{"id":"https://openalex.org/W4386872423","doi":"https://doi.org/10.1109/lra.2023.3313936","title":"Optical Flow-Based Vascular Respiratory Motion Compensation","display_name":"Optical Flow-Based Vascular Respiratory Motion Compensation","publication_year":2023,"publication_date":"2023-09-19","ids":{"openalex":"https://openalex.org/W4386872423","doi":"https://doi.org/10.1109/lra.2023.3313936"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3313936","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313936","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/A5081257775","display_name":"Keke Yang","orcid":"https://orcid.org/0000-0002-6749-2826"},"institutions":[{"id":"https://openalex.org/I4210135459","display_name":"United Imaging Healthcare (China)","ror":"https://ror.org/03qqw3m37","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210135459"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Keke Yang","raw_affiliation_strings":["United Imaging of Health, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"United Imaging of Health, Shanghai, China","institution_ids":["https://openalex.org/I4210135459"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043079285","display_name":"Zheng Zhang","orcid":"https://orcid.org/0000-0001-7041-2121"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210135459","display_name":"United Imaging Healthcare (China)","ror":"https://ror.org/03qqw3m37","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210135459"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Zhang","raw_affiliation_strings":["Institute of Medical Imaging Technology, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China","United Imaging of Health, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Medical Imaging Technology, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"United Imaging of Health, Shanghai, China","institution_ids":["https://openalex.org/I4210135459"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092072535","display_name":"Meng Li","orcid":"https://orcid.org/0009-0007-8356-4432"},"institutions":[{"id":"https://openalex.org/I4210135459","display_name":"United Imaging Healthcare (China)","ror":"https://ror.org/03qqw3m37","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210135459"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Li","raw_affiliation_strings":["United Imaging of Health, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"United Imaging of Health, Shanghai, China","institution_ids":["https://openalex.org/I4210135459"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084681624","display_name":"Tuoyu Cao","orcid":"https://orcid.org/0000-0002-6926-5133"},"institutions":[{"id":"https://openalex.org/I4210135459","display_name":"United Imaging Healthcare (China)","ror":"https://ror.org/03qqw3m37","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210135459"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tuoyu Cao","raw_affiliation_strings":["United Imaging of Health, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"United Imaging of Health, Shanghai, China","institution_ids":["https://openalex.org/I4210135459"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046777734","display_name":"Maani Ghaffari","orcid":"https://orcid.org/0000-0002-4734-4295"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maani Ghaffari","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014094093","display_name":"Jingwei Song","orcid":"https://orcid.org/0000-0003-4438-4627"},"institutions":[{"id":"https://openalex.org/I4210135459","display_name":"United Imaging Healthcare (China)","ror":"https://ror.org/03qqw3m37","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210135459"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingwei Song","raw_affiliation_strings":["United Imaging Research Institute of Intelligent Imaging, Beijing, China"],"affiliations":[{"raw_affiliation_string":"United Imaging Research Institute of Intelligent Imaging, Beijing, China","institution_ids":["https://openalex.org/I4210135459"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5081257775"],"corresponding_institution_ids":["https://openalex.org/I4210135459"],"apc_list":null,"apc_paid":null,"fwci":2.9207,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.9082448,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"8","issue":"11","first_page":"6987","last_page":"6994"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.991599977016449,"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/T10378","display_name":"Advanced MRI Techniques and Applications","score":0.9894000291824341,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-compensation","display_name":"Motion compensation","score":0.6065389513969421},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5681572556495667},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5647441744804382},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4375176727771759},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.4289562702178955},{"id":"https://openalex.org/keywords/blood-flow","display_name":"Blood