{"id":"https://openalex.org/W3097968638","doi":"https://doi.org/10.1109/tro.2020.3031236","title":"Autonomous Suturing Framework and Quantification Using a Cable-Driven Surgical Robot","display_name":"Autonomous Suturing Framework and Quantification Using a Cable-Driven Surgical Robot","publication_year":2020,"publication_date":"2020-11-04","ids":{"openalex":"https://openalex.org/W3097968638","doi":"https://doi.org/10.1109/tro.2020.3031236","mag":"3097968638"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2020.3031236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.3031236","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5069086402","display_name":"Sahba Aghajani Pedram","orcid":"https://orcid.org/0000-0001-7439-8013"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sahba Aghajani Pedram","raw_affiliation_strings":["Bionics Lab, University of California at Los Angeles, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Bionics Lab, University of California at Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064332930","display_name":"Changyeob Shin","orcid":"https://orcid.org/0000-0003-0684-0927"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changyeob Shin","raw_affiliation_strings":["Bionics Lab, University of California at Los Angeles, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Bionics Lab, University of California at Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088332432","display_name":"Peter Walker Ferguson","orcid":"https://orcid.org/0000-0002-3150-0089"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Walker Ferguson","raw_affiliation_strings":["Bionics Lab, University of California at Los Angeles, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Bionics Lab, University of California at Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046993861","display_name":"Ji Ma","orcid":"https://orcid.org/0000-0002-0912-2632"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ji Ma","raw_affiliation_strings":["Bionics Lab, University of California at Los Angeles, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Bionics Lab, University of California at Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005940744","display_name":"Erik Dutson","orcid":"https://orcid.org/0000-0001-7126-1468"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erik P. Dutson","raw_affiliation_strings":["David Geffen School of Medicine, University of California at Los Angeles, Los Angeles, CA, USA","University of California at Los Angeles, Center for Advanced Surgical and Interventional Technology, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"David Geffen School of Medicine, University of California at Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]},{"raw_affiliation_string":"University of California at Los Angeles, Center for Advanced Surgical and Interventional Technology, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085568916","display_name":"Jacob Ros\u00e9n","orcid":"https://orcid.org/0000-0003-4901-7404"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacob Rosen","raw_affiliation_strings":["Bionics Lab, University of California at Los Angeles, Los Angeles, CA, USA","University of California at Los Angeles, Center for Advanced Surgical and Interventional Technology, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Bionics Lab, University of California at Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]},{"raw_affiliation_string":"University of California at Los Angeles, Center for Advanced Surgical and Interventional Technology, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5069086402"],"corresponding_institution_ids":["https://openalex.org/I161318765"],"apc_list":null,"apc_paid":null,"fwci":2.5253,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.89402363,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"37","issue":"2","first_page":"404","last_page":"417"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9980999827384949,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.68572998046875},{"id":"https://openalex.org/keywords/bionics","display_name":"Bionics","score":0.6537836194038391},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6184991598129272},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6136544346809387},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.5890167951583862},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5734441876411438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5474867224693298},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5207505226135254},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5168716907501221},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45231834053993225},{"id":"https://openalex.org/keywords/photogrammetry","display_name":"Photogrammetry","score":0.432281494140625},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4260184168815613},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20527973771095276},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1018119752407074}],"concepts":[{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.68572998046875},{"id":"https://openalex.org/C91316289","wikidata":"https://www.wikidata.org/wiki/Q189131","display_name":"Bionics","level":2,"score":0.6537836194038391},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6184991598129272},