{"id":"https://openalex.org/W4406858763","doi":"https://doi.org/10.1109/tbme.2025.3534119","title":"Robotic Assisted Cleft Palate Repair Using Novel 3 mm Tools: A Reachability and Collision Analysis","display_name":"Robotic Assisted Cleft Palate Repair Using Novel 3 mm Tools: A Reachability and Collision Analysis","publication_year":2025,"publication_date":"2025-01-27","ids":{"openalex":"https://openalex.org/W4406858763","doi":"https://doi.org/10.1109/tbme.2025.3534119","pmid":"https://pubmed.ncbi.nlm.nih.gov/40031353"},"language":"en","primary_location":{"id":"doi:10.1109/tbme.2025.3534119","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2025.3534119","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"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 Biomedical Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5048499450","display_name":"Glenn Maguire","orcid":null},"institutions":[{"id":"https://openalex.org/I2801317318","display_name":"Hospital for Sick Children","ror":"https://ror.org/057q4rt57","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2801317318"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Glenn Maguire","raw_affiliation_strings":["Wilfred and Joyce Posluns Centre for Image Guided Innovation and Therapeutic Intervention and the Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Toronto, ON, Canada","Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0009-0003-8205-0975","affiliations":[{"raw_affiliation_string":"Wilfred and Joyce Posluns Centre for Image Guided Innovation and Therapeutic Intervention and the Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Toronto, ON, Canada","institution_ids":["https://openalex.org/I2801317318"]},{"raw_affiliation_string":"Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Toronto, ON, Canada","institution_ids":["https://openalex.org/I2801317318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004790957","display_name":"Ethan Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I2801317318","display_name":"Hospital for Sick Children","ror":"https://ror.org/057q4rt57","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2801317318"]},{"id":"https://openalex.org/I4210119130","display_name":"Institute for Learning Innovation","ror":"https://ror.org/02krjt890","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210119130"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Ethan Tang","raw_affiliation_strings":["Wilfred and Joyce Posluns Centre for Image Guided Innovation and Therapeutic Intervention and the Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Canada","Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Toronto, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wilfred and Joyce Posluns Centre for Image Guided Innovation and Therapeutic Intervention and the Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Canada","institution_ids":["https://openalex.org/I4210119130"]},{"raw_affiliation_string":"Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Toronto, ON, Canada","institution_ids":["https://openalex.org/I2801317318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073182314","display_name":"Thomas Looi","orcid":"https://orcid.org/0000-0001-6453-2928"},"institutions":[{"id":"https://openalex.org/I2801317318","display_name":"Hospital for Sick Children","ror":"https://ror.org/057q4rt57","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2801317318"]},{"id":"https://openalex.org/I4210119130","display_name":"Institute for Learning Innovation","ror":"https://ror.org/02krjt890","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210119130"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Thomas Looi","raw_affiliation_strings":["Wilfred and Joyce Posluns Centre for Image Guided Innovation and Therapeutic Intervention and the Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Canada","Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Toronto, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wilfred and Joyce Posluns Centre for Image Guided Innovation and Therapeutic Intervention and the Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Canada","institution_ids":["https://openalex.org/I4210119130"]},{"raw_affiliation_string":"Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Toronto, ON, Canada","institution_ids":["https://openalex.org/I2801317318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077330761","display_name":"Dale J. Podolsky","orcid":"https://orcid.org/0000-0002-7953-3365"},"institutions":[{"id":"https://openalex.org/I2801317318","display_name":"Hospital for Sick Children","ror":"https://ror.org/057q4rt57","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2801317318"]},{"id":"https://openalex.org/I4210119130","display_name":"Institute for Learning Innovation","ror":"https://ror.org/02krjt890","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210119130"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Dale Podolsky","raw_affiliation_strings":["Wilfred and Joyce Posluns Centre for Image Guided Innovation and Therapeutic Intervention and the Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Canada","Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Toronto, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wilfred and Joyce Posluns Centre for Image Guided Innovation and Therapeutic Intervention and the Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Canada","institution_ids":["https://openalex.org/I4210119130"]},{"raw_affiliation_string":"Institute for Craniofacial and Cleft Innovation, Hospital for Sick Children, Toronto, ON, Canada","institution_ids":["https://openalex.org/I2801317318"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02006845,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"72","issue":"7","first_page":"2085","last_page":"2094"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11374","display_name":"Cleft Lip and Palate Research","score":0.7993000149726868,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T11374","display_name":"Cleft Lip and Palate