flow","score":0.42847511172294617},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36623749136924744},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.28771817684173584},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.1821800172328949},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10290583968162537}],"concepts":[{"id":"https://openalex.org/C128840427","wikidata":"https://www.wikidata.org/wiki/Q1302174","display_name":"Motion compensation","level":2,"score":0.6065389513969421},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5681572556495667},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5647441744804382},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4375176727771759},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.4289562702178955},{"id":"https://openalex.org/C158846371","wikidata":"https://www.wikidata.org/wiki/Q1642137","display_name":"Blood flow","level":2,"score":0.42847511172294617},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36623749136924744},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.28771817684173584},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.1821800172328949},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10290583968162537}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3313936","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313936","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":[{"display_name":"Good health and well-being","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W198885759","https://openalex.org/W282836072","https://openalex.org/W1472398560","https://openalex.org/W1525534239","https://openalex.org/W1709783953","https://openalex.org/W1992229456","https://openalex.org/W2016116538","https://openalex.org/W2061919388","https://openalex.org/W2079258838","https://openalex.org/W2085723318","https://openalex.org/W2088416518","https://openalex.org/W2092424229","https://openalex.org/W2129651618","https://openalex.org/W2133866138","https://openalex.org/W2143013621","https://openalex.org/W2145035002","https://openalex.org/W2519340235","https://openalex.org/W2592043053","https://openalex.org/W2954115742","https://openalex.org/W2999475074","https://openalex.org/W3008727743","https://openalex.org/W3126141015","https://openalex.org/W3193772317","https://openalex.org/W4211049957","https://openalex.org/W4280531712","https://openalex.org/W4285507666","https://openalex.org/W4316039967","https://openalex.org/W6679388247","https://openalex.org/W6734182806"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2166024367","https://openalex.org/W2772917594","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"This":[0],"letter":[1],"develops":[2],"a":[3,132],"new":[4],"vascular":[5,15,25,30,66,73,88,111,152,176,184],"respiratory":[6,16,67,89,153,177],"motion":[7,17,68,90,154,178],"compensation":[8,18,69,91,155,179],"algorithm,":[9],"Motion-Related":[10],"Compensation":[11],"(MRC),":[12],"to":[13,50,106,182],"conduct":[14],"by":[19],"extrapolating":[20],"the":[21,35,57,96,108,116,127,147],"correlation":[22,109],"between":[23,110],"invisible":[24,55,118],"and":[26,52,112,126,174,186],"visible":[27,83,124],"non-vascular.":[28],"Robot-assisted":[29],"intervention":[31,185],"can":[32,150],"significantly":[33],"reduce":[34],"radiation":[36],"exposure":[37],"of":[38],"surgeons.":[39],"In":[40],"robot-assisted":[41],"image-guided":[42],"intervention,":[43,117],"blood":[44,80,119],"vessels":[45,81,120],"are":[46,54,63,82,121],"constantly":[47],"moving/deforming":[48],"due":[49],"respiration,":[51],"they":[53],"in":[56,75,156],"X-ray":[58,77],"images":[59],"unless":[60],"contrast":[61,85],"agents":[62,86],"injected.":[64],"The":[65],"technique":[70],"predicts":[71],"2D":[72],"roadmaps":[74],"live":[76],"images.":[78],"When":[79],"after":[84],"injection,":[87],"is":[92,104,136],"conducted":[93],"based":[94],"on":[95,141],"sparse":[97],"Lucas-Kanade":[98],"feature":[99],"tracker.":[100],"An":[101],"MRC":[102,129],"model":[103],"trained":[105,128],"learn":[107],"non-vascular":[113],"motions.":[114],"During":[115],"predicted":[122],"with":[123,163],"tissues":[125],"model.":[130],"Moreover,":[131],"Gaussian-based":[133],"outlier":[134],"filter":[135],"adopted":[137],"for":[138],"refinement.":[139],"Experiments":[140],"in-vivo":[142],"data":[143],"sets":[144],"show":[145],"that":[146],"proposed":[148],"method":[149],"yield":[151],"<inline-formula":[157,167],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[158,168],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[159,169],"notation=\"LaTeX\">$0.032":[160],"\\sec$</tex-math></inline-formula>":[161],",":[162],"an":[164],"average":[165],"error":[166],"notation=\"LaTeX\">$\\text{1.086}\\;\\text{mm}$</tex-math></inline-formula>":[170],".":[171],"Our":[172],"real-time":[173],"accurate":[175],"approach":[180],"contributes":[181],"modern":[183],"surgical":[187],"robots.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
