{"id":"https://openalex.org/W2556348820","doi":"https://doi.org/10.1109/coase.2016.7743380","title":"Tumor localization using automated palpation with Gaussian Process Adaptive Sampling","display_name":"Tumor localization using automated palpation with Gaussian Process Adaptive Sampling","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2556348820","doi":"https://doi.org/10.1109/coase.2016.7743380","mag":"2556348820"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2016.7743380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2016.7743380","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-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/A5061193324","display_name":"Animesh Garg","orcid":"https://orcid.org/0000-0003-0482-4296"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Animesh Garg","raw_affiliation_strings":["EECS, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EECS, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048540485","display_name":"Siddarth Sen","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddarth Sen","raw_affiliation_strings":["EECS, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EECS, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028759141","display_name":"Rishi Kapadia","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rishi Kapadia","raw_affiliation_strings":["EECS, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EECS, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053964918","display_name":"Yiming Jen","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiming Jen","raw_affiliation_strings":["EECS, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EECS, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069821312","display_name":"Stephen McKinley","orcid":"https://orcid.org/0000-0001-8939-8411"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen McKinley","raw_affiliation_strings":["ME, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ME, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021534233","display_name":"Lauren Miller","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lauren Miller","raw_affiliation_strings":["EECS, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EECS, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050342525","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0002-2661-4524"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["EECS, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EECS, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":4.551,"has_fulltext":false,"cited_by_count":73,"citation_normalized_percentile":{"value":0.94998748,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"194","last_page":"200"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11984","display_name":"Anatomy and Medical Technology","score":0.9916999936103821,"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":0.9916999936103821,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9872999787330627,"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/T12386","display_name":"Advanced X-ray and CT Imaging","score":0.9833999872207642,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5656886696815491},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5496989488601685},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5404546856880188},{"id":"https://openalex.org/keywords/palpation","display_name":"Palpation","score":0.49845361709594727},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4916298985481262},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49154171347618103},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4800747036933899},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.4580080211162567},{"id":"https://openalex.org/keywords/gaussian-noise","display_name":"Gaussian noise","score":0.45682433247566223},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4550538659095764},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.44041216373443604},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4213472008705139},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.4149358868598938},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4022320508956909},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3430723547935486},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33225899934768677}],"concepts":[{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5656886696815491},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5496989488601685},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5404546856880188},{"id":"https://openalex.org/C2781167935","wikidata":"https://www.wikidata.org/wiki/Q795090","display_name":"Palpation","level":2,"score":0.49845361709594727},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4916298985481262},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49154171347618103},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4800747036933899},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.4580080211162567},{"id":"https://openalex.org/C4199805","wikidata":"https://www.wikidata.org/wiki/Q2725903","display_name":"Gaussian noise","level":2,"score":0.45682433247566223},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4550538659095764},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.44041216373443604},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4213472008705139},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.4149358868598938},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4022320508956909},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3430723547935486},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33225899934768677},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C121955636","wikidata":"https://www.wikidata.org/wiki/Q4116214","display_name":"Accounting","level":1,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2016.7743380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2016.7743380","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1516923186","https://openalex.org/W1530718350","https://openalex.org/W1559022906","https://openalex.org/W1584687743","https://openalex.org/W1746819321","https://openalex.org/W1965563852","https://openalex.org/W1982261161","https://openalex.org/W1983309556","https://openalex.org/W2012224615","https://openalex.org/W2019690914","https://openalex.org/W2034939775","https://openalex.org/W2036754385","https://openalex.org/W2050595634","https://openalex.org/W2054854590","https://openalex.org/W2061417916","https://openalex.org/W2064862914","https://openalex.org/W2081276484","https://openalex.org/W2107153006","https://openalex.org/W2110247861","https://openalex.org/W2161674001","https://openalex.org/W2169817992","https://openalex.org/W2177432348","https://openalex.org/W2181345182","https://openalex.org/W2276112427","https://openalex.org/W2341108136","https://openalex.org/W2413056234","https://openalex.org/W2416176951","https://openalex.org/W2555747011","https://openalex.org/W4211049957","https://openalex.org/W4236236480","https://openalex.org/W6629804754","https://openalex.org/W6631546570","https://openalex.org/W6683851551"],"related_works":["https://openalex.org/W2396260350","https://openalex.org/W1481335984","https://openalex.org/W2323625407","https://openalex.org/W1503243521","https://openalex.org/W2627174696","https://openalex.org/W2417898593","https://openalex.org/W638052727","https://openalex.org/W2068818069","https://openalex.org/W1862956069","https://openalex.org/W2014138715"],"abstract_inverted_index":{"In":[0],"surgical":[1],"tumor":[2,46,156,180],"removal,":[3],"inaccurate":[4],"localization":[5,48],"can":[6,177],"lead":[7],"to":[8,16,30,92,166],"removal":[9],"of":[10,35,84,134],"excessive":[11],"healthy":[12],"tissue":[13,59],"and":[14,108,137,159],"failure":[15],"completely":[17],"remove":[18],"cancerous":[19],"tissue.":[20],"Automated":[21],"palpation":[22,95],"with":[23,117,182],"a":[24,50,63,81,171,188],"tactile":[25],"sensor":[26],"has":[27],"the":[28,33,85,89,121,132,145,152,179,184],"potential":[29],"precisely":[31],"estimate":[32,158],"geometry":[34],"embedded":[36],"tumors":[37],"during":[38],"robot-assisted":[39],"minimally":[40],"invasive":[41],"surgery":[42],"(RMIS).":[43],"We":[44,61,87,124,139],"formulate":[45],"boundary":[47,157,181],"as":[49,149,187],"Bayesian":[51],"optimization":[52],"model":[53],"along":[54],"implicit":[55],"curves":[56],"over":[57],"estimated":[58,122],"stiffness.":[60],"propose":[62],"Gaussian":[64],"Process":[65],"Adaptive":[66],"Sampling":[67],"algorithm":[68,91],"called":[69],"Implicit":[70],"Level":[71],"Set":[72],"Upper":[73,110],"Confidence":[74,111],"Bound":[75,112],"(ILS-UCB),":[76],"that":[77,141,174],"prioritizes":[78],"sampling":[79],"near":[80],"level":[82],"set":[83],"estimate.":[86],"compare":[88,125],"ILS-UCB":[90,142],"two":[93,147],"alternative":[94],"algorithms:":[96],"(1)":[97],"Expected":[98],"Variance":[99],"Reduction":[100],"(EVR),":[101],"which":[102,114],"emphasizes":[103],"exploration":[104,116],"by":[105,151,164],"minimizing":[106],"variance,":[107],"(2)":[109],"(UCB),":[113],"balances":[115],"exploitation":[118],"using":[119],"only":[120],"mean.":[123],"these":[126],"algorithms":[127,148],"in":[128],"simulated":[129],"experiments":[130,169],"varying":[131],"levels":[133],"measurement":[135],"noise":[136],"bias.":[138],"find":[140],"significantly":[143],"outperforms":[144],"other":[146],"measured":[150],"symmetric":[153],"difference":[154],"between":[155],"ground":[160],"truth,":[161],"reducing":[162],"error":[163],"up":[165],"10\u00d7.":[167],"Physical":[168],"on":[170],"dVRK":[172],"show":[173],"our":[175],"approach":[176],"localize":[178],"approximately":[183],"same":[185],"accuracy":[186],"dense":[189],"raster":[190],"scan":[191],"while":[192],"requiring":[193],"at":[194],"least":[195],"10\u00d7":[196],"fewer":[197],"measurements.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}