{"id":"https://openalex.org/W1980172851","doi":"https://doi.org/10.1109/robot.2010.5509695","title":"Guidance of a steerable cannula robot in soft tissue using preoperative imaging and conoscopic surface contour sensing","display_name":"Guidance of a steerable cannula robot in soft tissue using preoperative imaging and conoscopic surface contour sensing","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W1980172851","doi":"https://doi.org/10.1109/robot.2010.5509695","mag":"1980172851"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509695","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","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/A5008888028","display_name":"Ray A. Lathrop","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ray A Lathrop","raw_affiliation_strings":["Vanderbilt University, Nashville, TN, USA","Vanderbilt University, Nashville, TN, 37235, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, 37235, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082291863","display_name":"D. Caleb Rucker","orcid":"https://orcid.org/0000-0001-7181-1933"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D Caleb Rucker","raw_affiliation_strings":["Vanderbilt University, Nashville, TN, USA","Vanderbilt University, Nashville, TN, 37235, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, 37235, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009794922","display_name":"Robert J. Webster","orcid":"https://orcid.org/0000-0003-1389-224X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J Webster","raw_affiliation_strings":["Vanderbilt University, Nashville, TN, USA","Vanderbilt University, Nashville, TN, 37235, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, 37235, USA","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I200719446"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5601","last_page":"5606"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T10888","display_name":"Augmented Reality Applications","score":0.9988999962806702,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980000257492065,"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/cannula","display_name":"Cannula","score":0.8275099992752075},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7542937397956848},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.673620343208313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6194002032279968},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6078755259513855},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.5676071047782898},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5586531162261963},{"id":"https://openalex.org/keywords/holography","display_name":"Holography","score":0.5257875919342041},{"id":"https://openalex.org/keywords/soft-tissue","display_name":"Soft tissue","score":0.5228220224380493},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4461718499660492},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.2659769058227539},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.23590439558029175},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.227090984582901},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.15751221776008606},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12082922458648682}],"concepts":[{"id":"https://openalex.org/C2778074680","wikidata":"https://www.wikidata.org/wiki/Q2125439","display_name":"Cannula","level":2,"score":0.8275099992752075},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7542937397956848},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.673620343208313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6194002032279968},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6078755259513855},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.5676071047782898},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5586531162261963},{"id":"https://openalex.org/C187590223","wikidata":"https://www.wikidata.org/wiki/Q527628","display_name":"Holography","level":2,"score":0.5257875919342041},{"id":"https://openalex.org/C136948725","wikidata":"https://www.wikidata.org/wiki/Q1458306","display_name":"Soft tissue","level":2,"score":0.5228220224380493},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4461718499660492},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.2659769058227539},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.23590439558029175},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.227090984582901},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.15751221776008606},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12082922458648682}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2010.5509695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509695","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.715.9709","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.715.9709","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://research.vuse.vanderbilt.edu/MEDlab/sites/default/files/LathropGuidanceICRA10.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1977758817","https://openalex.org/W1991513233","https://openalex.org/W2001740592","https://openalex.org/W2007732954","https://openalex.org/W2017363989","https://openalex.org/W2049981393","https://openalex.org/W2057069782","https://openalex.org/W2067309401","https://openalex.org/W2068578261","https://openalex.org/W2070927739","https://openalex.org/W2084265598","https://openalex.org/W2107550832","https://openalex.org/W2110508378","https://openalex.org/W2118152376","https://openalex.org/W2119531408","https://openalex.org/W2125864999","https://openalex.org/W2128330148","https://openalex.org/W2130938974","https://openalex.org/W2132167838","https://openalex.org/W2138564331","https://openalex.org/W2139470902","https://openalex.org/W2142853128","https://openalex.org/W2153691669","https://openalex.org/W2156199850","https://openalex.org/W2165061586","https://openalex.org/W2168971029","https://openalex.org/W2169616182","https://openalex.org/W2180065899","https://openalex.org/W2229412420","https://openalex.org/W3135334960","https://openalex.org/W4233857083","https://openalex.org/W4237831789","https://openalex.org/W4248655483"],"related_works":["https://openalex.org/W2037146085","https://openalex.org/W1988150353","https://openalex.org/W2416327308","https://openalex.org/W1988951122","https://openalex.org/W2385284762","https://openalex.org/W2024331572","https://openalex.org/W2066222746","https://openalex.org/W2348764546","https://openalex.org/W1976566245","https://openalex.org/W2019197993"],"abstract_inverted_index":{"Intraoperative":[0],"surface":[1,39],"contour":[2],"sensing":[3],"can":[4],"enable":[5],"the":[6,74,83,86,116,128],"registration":[7],"of":[8,16,98,103],"high-resolution":[9],"three-dimensional":[10],"preoperative":[11,71],"images":[12,72],"for":[13,23,115],"precise":[14],"guidance":[15],"surgical":[17],"robots.":[18],"This":[19],"is":[20,92,105,113],"particularly":[21],"useful":[22],"guiding":[24],"steerable":[25,48,88],"needles":[26],"in":[27,70,106],"soft":[28],"tissues.":[29],"In":[30],"this":[31],"paper":[32],"we":[33,90],"combine":[34],"a":[35,47],"new":[36],"minimally":[37],"invasive":[38],"scanning":[40],"technique":[41],"based":[42],"on":[43],"conoscopic":[44],"holography":[45],"with":[46],"active":[49],"cannula":[50,55],"robot.":[51],"We":[52],"experimentally":[53],"demonstrate":[54],"tip":[56],"placement":[57],"to":[58,67,95,118,121],"multiple":[59,122],"physical":[60],"points":[61,68],"inside":[62],"phantom":[63],"tissue,":[64],"which":[65],"correspond":[66],"specified":[69],"-":[73],"input":[75],"an":[76],"eventual":[77],"clinical":[78],"system":[79,89],"would":[80],"obtain":[81],"from":[82,127],"physician.":[84],"While":[85],"image-guided":[87],"propose":[91],"broadly":[93],"applicable":[94],"many":[96],"kinds":[97],"surgery,":[99],"one":[100],"particular":[101],"application":[102],"interest":[104],"ablating":[107],"large":[108],"liver":[109],"tumors,":[110],"where":[111],"it":[112],"beneficial":[114],"ablator":[117],"be":[119],"repositioned":[120],"locations":[123],"without":[124],"being":[125],"withdrawn":[126],"organ.":[129]},"counts_by_year":[{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
