{"id":"https://openalex.org/W2587873769","doi":"https://doi.org/10.1109/mfi.2016.7849486","title":"Towards force sensing based on instrument-tissue interaction","display_name":"Towards force sensing based on instrument-tissue interaction","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2587873769","doi":"https://doi.org/10.1109/mfi.2016.7849486","mag":"2587873769"},"language":"en","primary_location":{"id":"doi:10.1109/mfi.2016.7849486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2016.7849486","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5001185857","display_name":"Christoph Otte","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Otte","raw_affiliation_strings":["Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015642811","display_name":"Jens Beringhoff","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Beringhoff","raw_affiliation_strings":["Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063951122","display_name":"Sarah Latus","orcid":"https://orcid.org/0000-0002-9796-7001"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sarah Latus","raw_affiliation_strings":["Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024403412","display_name":"Sven-Thomas Antoni","orcid":"https://orcid.org/0000-0003-4127-2697"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven-Thomas Antoni","raw_affiliation_strings":["Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022540247","display_name":"Omer Rajput","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Omer Rajput","raw_affiliation_strings":["Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087348362","display_name":"Alexander Schlaefer","orcid":"https://orcid.org/0000-0001-9201-8854"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Schlaefer","raw_affiliation_strings":["Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Medical Technology, Hamburg University of Technology, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2016","issue":null,"first_page":"180","last_page":"185"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9941999912261963,"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":0.9941999912261963,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9763000011444092,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9577999711036682,"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":0.5614947080612183},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4484427869319916}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5614947080612183},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4484427869319916}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/mfi.2016.7849486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2016.7849486","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"},{"id":"pmh:oai:tore.tuhh.de:11420/3900","is_oa":false,"landing_page_url":"http://hdl.handle.net/11420/3900","pdf_url":null,"source":{"id":"https://openalex.org/S4306401751","display_name":"tub.dok (Hamburg University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I884043246","host_organization_name":"Hamburg University of Technology","host_organization_lineage":["https://openalex.org/I884043246"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"},{"id":"mag:3178347139","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=201702286120852789","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W95184740","https://openalex.org/W846990148","https://openalex.org/W1004400215","https://openalex.org/W1964620727","https://openalex.org/W1967805687","https://openalex.org/W1972335412","https://openalex.org/W1985385066","https://openalex.org/W1997944176","https://openalex.org/W2009180946","https://openalex.org/W2019432637","https://openalex.org/W2106613397","https://openalex.org/W2110371667","https://openalex.org/W2118161426","https://openalex.org/W2121821432","https://openalex.org/W2130071589","https://openalex.org/W2130866400","https://openalex.org/W2148687996","https://openalex.org/W2206556072","https://openalex.org/W2242898580","https://openalex.org/W2303106352","https://openalex.org/W2320546131","https://openalex.org/W2339731384","https://openalex.org/W2355919574","https://openalex.org/W2629843736","https://openalex.org/W4235876038","https://openalex.org/W6675879956","https://openalex.org/W6676442313","https://openalex.org/W6677558598"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829","https://openalex.org/W2530322880"],"abstract_inverted_index":{"The":[0,140],"missing":[1],"haptic":[2],"feedback":[3],"in":[4,117,166,190],"minimally":[5],"invasive":[6],"and":[7,35,56,81,94,105,110,133,154,177],"robotic":[8,167],"surgery":[9,168],"has":[10],"prompted":[11],"the":[12,21,25,29,45,48,75,95,129,149,158,162,169,172,179,185,195,205],"development":[13],"of":[14,17,28,126,171],"a":[15,41,103,124,191],"number":[16],"approaches":[18],"to":[19,37,43,60,67,147,204],"estimate":[20,44,148],"force":[22,135,150,199],"acting":[23,151],"on":[24,157],"instruments.":[26,206],"Modifications":[27],"instrument":[30,79,155,173,186],"can":[31,187],"be":[32,188],"costly,":[33],"fragile,":[34],"harder":[36],"sterilize.":[38],"We":[39],"propose":[40],"method":[42,196],"forces":[46,97],"from":[47],"tissue":[49,83,92,114,153,181],"deformation,":[50],"hence":[51,178],"working":[52],"with":[53],"multiple":[54],"instruments":[55],"avoiding":[57],"any":[58,202],"modification":[59],"their":[61],"design.":[62],"Using":[63],"optical":[64],"coherence":[65],"tomography":[66],"get":[68],"precise":[69],"deformation":[70,86,109,159,182],"estimates,":[71],"we":[72],"have":[73],"studied":[74],"deformations":[76],"for":[77,88,198],"different":[78,90,118],"trajectories":[80],"mechanical":[82],"properties.":[84],"Surface":[85],"profiles":[87],"three":[89],"soft":[91],"phantoms":[93],"resulting":[96],"where":[98],"monitored.":[99],"Our":[100],"results":[101,141],"show":[102],"systematic":[104],"constant":[106],"relationship":[107],"between":[108,131,152],"interaction":[111],"force.":[112],"Different":[113],"elasticities":[115],"result":[116],"but":[119],"consistent":[120],"deformation-force":[121],"mappings.":[122],"For":[123],"series":[125],"independent":[127],"measurements":[128],"root-mean-square-error":[130],"estimated":[132],"measured":[134,189],"was":[136],"below":[137],"3":[138],"mN.":[139],"indicate":[142],"that":[143,165],"it":[144],"is":[145,175],"possible":[146],"based":[156],"caused":[160,183],"by":[161,184],"instrument.":[163],"Given":[164],"pose":[170],"head":[174],"known":[176],"respective":[180],"well-defined":[192],"relative":[193],"position,":[194],"allows":[197],"estimation":[200],"without":[201],"changes":[203]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
