{"id":"https://openalex.org/W4200045126","doi":"https://doi.org/10.1109/tase.2021.3136185","title":"Toward Image-Guided Automated Suture Grasping Under Complex Environments: A Learning-Enabled and Optimization-Based Holistic Framework","display_name":"Toward Image-Guided Automated Suture Grasping Under Complex Environments: A Learning-Enabled and Optimization-Based Holistic Framework","publication_year":2021,"publication_date":"2021-12-30","ids":{"openalex":"https://openalex.org/W4200045126","doi":"https://doi.org/10.1109/tase.2021.3136185"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2021.3136185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3136185","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"],"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/A5046214073","display_name":"Bo Lu","orcid":"https://orcid.org/0000-0002-2858-1121"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bo Lu","raw_affiliation_strings":["Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365257","display_name":"Bin Li","orcid":"https://orcid.org/0000-0003-1684-8869"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Bin Li","raw_affiliation_strings":["Department of Mechanical and Automation Engineering and the T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering and the T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041869772","display_name":"Wei Chen","orcid":"https://orcid.org/0000-0001-8589-8988"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wei Chen","raw_affiliation_strings":["Department of Mechanical and Automation Engineering and the T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering and the T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050163233","display_name":"Yueming Jin","orcid":"https://orcid.org/0000-0003-3775-3877"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yueming Jin","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101817999","display_name":"Zixu Zhao","orcid":"https://orcid.org/0000-0001-9399-3475"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zixu Zhao","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090516040","display_name":"Qi Dou","orcid":"https://orcid.org/0000-0002-3416-9950"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qi Dou","raw_affiliation_strings":["Department of Computer Science and Engineering and the T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering and the T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032708386","display_name":"Pheng\u2010Ann Heng","orcid":"https://orcid.org/0000-0003-3055-5034"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Pheng-Ann Heng","raw_affiliation_strings":["Department of Computer Science and Engineering and the T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering and the T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yunhui Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering and the T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering and the T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5046214073"],"corresponding_institution_ids":["https://openalex.org/I3923682"],"apc_list":null,"apc_paid":null,"fwci":2.0376,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.86303039,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"19","issue":"4","first_page":"3794","last_page":"3808"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9976000189781189,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/image-stitching","display_name":"Image stitching","score":0.8541867733001709},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7041237950325012},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6634411215782166},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5976044535636902},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5320754051208496},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.527175784111023},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.5257126688957214},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5186061859130859},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4455797076225281},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44051510095596313},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32378673553466797},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2394966185092926}],"concepts":[{"id":"https://openalex.org/C29081049","wikidata":"https://www.wikidata.org/wiki/Q1364242","display_name":"Image stitching","level":2,"score":0.8541867733001709},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7041237950325012},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6634411215782166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5976044535636902},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5320754051208496},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.527175784111023},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.5257126688957214},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5186061859130859},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4455797076225281},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44051510095596313},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32378673553466797},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2394966185092926},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2021.3136185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3136185","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":"pmh:oai:eprints.ucl.ac.uk.OAI2:10148753","is_oa":false,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10148753/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"   IEEE Transactions on Automation Science and Engineering       (2021)      ","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1972746767","https://openalex.org/W1977077642","https://openalex.org/W1992853980","https://openalex.org/W2002072140","https://openalex.org/W2006022197","https://openalex.org/W2021473074","https://openalex.org/W2059622452","https://openalex.org/W2063533050","https://openalex.org/W2069479606","https://openalex.org/W2072140024","https://openalex.org/W2090026077","https://openalex.org/W2092330486","https://openalex.org/W2092589256","https://openalex.org/W2099940712","https://openalex.org/W2100310399","https://openalex.org/W2101587433","https://openalex.org/W2101608218","https://openalex.org/W2111312216","https://openalex.org/W2125511732","https://openalex.org/W2131237242","https://openalex.org/W2150382645","https://openalex.org/W2161098086","https://openalex.org/W2167685945","https://openalex.org/W2167704130","https://openalex.org/W2190960986","https://openalex.org/W2206167351","https://openalex.org/W2262715205","https://openalex.org/W2275963211","https://openalex.org/W2322971354","https://openalex.org/W2341108136","https://openalex.org/W2346178339","https://openalex.org/W2405644564","https://openalex.org/W2572996265","https://openalex.org/W2598070036","https://openalex.org/W2601943843","https://openalex.org/W2735636344","https://openalex.org/W2738671059","https://openalex.org/W2744900881","https://openalex.org/W2761196163","https://openalex.org/W2790209545","https://openalex.org/W2795587607","https://openalex.org/W2802388893","https://openalex.org/W2808443520","https://openalex.org/W2809199532","https://openalex.org/W2906329276","https://openalex.org/W2918665764","https://openalex.org/W2963553847","https://openalex.org/W2964118482","https://openalex.org/W2973945662","https://openalex.org/W2990444195","https://openalex.org/W2990747716","https://openalex.org/W3022580094","https://openalex.org/W3035333927","https://openalex.org/W3090715080","https://openalex.org/W3098760291","https://openalex.org/W3102313808","https://openalex.org/W3131308264","https://openalex.org/W4210595706","https://openalex.org/W4211225190","https://openalex.org/W6733814495"],"related_works":["https://openalex.org/W2035528444","https://openalex.org/W176621693","https://openalex.org/W4313400571","https://openalex.org/W2071240554","https://openalex.org/W296527428","https://openalex.org/W2905778683","https://openalex.org/W1970924103","https://openalex.org/W2003909330","https://openalex.org/W2890988828","https://openalex.org/W2955608365"],"abstract_inverted_index":{"To":[0,141,257],"realize":[1],"a":[2,38,66,73,95,119,149,154,228,302,307,335,344,376,385,437],"higher-level":[3,229],"autonomy":[4,232,439],"of":[5,130,137,205,230,362,413,440],"surgical":[6,132,222,234,249,441],"knot":[7,235,250,390,442],"tying":[8,251,443],"in":[9,62,91,195,208,233,248,388,417,444],"minimally":[10],"invasive":[11],"surgery":[12],"(MIS),":[13],"automated":[14,221,275,327,366],"suture":[15,20,60,211,245,268,315,367,431],"grasping,":[16,276],"which":[17,63,311,434],"bridges":[18],"the":[19,104,111,115,126,131,180,203,210,218,244,314,340,360,379,399,410,414,421,430,445],"stitching":[21,223],"and":[22,43,85,114,146,176,192,197,214,224,273,293,317,343,369,403,427],"looping":[23,381],"procedures,":[24],"is":[25,57,122,158,168,348],"an":[26],"important":[27],"yet":[28],"challenging":[29],"task":[30,56,231,247],"needs":[31],"to":[32,46,76,101,124,160,238,242,266,338,351],"be":[33,395,425],"achieved.":[34],"This":[35,392],"paper":[36,240],"presents":[37],"holistic":[39],"framework":[40,167,364,393,423],"with":[41,72,134,153,289,306],"image-guided":[42,177],"automation":[44],"techniques":[45],"robotize":[47,259],"this":[48,163,215,260,284,298,354],"operation":[49],"even":[50],"under":[51,294],"complex":[52,295],"environments.":[53,296],"The":[54,356],"whole":[55],"initialized":[58,426],"by":[59,252,404],"segmentation,":[61,173,269],"we":[64,93,188,300,333],"propose":[65,301],"novel":[67,155],"semi-supervised":[68],"learning":[69],"architecture":[70],"featured":[71],"suture-aware":[74],"loss":[75],"pertinently":[77],"learn":[78],"its":[79,319,370],"slender":[80],"information":[81],"using":[82,287],"both":[83],"annotated":[84],"unannotated":[86],"data.":[87],"With":[88],"successful":[89,193,371],"segmentation":[90,316],"stereo-camera,":[92],"develop":[94],"Sampling-based":[96],"Sliding":[97],"Pairing":[98],"(SSP)":[99],"algorithm":[100],"online":[102],"optimize":[103,339],"suture\u2019s":[105,116,415],"3D":[106,174,270,308],"shape.":[107],"By":[108],"jointly":[109],"studying":[110],"robotic":[112,198,401],"configuration":[113],"spatial":[117,321],"characteristics,":[118],"target":[120],"function":[121,337],"introduced":[123,159],"find":[125],"optimal":[127],"grasping":[128,151,164,178,212,246,328,341,346,432],"pose":[129],"tool":[133],"Remote":[135],"Center":[136],"Motion":[138],"(RCM)":[139],"constraints.":[140],"compensate":[142],"for":[143,326,365,378],"inherent":[144],"errors":[145],"practical":[147],"uncertainties,":[148],"unified":[150,336],"strategy":[152,347],"vision-based":[156,345],"mechanism":[157],"autonomously":[161],"accomplish":[162,429],"task.":[165,355],"Our":[166],"extensively":[169,358],"evaluated":[170],"from":[171,331],"learning-based":[172],"reconstruction,":[175,272],"on":[179],"da":[181],"Vinci":[182],"Research":[183],"Kit":[184],"(dVRK)":[185],"platform,":[186],"where":[187],"achieve":[189,267],"high":[190],"performances":[191],"rates":[194],"perceptions":[196],"manipulations.":[199],"These":[200],"results":[201],"prove":[202],"feasibility":[204,361],"our":[206,363],"approach":[207],"automating":[209],"task,":[213,433],"work":[216],"fills":[217],"gap":[219,387],"between":[220],"looping,":[225],"stepping":[226],"towards":[227],"tying.":[236,391],"Note":[237],"Practitioners\u2014This":[239],"aims":[241],"automate":[243],"leveraging":[253],"stereo":[254],"visual":[255],"guidance.":[256],"effectively":[258],"procedure,":[261],"it":[262],"requires":[263],"multidisciplinary":[264],"knowledge":[265],"shape":[271,309],"reliable":[274],"while":[277],"there":[278],"are":[279],"no":[280],"existing":[281],"works":[282],"tackling":[283],"procedure":[285],"especially":[286],"robots":[288],"RCM":[290],"kinematics":[291],"constraints":[292],"In":[297],"article,":[299],"learning-driven":[303],"method":[304],"along":[305],"optimizer,":[310],"can":[312,373,394,424],"conduct":[313],"output":[318],"accurate":[320],"coordinates,":[322],"serving":[323],"as":[324,375],"guidance":[325],"operation.":[329],"Apart":[330],"this,":[332],"introduce":[334],"pose,":[342],"also":[349,396],"proposed":[350],"intelligently":[352],"complete":[353],"experiments":[357],"validate":[359],"grasp,":[368],"completion":[372],"serve":[374],"basis":[377],"following":[380],"manipulation,":[382],"hence":[383],"filling":[384],"step":[386],"robot-assisted":[389],"encapsulated":[397],"into":[398],"medical":[400],"system,":[402],"simply":[405],"indicating":[406],"(e.g.":[407],"mouse":[408],"click)":[409],"rough":[411],"position":[412],"tip":[416],"one":[418],"camera":[419],"frame,":[420],"overall":[422],"further":[428,435],"prompts":[436],"full":[438],"near":[446],"future.":[447]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":8}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}