Research","score":0.7993000149726868,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.054099999368190765,"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/T11679","display_name":"Craniofacial Disorders and Treatments","score":0.04690000042319298,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.908913254737854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5531043410301208},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5385950207710266},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3566319942474365},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32168635725975037},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1467074155807495},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.0761839747428894}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.908913254737854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5531043410301208},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5385950207710266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3566319942474365},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32168635725975037},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1467074155807495},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0761839747428894}],"mesh":[{"descriptor_ui":"D002972","descriptor_name":"Cleft Palate","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D002972","descriptor_name":"Cleft Palate","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D002972","descriptor_name":"Cleft Palate","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D002972","descriptor_name":"Cleft Palate","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007223","descriptor_name":"Infant","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007223","descriptor_name":"Infant","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007223","descriptor_name":"Infant","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007223","descriptor_name":"Infant","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/tbme.2025.3534119","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2025.3534119","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"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 Biomedical Engineering","raw_type":"journal-article"},{"id":"pmid:40031353","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40031353","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 bio-medical engineering","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334506","display_name":"Canadian Institutes of Health Research","ror":"https://ror.org/01gavpb45"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2016885701","https://openalex.org/W2115312823","https://openalex.org/W2116940456","https://openalex.org/W2127439219","https://openalex.org/W2564278675","https://openalex.org/W2581052528","https://openalex.org/W2735202871","https://openalex.org/W2780572345","https://openalex.org/W2796481944","https://openalex.org/W2893048933","https://openalex.org/W2964065782","https://openalex.org/W2966933909","https://openalex.org/W3010216996","https://openalex.org/W4210557383","https://openalex.org/W4295714628","https://openalex.org/W4308527177","https://openalex.org/W4318064989","https://openalex.org/W4319165365","https://openalex.org/W4386066802","https://openalex.org/W4390946236","https://openalex.org/W6755313844","https://openalex.org/W6871938945"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"OBJECTIVE:":[0],"Cleft":[1],"palate":[2,49,112,144],"repair":[3,145,237],"is":[4,8,12,17],"technically":[5],"challenging:":[6],"visualization":[7],"reduced,":[9],"delicate":[10],"dissection":[11],"required,":[13],"and":[14,65,75,130,157,186,219,238],"instrument":[15],"reachability":[16,53,83,88,172,240],"limited":[18],"within":[19,71,206,247],"the":[20,60,72,76,115,131,149,152,159,171,192,207,239,248],"infant":[21,47],"oral":[22,73,99,208,214,249],"cavity":[23,74,100,209],"using":[24,86,108,151],"standard":[25],"instruments.":[26],"A":[27,52],"3":[28,116,177],"mm":[29,117,124,178,194],"diameter":[30],"pin-jointed":[31],"wristed":[32],"tool":[33,68,154,165,233],"was":[34,56,84,146,167],"developed":[35],"that":[36],"couples":[37],"to":[38,45,58,92,121,169],"a":[39,87,97,109,220],"da":[40],"Vinci":[41],"Research":[42],"Kit":[43],"(dVRK)":[44],"perform":[46],"cleft":[48,111,143,236],"surgery.":[50],"METHODS:":[51],"simulation":[54,173],"analysis":[55,241],"performed":[57,107,147],"determine":[59],"number":[61,132],"of":[62,78,90,133,161],"collisions":[63,134,185,198],"(tool-tool":[64],"tool-cavity)":[66],"for":[67,96,235],"tip":[69],"positions":[70],"impact":[77,160],"dVRK":[79],"trocar":[80,162,227],"height.":[81,228],"Tool":[82],"measured":[85],"ratio":[89],"collision-free":[91],"total":[93],"poses":[94],"considered":[95],"given":[98],"target":[101],"point.":[102],"Three":[103],"physical":[104],"experiments":[105,231],"were":[106,119],"high-fidelity":[110],"simulator:":[113],"(1)":[114],"tools":[118,125,179],"compared":[120],"existing":[122],"8":[123,193],"assessing":[126,155],"visual":[127,189],"field":[128],"obstruction":[129,190],"during":[135],"suturing":[136],"tasks;":[137],"(2)":[138],"an":[139,202],"end-to-end":[140],"robotic":[141],"assisted":[142],"on":[148,164],"simulator":[150],"new":[153],"collisions;":[156],"(3)":[158],"height":[163],"performance":[166],"investigated":[168],"validate":[170],"analysis.":[174],"RESULTS:":[175],"The":[176],"demonstrated":[180,201],"fifteen":[181],"times":[182],"fewer":[183],"tool-cavity":[184,197],"21%":[187],"less":[188],"than":[191],"tools.":[195],"Average":[196],"per":[199],"throw":[200],"increasing":[203,226,243],"trend":[204],"posteriorly":[205],"(nasal":[210],"mucosa:":[211,215],"$R^{2}=0.344$,":[212],"$p=0.013$;":[213],"$R^{2}=0.811$,":[216],"$p<":[217],"0.001$);":[218],"31%":[221],"increase":[222],"($R^{2}=0.988$,":[223],"$p=0.069$)":[224],"with":[225],"CONCLUSION/SIGNIFICANCE:":[229],"Physical":[230],"validated":[232],"functionality":[234],"reveals":[242],"collision":[244],"risk":[245],"deeper":[246],"cavity.":[250]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
