{"id":"https://openalex.org/W4408223129","doi":"https://doi.org/10.1109/robio64047.2024.10907345","title":"3DGS-based Tracking of Articulated Instruments for Instruments-Tissue Interaction Estimation in Robot-assisted Minimally Invasive Surgery","display_name":"3DGS-based Tracking of Articulated Instruments for Instruments-Tissue Interaction Estimation in Robot-assisted Minimally Invasive Surgery","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408223129","doi":"https://doi.org/10.1109/robio64047.2024.10907345"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907345","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907345","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100679806","display_name":"Xiaojian Li","orcid":"https://orcid.org/0000-0002-3175-7810"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaojian Li","raw_affiliation_strings":["School of Management, Hefei University of Technology,Hefei,China"],"affiliations":[{"raw_affiliation_string":"School of Management, Hefei University of Technology,Hefei,China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101685321","display_name":"Lili Shen","orcid":"https://orcid.org/0000-0002-8407-655X"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lili Shen","raw_affiliation_strings":["School of Management, Hefei University of Technology,Hefei,China"],"affiliations":[{"raw_affiliation_string":"School of Management, Hefei University of Technology,Hefei,China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101655902","display_name":"Ling Li","orcid":"https://orcid.org/0000-0003-0663-3784"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ling Li","raw_affiliation_strings":["School of Management, Hefei University of Technology,Hefei,China"],"affiliations":[{"raw_affiliation_string":"School of Management, Hefei University of Technology,Hefei,China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033077344","display_name":"Hangjie Mo","orcid":"https://orcid.org/0000-0001-8628-3838"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hangjie Mo","raw_affiliation_strings":["School of Management, Hefei University of Technology,Hefei,China"],"affiliations":[{"raw_affiliation_string":"School of Management, Hefei University of Technology,Hefei,China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102563288","display_name":"Xin Wang","orcid":"https://orcid.org/0000-0003-1059-9953"},"institutions":[{"id":"https://openalex.org/I4210089761","display_name":"West China Hospital of Sichuan University","ror":"https://ror.org/007mrxy13","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210089761"]},{"id":"https://openalex.org/I24185976","display_name":"Sichuan University","ror":"https://ror.org/011ashp19","country_code":"CN","type":"education","lineage":["https://openalex.org/I24185976"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Wang","raw_affiliation_strings":["West China Hospital, Sichuan University,Sichuan,China"],"affiliations":[{"raw_affiliation_string":"West China Hospital, Sichuan University,Sichuan,China","institution_ids":["https://openalex.org/I24185976","https://openalex.org/I4210089761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103759976","display_name":"Xiang Ma","orcid":"https://orcid.org/0009-0007-3572-848X"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Ma","raw_affiliation_strings":["School of Management, Hefei University of Technology,Hefei,China"],"affiliations":[{"raw_affiliation_string":"School of Management, Hefei University of Technology,Hefei,China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074203162","display_name":"Jieyu Zheng","orcid":"https://orcid.org/0000-0002-0131-0647"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jieyu Zheng","raw_affiliation_strings":["School of Management, Hefei University of Technology,Hefei,China"],"affiliations":[{"raw_affiliation_string":"School of Management, Hefei University of Technology,Hefei,China","institution_ids":["https://openalex.org/I16365422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100679806"],"corresponding_institution_ids":["https://openalex.org/I16365422"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2506862,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1670","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":0.9768000245094299,"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":0.9768000245094299,"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":0.9753000140190125,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9287999868392944,"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/robot","display_name":"Robot","score":0.6410401463508606},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.622173547744751},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5971312522888184},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5675233006477356},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.5500791668891907},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.5425406694412231},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49401718378067017},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4924691617488861},{"id":"https://openalex.org/keywords/surgical-instrument","display_name":"Surgical