{"id":"https://openalex.org/W2161098086","doi":"https://doi.org/10.1109/titb.2011.2164088","title":"Multisensor Data Fusion in an Integrated Tracking System for Endoscopic Surgery","display_name":"Multisensor Data Fusion in an Integrated Tracking System for Endoscopic Surgery","publication_year":2011,"publication_date":"2011-08-15","ids":{"openalex":"https://openalex.org/W2161098086","doi":"https://doi.org/10.1109/titb.2011.2164088","mag":"2161098086","pmid":"https://pubmed.ncbi.nlm.nih.gov/21827975"},"language":"en","primary_location":{"id":"doi:10.1109/titb.2011.2164088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/titb.2011.2164088","pdf_url":null,"source":{"id":"https://openalex.org/S68937846","display_name":"IEEE Transactions on Information Technology in Biomedicine","issn_l":"1089-7771","issn":["1089-7771","1558-0032"],"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 Information Technology in Biomedicine","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/A5032340829","display_name":"Hongliang Ren","orcid":"https://orcid.org/0000-0002-6488-1551"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["Department of Biomedical Engineering , Johns Hopkins University, Baltimore, USA","Department of Biomedical Engineering, Johns Hopkins University, Baltimore, MD, USA","Department of Cardiovascular Surgery, Childrens Hospital Boston, Harvard Medical school, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering , Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Biomedical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Cardiovascular Surgery, Childrens Hospital Boston, Harvard Medical school, Boston, MA, USA","institution_ids":["https://openalex.org/I1288882113"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071367865","display_name":"Denis Rank","orcid":null},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Denis Rank","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation, Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052574607","display_name":"Martin Merdes","orcid":null},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Merdes","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation, Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018592000","display_name":"Jan Stallkamp","orcid":null},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Stallkamp","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation, Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022619253","display_name":"Peter Kazanzides","orcid":"https://orcid.org/0000-0002-6117-5467"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Kazanzides","raw_affiliation_strings":["Department of Computer Science , Johns Hopkins University, Baltimore, USA","Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science , Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5032340829"],"corresponding_institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":26.5329,"has_fulltext":false,"cited_by_count":86,"citation_normalized_percentile":{"value":0.99659643,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":"16","issue":"1","first_page":"106","last_page":"111"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.996999979019165,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9825000166893005,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/robustness","display_name":"Robustness (evolution)","score":0.7573051452636719},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.7191274762153625},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6512727737426758},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6299037933349609},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.5963054895401001},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5623384714126587},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4977708160877228},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.47019633650779724},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.457507848739624},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.44410231709480286},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32666486501693726},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.2231643795967102},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09616062045097351}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7573051452636719},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.7191274762153625},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6512727737426758},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6299037933349609},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.5963054895401001},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5623384714126587},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4977708160877228},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.47019633650779724},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.457507848739624},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.44410231709480286},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32666486501693726},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2231643795967102},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09616062045097351},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004724","descriptor_name":"Endoscopy","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D004724","descriptor_name":"Endoscopy","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D004724","descriptor_name":"Endoscopy","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D004724","descriptor_name":"Endoscopy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D004724","descriptor_name":"Endoscopy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D004724","descriptor_name":"Endoscopy","qualifier_ui":"Q000379","qualifier_name":"methods","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":"D012815","descriptor_name":"Signal Processing, Computer-Assisted","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012815","descriptor_name":"Signal Processing, Computer-Assisted","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012815","descriptor_name":"Signal Processing, Computer-Assisted","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019047","descriptor_name":"Phantoms, Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019047","descriptor_name":"Phantoms, Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019047","descriptor_name":"Phantoms, Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D055590","descriptor_name":"Electromagnetic Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055590","descriptor_name":"Electromagnetic Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055590","descriptor_name":"Electromagnetic Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/titb.2011.2164088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/titb.2011.2164088","pdf_url":null,"source":{"id":"https://openalex.org/S68937846","display_name":"IEEE Transactions on Information Technology in Biomedicine","issn_l":"1089-7771","issn":["1089-7771","1558-0032"],"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 Information Technology in Biomedicine","raw_type":"journal-article"},{"id":"pmid:21827975","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/21827975","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 information technology in biomedicine : a publication of the IEEE Engineering in Medicine and Biology Society","raw_type":null},{"id":"pmh:oai:publica.fraunhofer.de:publica/228322","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/228322","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"journal article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309070","display_name":"Brown University","ror":"https://ror.org/05gq02987"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W621265028","https://openalex.org/W1502265129","https://openalex.org/W1525527905","https://openalex.org/W1575210522","https://openalex.org/W1953042028","https://openalex.org/W1967566933","https://openalex.org/W1973215236","https://openalex.org/W1975611730","https://openalex.org/W2023989473","https://openalex.org/W2037176198","https://openalex.org/W2041327931","https://openalex.org/W2046865945","https://openalex.org/W2049017859","https://openalex.org/W2050710938","https://openalex.org/W2057485734","https://openalex.org/W2105058484","https://openalex.org/W2107105904","https://openalex.org/W2141898315","https://openalex.org/W2146255553","https://openalex.org/W2152007836","https://openalex.org/W2154759726","https://openalex.org/W2160201029","https://openalex.org/W2160916193","https://openalex.org/W2567644282","https://openalex.org/W3087990244","https://openalex.org/W4237916241","https://openalex.org/W6629825164","https://openalex.org/W6631418934","https://openalex.org/W6682272222"],"related_works":["https://openalex.org/W2613852343","https://openalex.org/W2980357211","https://openalex.org/W2360764675","https://openalex.org/W3021920309","https://openalex.org/W3036550512","https://openalex.org/W2091045241","https://openalex.org/W810369344","https://openalex.org/W2054442036","https://openalex.org/W2560687954","https://openalex.org/W2016914187"],"abstract_inverted_index":{"Surgical":[0],"planning":[1],"and":[2,20,43,62,70,85,95,116],"navigation":[3],"systems":[4],"are":[5],"vital":[6],"for":[7,100],"minimally":[8],"invasive":[9],"endoscopic":[10],"surgeries":[11],"but":[12],"it":[13],"is":[14,50,98],"challenging":[15],"to":[16,31,59],"track":[17],"the":[18,53,73,101,110],"position":[19,117],"orientation":[21,94,115],"of":[22,52,55],"intrabody":[23],"surgical":[24],"instruments":[25],"in":[26],"these":[27],"procedures.":[28],"In":[29],"order":[30],"address":[32],"this":[33],"problem,":[34],"we":[35],"propose":[36],"a":[37,81,88],"tracking":[38,48,103,118],"system":[39,74,82],"including":[40],"multiple-sensor":[41],"integration":[42],"data":[44],"fusion.":[45],"The":[46,105],"proposed":[47,99,111],"approach":[49],"free":[51],"constraints":[54],"line-of-sight,":[56],"less":[57],"subject":[58],"environmental":[60],"distortion,":[61],"with":[63,119],"higher":[64],"update":[65],"rate.":[66],"By":[67],"incorporating":[68],"electromagnetic":[69],"inertial":[71],"sensors,":[72],"yields":[75],"continuous":[76],"6-DOF":[77],"information.":[78],"Based":[79],"on":[80],"dynamic":[83],"model":[84],"estimation":[86],"theories,":[87],"new":[89],"multisensor":[90],"fusion":[91],"algorithm,":[92,97],"cascade":[93],"position-estimation":[96],"integrated":[102],"device.":[104],"experimental":[106],"results":[107],"show":[108],"that":[109],"algorithms":[112],"achieve":[113],"accurate":[114],"robustness.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":15},{"year":2013,"cited_by_count":13},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}