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6136544346809387},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.5890167951583862},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5734441876411438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5474867224693298},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5207505226135254},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5168716907501221},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45231834053993225},{"id":"https://openalex.org/C117455697","wikidata":"https://www.wikidata.org/wiki/Q190149","display_name":"Photogrammetry","level":2,"score":0.432281494140625},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4260184168815613},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20527973771095276},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1018119752407074},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2020.3031236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.3031236","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1513408118","https://openalex.org/W1584687743","https://openalex.org/W1986942212","https://openalex.org/W1988707210","https://openalex.org/W1993267444","https://openalex.org/W1997325631","https://openalex.org/W2003810369","https://openalex.org/W2011393930","https://openalex.org/W2026988104","https://openalex.org/W2055185364","https://openalex.org/W2088392499","https://openalex.org/W2117402460","https://openalex.org/W2125511732","https://openalex.org/W2160899683","https://openalex.org/W2168691632","https://openalex.org/W2196712401","https://openalex.org/W2317096512","https://openalex.org/W2341108136","https://openalex.org/W2346178339","https://openalex.org/W2556348820","https://openalex.org/W2598070036","https://openalex.org/W2735048916","https://openalex.org/W2738671059","https://openalex.org/W2744900881","https://openalex.org/W2809199532","https://openalex.org/W2885083798","https://openalex.org/W2885777315","https://openalex.org/W2891331609","https://openalex.org/W2892343190","https://openalex.org/W2918665764","https://openalex.org/W2940581269","https://openalex.org/W2963186506","https://openalex.org/W2963415752","https://openalex.org/W2964118482","https://openalex.org/W2990444195","https://openalex.org/W3093953259","https://openalex.org/W3102313808","https://openalex.org/W3210232381","https://openalex.org/W6630845843","https://openalex.org/W6740578593","https://openalex.org/W6769205994","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W2361612543","https://openalex.org/W2348408789","https://openalex.org/W2359086065","https://openalex.org/W2382708955","https://openalex.org/W1985413557","https://openalex.org/W2384354767","https://openalex.org/W2377099152","https://openalex.org/W2350835789","https://openalex.org/W2381395872","https://openalex.org/W2363969220"],"abstract_inverted_index":{"Suturing":[0],"is":[1,9,57],"required":[2],"in":[3,100,108,133,140,150,154],"almost":[4],"all":[5,111],"surgeries":[6],"but":[7],"it":[8],"challenging":[10],"to":[11,17,157],"perform":[12],"with":[13,128,181],"surgical":[14,79],"robots":[15],"due":[16],"limited":[18],"vision":[19],"and/or":[20],"haptic":[21],"feedback.":[22],"To":[23],"tackle":[24],"this":[25],"problem,":[26],"we":[27],"present":[28],"an":[29,43],"autonomous":[30],"suturing":[31],"framework":[32,71,121,169],"that":[33,59,117,167],"encompasses":[34],"a":[35,49,91],"novel":[36,54],"needle":[37,45,55,61,92,126,188],"path":[38],"planner,":[39],"as":[40,42],"well":[41],"accurate":[44],"pose":[46,62,93],"estimator":[47],"and":[48,66,81,102,135,152,185],"six":[50],"degrees-of-freedom":[51],"controller.":[52,162],"A":[53,190],"grasper":[56],"developed":[58],"enables":[60],"estimation":[63,94],"both":[64],"inside":[65],"outside":[67],"the":[68,76,114,119,124,158,164,171],"tissue.":[69],"The":[70,87],"was":[72],"evaluated":[73],"experimentally":[74],"using":[75,118],"Raven":[77,159],"IV":[78,160],"system":[80],"important":[82],"suture":[83,174],"parameters":[84,175],"were":[85],"quantified.":[86],"experiment":[88],"results":[89,115,165],"confirmed":[90],"accuracy":[95],"of":[96,130,146],"<;":[97,103],"0.87":[98],"mm":[99,132],"position":[101,134,151],"3.46":[104],"<sup":[105,137],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[106,138],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u00b0</sup>":[107,139],"orientation":[109,155],"across":[110,177],"directions.":[112],"Moreover,":[113],"revealed":[116],"proposed":[120],"enabled":[122],"following":[123],"reference":[125],"trajectories":[127],"errors":[129],"2.07":[131],"4.29":[136],"orientation.":[141],"These":[142],"are":[143],"drastic":[144],"improvements":[145],"more":[147],"than":[148],"10\u00d7":[149],"5\u00d7":[153],"compared":[156],"kinematic":[161],"Additionally,":[163],"verified":[166],"our":[168],"delivered":[170],"desired":[172],"clinical":[173],"successfully":[176],"tissue":[178],"phantom":[179],"environments":[180],"different":[182],"mechanical":[183],"properties":[184],"under":[186],"various":[187],"trajectories.":[189],"supplementary":[191],"video":[192],"can":[193],"be":[194],"found":[195],"at:":[196],"http://bionics.seas.ucla.edu/research/surgeryproject18.htmlhttp://bionics.seas.ucla.edu/research/surgeryproject18":[197]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":9}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}
