","orcid":"https://orcid.org/0009-0000-2752-6334"},"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":"Xuesong Li","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102769946","display_name":"Chenyu Zhang","orcid":"https://orcid.org/0000-0003-3827-8043"},"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":"Chenyu Zhang","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, 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, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005732789","display_name":"Walter Stechele","orcid":"https://orcid.org/0000-0002-7455-8483"},"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":"Walter Stechele","raw_affiliation_strings":["Chair of Integrated Systems, Technical University of Munich, M&#x00FC;nchen, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Integrated Systems, Technical University of Munich, M&#x00FC;nchen, 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/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":"Nassir Navab","raw_affiliation_strings":["Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"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":1.5966,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.85432158,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"8","issue":"8","first_page":"4394","last_page":"4401"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9939000010490417,"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"}},"topics":[{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9939000010490417,"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"}},{"id":"https://openalex.org/T12422","display_name":"Radiomics and Machine Learning in Medical Imaging","score":0.9905999898910522,"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/T14510","display_name":"Medical Imaging and Analysis","score":0.9904999732971191,"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/point-cloud","display_name":"Point cloud","score":0.7670720815658569},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5639685392379761},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5356082320213318},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.49840354919433594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4744328558444977},{"id":"https://openalex.org/keywords/atlas","display_name":"Atlas (anatomy)","score":0.4607679843902588},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.4197898805141449},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4131201207637787},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40318265557289124},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2571415603160858},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.21977055072784424},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.1435146927833557},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.11219486594200134},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.10837855935096741}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7670720815658569},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5639685392379761},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5356082320213318},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.49840354919433594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4744328558444977},{"id":"https://openalex.org/C2776673561","wikidata":"https://www.wikidata.org/wiki/Q655357","display_name":"Atlas (anatomy)","level":2,"score":0.4607679843902588},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.4197898805141449},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4131201207637787},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40318265557289124},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2571415603160858},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.21977055072784424},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.1435146927833557},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.11219486594200134},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.10837855935096741}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2023.3281267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3281267","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:hub.hku.hk:10722/365342","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/365342","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:mediatum.ub.tum.de:node/1712277","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1712277","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W195502050","https://openalex.org/W1487667890","https://openalex.org/W1603781321","https://openalex.org/W1964666848","https://openalex.org/W1990517717","https://openalex.org/W2015898159","https://openalex.org/W2017927472","https://openalex.org/W2022119151","https://openalex.org/W2041775009","https://openalex.org/W2064674566","https://openalex.org/W2071000559","https://openalex.org/W2083624955","https://openalex.org/W2102030038","https://openalex.org/W2134236847","https://openalex.org/W2136064526","https://openalex.org/W2160817155","https://openalex.org/W2168722300","https://openalex.org/W2503967141","https://openalex.org/W2592581620","https://openalex.org/W2753487131","https://openalex.org/W2770773605","https://openalex.org/W2795890078","https://openalex.org/W2893379190","https://openalex.org/W2907811174","https://openalex.org/W3002801921","https://openalex.org/W3026176543","https://openalex.org/W3033013189","https://openalex.org/W3041537624","https://openalex.org/W3090017169","https://openalex.org/W3098362553","https://openalex.org/W3099763198","https://openalex.org/W3103231159","https://openalex.org/W3130077877","https://openalex.org/W3179339842","https://openalex.org/W3183858554","https://openalex.org/W3185648975","https://openalex.org/W3186292497","https://openalex.org/W3201913774","https://openalex.org/W3205871067","https://openalex.org/W3206166730","https://openalex.org/W3210435954","https://openalex.org/W4285194566","https://openalex.org/W4292793935","https://openalex.org/W4301392650","https://openalex.org/W4313680218","https://openalex.org/W4380607050","https://openalex.org/W6849041252"],"related_works":["https://openalex.org/W2813834476","https://openalex.org/W3016861202","https://openalex.org/W4391129294","https://openalex.org/W2807666361","https://openalex.org/W2196111060","https://openalex.org/W4213431252","https://openalex.org/W4306760020","https://openalex.org/W2120071540","https://openalex.org/W2528465333","https://openalex.org/W4200038092"],"abstract_inverted_index":{"Autonomous":[0],"ultrasound":[1],"(US)":[2],"scanning":[3],"has":[4,10],"attracted":[5],"increased":[6],"attention,":[7],"and":[8,36,103,138,174,194],"it":[9,30],"been":[11],"seen":[12],"as":[13,26],"a":[14,39,44,68,118],"potential":[15],"solution":[16],"to":[17,34,47,73,97,116,121,134,198],"overcome":[18],"the":[19,48,84,90,99,105,110,130,136,142,146,160,166,187,199,203],"limitations":[20],"of":[21],"conventional":[22],"US":[23,167],"examinations,":[24],"such":[25],"inter-operator":[27],"variations.":[28],"However,":[29],"is":[31,93,114,149,191],"still":[32],"challenging":[33],"autonomously":[35],"accurately":[37],"transfer":[38],"planned":[40],"scan":[41],"trajectory":[42],"on":[43,224],"generic":[45],"atlas":[46],"current":[49],"setup":[50],"for":[51,55],"different":[52,181],"patients,":[53],"particularly":[54],"thorax":[56],"applications":[57],"with":[58],"limited":[59],"acoustic":[60],"windows.":[61],"To":[62,87,127,158],"address":[63],"this":[64,88],"challenge,":[65],"we":[66,163],"proposed":[67,161,188],"skeleton":[69],"graph-based":[70,189],"non-rigid":[71],"registration":[72,190],"adapt":[74],"patient-specific":[75],"properties":[76],"using":[77],"subcutaneous":[78],"bone":[79],"surface":[80],"features":[81],"rather":[82],"than":[83,202],"skin":[85],"surface.":[86],"end,":[89],"self-organization":[91],"mapping":[92],"successively":[94],"used":[95],"twice":[96],"unify":[98],"input":[100],"point":[101,140,169,178],"cloud":[102,170],"extract":[104,165],"key":[106,125],"points,":[107],"respectively.":[108],"Afterward,":[109],"minimal":[111],"spanning":[112],"tree":[113,119,147],"employed":[115],"generate":[117],"graph":[120,148],"connect":[122],"all":[123],"extracted":[124,144],"points.":[126],"appropriately":[128],"characterize":[129],"rib":[131],"cartilage":[132,168,177],"outline":[133],"match":[135],"source":[137],"target":[139],"cloud,":[141],"path":[143],"from":[145,171,180],"optimized":[150],"by":[151],"maximally":[152],"maintaining":[153],"continuity":[154],"throughout":[155],"each":[156],"rib.":[157],"validate":[159],"approach,":[162],"manually":[164],"one":[172],"volunteer":[173],"seven":[175,225],"CT":[176],"clouds":[179],"patients.":[182],"The":[183],"results":[184],"demonstrate":[185],"that":[186],"more":[192],"effective":[193],"robust":[195],"in":[196],"adapting":[197],"inter-patient":[200],"variations":[201],"ICP":[204],"(distance":[205],"error":[206],"mean":[207],"<inline-formula":[208,213,219],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[209,214,220],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[210,215,221],"notation=\"LaTeX\">$\\pm$</tex-math></inline-formula>":[211],"SD:":[212],"notation=\"LaTeX\">$5.0\\pm":[216],"\\text{1.9}\\,\\text{mm}$</tex-math></inline-formula>":[217],"vs":[218],"notation=\"LaTeX\">$8.6\\pm":[222],"\\text{6.7}\\,\\text{mm}$</tex-math></inline-formula>":[223],"CTs).":[226]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