instrument","score":0.4108728766441345},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.29542461037635803},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.22328263521194458},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.0586162805557251}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6410401463508606},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.622173547744751},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5971312522888184},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5675233006477356},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.5500791668891907},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.5425406694412231},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49401718378067017},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4924691617488861},{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.4108728766441345},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.29542461037635803},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.22328263521194458},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0586162805557251},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907345","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907345","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Zero hunger","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/2"}],"awards":[{"id":"https://openalex.org/G5416986011","display_name":null,"funder_award_id":"62322308,62133004,72293585,72188101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5671815903","display_name":null,"funder_award_id":"2108085J33","funder_id":"https://openalex.org/F4320334897","funder_display_name":"Natural Science Foundation of Anhui Province"},{"id":"https://openalex.org/G6608116665","display_name":null,"funder_award_id":"JZ2022HGPA0311,JZ2023HGQA0125,JZ2024HGTA0174","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334897","display_name":"Natural Science Foundation of Anhui Province","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1499894287","https://openalex.org/W1989694608","https://openalex.org/W2019690914","https://openalex.org/W2047550255","https://openalex.org/W2051460003","https://openalex.org/W2124744935","https://openalex.org/W2303106352","https://openalex.org/W2346113364","https://openalex.org/W2792810896","https://openalex.org/W3092541598","https://openalex.org/W4282941808","https://openalex.org/W4283322378","https://openalex.org/W4294982475","https://openalex.org/W4312871721","https://openalex.org/W4380238970","https://openalex.org/W4385318467","https://openalex.org/W4386702723","https://openalex.org/W4399574574","https://openalex.org/W6852694211","https://openalex.org/W6862178408"],"related_works":["https://openalex.org/W1595549445","https://openalex.org/W2760674464","https://openalex.org/W2885222402","https://openalex.org/W4401397081","https://openalex.org/W2592088541","https://openalex.org/W1560856716","https://openalex.org/W2561338268","https://openalex.org/W2002702504","https://openalex.org/W4391992474","https://openalex.org/W2738226159"],"abstract_inverted_index":{"3D":[0,26,52,197],"information":[1],"of":[2,9,16,55,63,155,180,186],"surgical":[3,10],"scene":[4],"potentially":[5],"enhances":[6],"the":[7,14,24,35,44,61,65,76,90,108,121,127,130,153,166],"accuracy":[8,185],"navigation":[11],"and":[12,30,49,71,101,113,139,171,183,201],"facilitate":[13],"automation":[15],"robot-assisted":[17],"surgery.":[18],"However,":[19],"current":[20],"research":[21],"seldom":[22],"considers":[23],"relative":[25,45,196],"position":[27],"between":[28,47,169,199],"instruments":[29,48,56,64,200],"tissue.":[31,50,172,202],"In":[32],"this":[33],"paper,":[34],"instruments-tissue":[36,161],"interaction":[37,162],"estimation":[38,79,118],"method":[39,80],"is":[40,57,81,134,163],"proposed":[41],"to":[42,68,89,94,119,151],"obtain":[43,95],"distance":[46,168,198],"The":[51,136,160,173],"Gaussian":[53,87,92],"representation":[54],"established":[58],"preoperatively,":[59],"making":[60],"pose":[62,78,133],"only":[66],"parameter":[67],"be":[69],"learned":[70],"updated.":[72],"Based":[73],"on":[74,143],"this,":[75],"instrument":[77,91,132,170],"proposed,":[82],"which":[83],"applies":[84],"3DGS":[85],"(3D":[86],"Splatting)":[88],"model":[93],"rendered":[96],"color":[97],"images,":[98,110],"projection":[99],"masks,":[100],"depth":[102,114,117,154],"maps.":[103],"These":[104],"are":[105,149],"aligned":[106],"with":[107,188],"input":[109],"segmented":[111],"masks":[112],"from":[115],"stereo":[116],"construct":[120],"target":[122,128],"loss.":[123],"By":[124],"backpropagating":[125],"through":[126],"loss,":[129],"optimal":[131],"obtained.":[135],"L1":[137],"loss":[138,141],"smooth":[140],"based":[142],"TPS":[144],"(the":[145],"Thin":[146],"Plate":[147],"Spline)":[148],"used":[150],"complete":[152],"tissue":[156],"occluded":[157],"by":[158,165],"instruments.":[159],"estimated":[164],"nearest":[167],"experimental":[174],"results":[175],"indicate":[176],"an":[177,184,189],"average":[178],"error":[179,190],"0.94":[181],"mm":[182],"90.40%":[187],"less":[191],"than":[192],"2mm":[193],"in":[194],"estimating":[195]},"counts_by_year":[],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}