{"id":"https://openalex.org/W2026988104","doi":"https://doi.org/10.1109/icra.2013.6630794","title":"Needle path planning for autonomous robotic surgical suturing","display_name":"Needle path planning for autonomous robotic surgical suturing","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2026988104","doi":"https://doi.org/10.1109/icra.2013.6630794","mag":"2026988104","pmid":"https://pubmed.ncbi.nlm.nih.gov/24683500"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630794","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5081352818","display_name":"Russell C. Jackson","orcid":"https://orcid.org/0000-0002-1362-7182"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Russell C. Jackson","raw_affiliation_strings":["The department of Electrical Engineering and Computer Science (EECS) at Case Western Reserve University in Cleveland, OH","Dept. of Electr. Eng. & Comput. Sci. (EECS), Case Western Reserve Univ. in Cleveland, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The department of Electrical Engineering and Computer Science (EECS) at Case Western Reserve University in Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput. Sci. (EECS), Case Western Reserve Univ. in Cleveland, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073651156","display_name":"M. Cenk \u00c7avu\u015fo\u011flu","orcid":"https://orcid.org/0000-0003-2800-5922"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Cenk Cavusoglu","raw_affiliation_strings":["The department of Electrical Engineering and Computer Science (EECS) at Case Western Reserve University in Cleveland, OH","Dept. of Electr. Eng. & Comput. Sci. (EECS), Case Western Reserve Univ. in Cleveland, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The department of Electrical Engineering and Computer Science (EECS) at Case Western Reserve University in Cleveland, OH","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput. Sci. (EECS), Case Western Reserve Univ. in Cleveland, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I58956616"],"apc_list":null,"apc_paid":null,"fwci":6.2869,"has_fulltext":false,"cited_by_count":77,"citation_normalized_percentile":{"value":0.96978616,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"2013","issue":null,"first_page":"1669","last_page":"1675"},"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":0.9959999918937683,"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":0.9925000071525574,"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/motion-planning","display_name":"Motion planning","score":0.7589586973190308},{"id":"https://openalex.org/keywords/fibrous-joint","display_name":"Fibrous joint","score":0.6925621628761292},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6871852874755859},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5975519418716431},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.5556017160415649},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5376940965652466},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4578908383846283},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.40474775433540344},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3603450655937195},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3522716462612152},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.34171271324157715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30141767859458923},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12827152013778687},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11559242010116577}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7589586973190308},{"id":"https://openalex.org/C2777327002","wikidata":"https://www.wikidata.org/wiki/Q2865760","display_name":"Fibrous joint","level":2,"score":0.6925621628761292},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6871852874755859},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5975519418716431},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.5556017160415649},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5376940965652466},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4578908383846283},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.40474775433540344},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3603450655937195},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3522716462612152},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.34171271324157715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30141767859458923},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12827152013778687},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11559242010116577},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2013.6630794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630794","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmid:24683500","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/24683500","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 International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","raw_type":null},{"id":"pmh:oai:europepmc.org:3243240","is_oa":false,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3966119","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":"Text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.719.3984","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.719.3984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://engr.case.edu/cavusoglu_cenk/papers/ICRA2013.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7560627730","display_name":null,"funder_award_id":"R21 HL096941","funder_id":"https://openalex.org/F4320337338","funder_display_name":"National Heart, Lung, and Blood Institute"}],"funders":[{"id":"https://openalex.org/F4320337338","display_name":"National Heart, Lung, and Blood Institute","ror":"https://ror.org/012pb6c26"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W140917940","https://openalex.org/W656358182","https://openalex.org/W1610841860","https://openalex.org/W2011393930","https://openalex.org/W2021747055","https://openalex.org/W2090415875","https://openalex.org/W2102729693","https://openalex.org/W2130751688","https://openalex.org/W2145981264","https://openalex.org/W2153691669","https://openalex.org/W2153923500","https://openalex.org/W2165061586","https://openalex.org/W6636561113"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W4323768008","https://openalex.org/W3131574667","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612"],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"a":[3,49,56],"path":[4,18,32],"plan":[5],"for":[6,54],"suture":[7,57,73],"needles":[8],"used":[9,28],"with":[10],"solid":[11],"tissue":[12,41],"volumes":[13],"in":[14,66],"endoscopic":[15],"surgery.":[16],"The":[17,31,61],"trajectory":[19],"is":[20],"based":[21],"on":[22],"the":[23,36,40,43,72,78],"best":[24],"practices":[25],"that":[26],"are":[27,59,64],"by":[29,69],"surgeons.":[30],"attempts":[33],"to":[34],"minimize":[35],"interaction":[37],"forces":[38],"between":[39],"and":[42],"needle.":[44],"Using":[45],"surgical":[46],"guides":[47],"as":[48],"basis,":[50],"two":[51,62],"different":[52],"techniques":[53,63],"driving":[55,71],"needle":[58,74],"developed.":[60],"compared":[65],"hardware":[67],"experiments":[68],"robotically":[70],"using":[75],"both":[76],"of":[77],"motion":[79],"plans.":[80]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}