{"id":"https://openalex.org/W3022580094","doi":"https://doi.org/10.1109/tase.2020.2986503","title":"Camera-Robot Calibration for the Da Vinci Robotic Surgery System","display_name":"Camera-Robot Calibration for the Da Vinci Robotic Surgery System","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3022580094","doi":"https://doi.org/10.1109/tase.2020.2986503","mag":"3022580094","pmid":"https://pubmed.ncbi.nlm.nih.gov/33746640"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2020.2986503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2020.2986503","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7978174","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078026864","display_name":"Orhan Ozguner","orcid":"https://orcid.org/0000-0003-2274-6527"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Orhan Ozguner","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":"https://orcid.org/0000-0003-2274-6527","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007348941","display_name":"Thomas E. Shkurti","orcid":null},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Shkurti","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039367742","display_name":"Siqi Huang","orcid":"https://orcid.org/0000-0003-0097-9813"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siqi Huang","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101037560","display_name":"Ran Hao","orcid":"https://orcid.org/0000-0001-5281-8451"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ran Hao","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":"https://orcid.org/0000-0001-5281-8451","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081352818","display_name":"Russell C. Jackson","orcid":"https://orcid.org/0000-0002-1362-7182"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Russell C. Jackson","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":"https://orcid.org/0000-0002-1362-7182","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028285158","display_name":"Wyatt S. Newman","orcid":"https://orcid.org/0000-0001-6489-9164"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wyatt S. Newman","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073651156","display_name":"M. Cenk \u00c7avu\u015fo\u011flu","orcid":"https://orcid.org/0000-0003-2800-5922"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Cenk Cavusoglu","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":"https://orcid.org/0000-0003-2800-5922","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6141,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.8966474,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"17","issue":"4","first_page":"2154","last_page":"2161"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11984","display_name":"Anatomy and Medical Technology","score":0.9990000128746033,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9990000128746033,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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":0.9968000054359436,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6249265670776367},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6184015274047852},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5716414451599121},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.555942177772522},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.5472410321235657},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4798300266265869},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.41740530729293823},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37339866161346436},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3382222652435303},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14518257975578308}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6249265670776367},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6184015274047852},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5716414451599121},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.555942177772522},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.5472410321235657},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4798300266265869},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.41740530729293823},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37339866161346436},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3382222652435303},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14518257975578308},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tase.2020.2986503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2020.2986503","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmid:33746640","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33746640","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on automation science and engineering : a publication of the IEEE Robotics and Automation Society","raw_type":null},{"id":"pmh:oai:europepmc.org:7374226","is_oa":false,"landing_page_url":"http://europepmc.org/pmc/articles/PMC7978174","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7978174","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7978174","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Trans Autom Sci Eng","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:7978174","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7978174","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Trans Autom Sci Eng","raw_type":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4984471947","display_name":null,"funder_award_id":"CISE IIS-1563805","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6431672955","display_name":null,"funder_award_id":"CISE IIS-1524363","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8696906911","display_name":null,"funder_award_id":"R01 EB018108","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W195945022","https://openalex.org/W1963716360","https://openalex.org/W2011111079","https://openalex.org/W2023989473","https://openalex.org/W2026988104","https://openalex.org/W2046434485","https://openalex.org/W2061417916","https://openalex.org/W2065883524","https://openalex.org/W2072884984","https://openalex.org/W2088392499","https://openalex.org/W2093220968","https://openalex.org/W2094801294","https://openalex.org/W2101707625","https://openalex.org/W2107105904","https://openalex.org/W2107768848","https://openalex.org/W2111079173","https://openalex.org/W2118634167","https://openalex.org/W2121349631","https://openalex.org/W2135166042","https://openalex.org/W2150382645","https://openalex.org/W2160732528","https://openalex.org/W2167916881","https://openalex.org/W2243037613","https://openalex.org/W2317096512","https://openalex.org/W2401482382","https://openalex.org/W2412041953","https://openalex.org/W2561316912","https://openalex.org/W2566902982","https://openalex.org/W2739374696","https://openalex.org/W2743321363","https://openalex.org/W2744900881","https://openalex.org/W2890456155","https://openalex.org/W2910876659","https://openalex.org/W2963553847","https://openalex.org/W2964118482","https://openalex.org/W6683596452","https://openalex.org/W6744409266","https://openalex.org/W7052488216"],"related_works":["https://openalex.org/W2997059194","https://openalex.org/W3156745548","https://openalex.org/W1979551339","https://openalex.org/W2252542483","https://openalex.org/W4392368278","https://openalex.org/W4399755815","https://openalex.org/W3108178121","https://openalex.org/W1521084651","https://openalex.org/W2418027547","https://openalex.org/W1995165191"],"abstract_inverted_index":{"The":[0,140,181],"development":[1],"of":[2,13,35,55,87,102,136,142,156,208],"autonomous":[3],"or":[4],"semi-autonomous":[5],"surgical":[6,44,166,171,222],"robots":[7],"stands":[8],"to":[9,62,79,92,119,154,176],"improve":[10],"the":[11,23,40,64,68,80,84,88,94,98,103,121,125,128,137,150,160,178,190,197,200,209,221],"performance":[12],"existing":[14],"teleoperated":[15],"equipment,":[16],"but":[17],"requires":[18],"fine":[19],"hand-eye":[20,192],"calibration":[21,144,193,210],"between":[22,67,97,124],"free-moving":[24],"endoscopic":[25,69,129],"camera":[26,70,81,130],"and":[27,46,57,73,105,127,211],"patient-side":[28],"manipulator":[29],"arms":[30],"(PSMs).":[31],"A":[32],"novel":[33],"method":[34],"solving":[36],"this":[37,143],"problem":[38],"for":[39,199],"da":[41,201],"Vinci\u00ae":[42,202],"robotic":[43],"system":[45],"kinematically":[47],"similar":[48],"systems":[49],"is":[50,116,145,187],"presented.":[51],"First,":[52],"a":[53,165,170],"series":[54],"image-processing":[56],"optical-tracking":[58,75],"operations":[59],"are":[60,90,173,216],"performed":[61,175],"compute":[63,93,120],"coordinate":[65,95],"transformation":[66,96],"view":[71],"frame":[72,101],"an":[74,106],"marker":[76,108],"permanently":[77,109],"affixed":[78,110],"body.":[82],"Then,":[83],"kinematic":[85,99],"properties":[86],"PSM":[89,104,126,151],"exploited":[91],"base":[100],"optical":[107],"thereto.":[111],"Using":[112],"these":[113],"transformations,":[114],"it":[115],"then":[117],"possible":[118],"spatial":[122],"relationship":[123],"using":[131],"only":[132,213],"one":[133],"tracker":[134],"snapshot":[135],"two":[138],"markers.":[139],"effectiveness":[141],"demonstrated":[146],"by":[147],"successfully":[148],"guiding":[149],"end":[152],"effector":[153],"points":[155],"interest":[157],"identified":[158],"through":[159],"camera.":[161],"Additional":[162],"tests":[163],"on":[164],"task,":[167],"namely":[168],"grasping":[169],"needle,":[172],"also":[174],"validate":[177],"proposed":[179],"method.":[180],"resulting":[182],"visually-guided":[183],"robot":[184],"positioning":[185],"accuracy":[186],"better":[188],"than":[189],"earlier":[191],"results":[194],"reported":[195],"in":[196,220],"literature":[198],"system,":[203],"while":[204],"supporting":[205],"intraoperative":[206],"update":[207],"requiring":[212],"devices":[214],"that":[215],"already":[217],"commonly":[218],"used":[219],"environment.":[223]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}