{"id":"https://openalex.org/W2035110668","doi":"https://doi.org/10.1117/12.2044165","title":"Mapping surgical fields by moving a laser-scanning multimodal scope attached to a robot arm","display_name":"Mapping surgical fields by moving a laser-scanning multimodal scope attached to a robot arm","publication_year":2014,"publication_date":"2014-03-12","ids":{"openalex":"https://openalex.org/W2035110668","doi":"https://doi.org/10.1117/12.2044165","mag":"2035110668","pmid":"https://pubmed.ncbi.nlm.nih.gov/34321710"},"language":"en","primary_location":{"id":"doi:10.1117/12.2044165","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2044165","pdf_url":null,"source":{"id":"https://openalex.org/S183492911","display_name":"Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE","issn_l":"0277-786X","issn":["0277-786X","1996-756X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315543","host_organization_name":"SPIE","host_organization_lineage":["https://openalex.org/P4310315543"],"host_organization_lineage_names":["SPIE"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SPIE Proceedings","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8315033","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030934940","display_name":"Yuanzheng Gong","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yuanzheng Gong","raw_affiliation_strings":["Human Photonics Lab, Dept. of Mechanical Engineering, Univ. of Washington, Seattle, WA 98195","University of Washington, United States"],"affiliations":[{"raw_affiliation_string":"Human Photonics Lab, Dept. of Mechanical Engineering, Univ. of Washington, Seattle, WA 98195","institution_ids":[]},{"raw_affiliation_string":"University of Washington, United States","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078085748","display_name":"Tomothy D. Soper","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tomothy D. Soper","raw_affiliation_strings":["Human Photonics Lab, Dept. of Mechanical Engineering, Univ. of Washington, Seattle, WA 98195","University of Washington, United States"],"affiliations":[{"raw_affiliation_string":"Human Photonics Lab, Dept. of Mechanical Engineering, Univ. of Washington, Seattle, WA 98195","institution_ids":[]},{"raw_affiliation_string":"University of Washington, United States","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018917289","display_name":"Vivian Hou","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vivian W. Hou","raw_affiliation_strings":["Human Photonics Lab, Dept. of Mechanical Engineering, Univ. of Washington, Seattle, WA 98195","University of Washington, United States"],"affiliations":[{"raw_affiliation_string":"Human Photonics Lab, Dept. of Mechanical Engineering, Univ. of Washington, Seattle, WA 98195","institution_ids":[]},{"raw_affiliation_string":"University of Washington, United States","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045724983","display_name":"Danying Hu","orcid":"https://orcid.org/0000-0003-0692-4936"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Danying Hu","raw_affiliation_strings":["Biorobotics Lab, Dept. of Electrical Engineering, Univ. of Washington, Seattle, WA 98195","University of Washington, United States"],"affiliations":[{"raw_affiliation_string":"Biorobotics Lab, Dept. of Electrical Engineering, Univ. of Washington, Seattle, WA 98195","institution_ids":[]},{"raw_affiliation_string":"University of Washington, United States","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074967911","display_name":"Blake Hannaford","orcid":"https://orcid.org/0000-0001-7370-4920"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Blake Hannaford","raw_affiliation_strings":["Biorobotics Lab, Dept. of Electrical Engineering, Univ. of Washington, Seattle, WA 98195","University of Washington, United States"],"affiliations":[{"raw_affiliation_string":"Biorobotics Lab, Dept. of Electrical Engineering, Univ. of Washington, Seattle, WA 98195","institution_ids":[]},{"raw_affiliation_string":"University of Washington, United States","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004492656","display_name":"Eric J. Seibel","orcid":"https://orcid.org/0000-0002-3382-6541"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric J. Seibel","raw_affiliation_strings":["Human Photonics Lab, Dept. of Mechanical Engineering, Univ. of Washington, Seattle, WA 98195","University of Washington, United States"],"affiliations":[{"raw_affiliation_string":"Human Photonics Lab, Dept. of Mechanical Engineering, Univ. of Washington, Seattle, WA 98195","institution_ids":[]},{"raw_affiliation_string":"University of Washington, United States","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5030934940"],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":2.1702739,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.90467274,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"9036","issue":null,"first_page":"90362S","last_page":"90362S"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9979000091552734,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9936000108718872,"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/computer-vision","display_name":"Computer vision","score":0.7713831663131714},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7216041088104248},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7146350145339966},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.6667922139167786},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.6648795008659363},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.46406325697898865},{"id":"https://openalex.org/keywords/fiducial-marker","display_name":"Fiducial marker","score":0.44110655784606934},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43770214915275574},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.41403141617774963},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4115586280822754},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.21376192569732666},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16329824924468994},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10242071747779846}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7713831663131714},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7216041088104248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7146350145339966},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.6667922139167786},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.6648795008659363},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.46406325697898865},{"id":"https://openalex.org/C173974348","wikidata":"https://www.wikidata.org/wiki/Q1469893","display_name":"Fiducial marker","level":2,"score":0.44110655784606934},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43770214915275574},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.41403141617774963},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4115586280822754},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.21376192569732666},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16329824924468994},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10242071747779846},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1117/12.2044165","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2044165","pdf_url":null,"source":{"id":"https://openalex.org/S183492911","display_name":"Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE","issn_l":"0277-786X","issn":["0277-786X","1996-756X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315543","host_organization_name":"SPIE","host_organization_lineage":["https://openalex.org/P4310315543"],"host_organization_lineage_names":["SPIE"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SPIE Proceedings","raw_type":"proceedings-article"},{"id":"pmid:34321710","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34321710","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":"Proceedings of SPIE--the International Society for Optical Engineering","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:8315033","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8315033","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proc SPIE Int Soc Opt Eng","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:8315033","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8315033","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proc SPIE Int Soc Opt Eng","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1527463407","https://openalex.org/W1963716360","https://openalex.org/W1967626435","https://openalex.org/W2036387523","https://openalex.org/W2043355595","https://openalex.org/W2129356845","https://openalex.org/W2153923500","https://openalex.org/W4246035493","https://openalex.org/W6631620232"],"related_works":["https://openalex.org/W2525537761","https://openalex.org/W2072325087","https://openalex.org/W2905789513","https://openalex.org/W402593573","https://openalex.org/W2972424784","https://openalex.org/W1486589819","https://openalex.org/W1429720065","https://openalex.org/W2948909270","https://openalex.org/W1514490562","https://openalex.org/W3030478768"],"abstract_inverted_index":{"Endoscopic":[0],"visualization":[1,28,166],"in":[2,146],"brain":[3,93],"tumor":[4,9,22,91,161,186],"removal":[5],"is":[6,11,61,134,177],"challenging":[7],"because":[8],"tissue":[10],"often":[12],"visually":[13],"indistinguishable":[14],"from":[15,72,92],"healthy":[16],"tissue.":[17],"Fluorescence":[18],"imaging":[19,59,125],"can":[20,164,227],"improve":[21,165],"delineation,":[23],"though":[24],"this":[25,85,108],"impairs":[26],"reflectance-based":[27],"of":[29,70,79,89,98,107,140,159,172,193,223,237],"gross":[30],"anatomical":[31],"features.":[32],"To":[33,83],"accurately":[34],"navigate":[35],"and":[36,50,123,167],"resect":[37],"tumors,":[38],"we":[39,74],"created":[40],"an":[41],"ultrathin/flexible,":[42],"scanning":[43],"fiber":[44],"endoscope":[45],"(SFE)":[46],"that":[47,163,215],"acquires":[48],"reflectance":[49,122,132],"fluorescence":[51,99,124],"wide-field":[52],"images":[53,133],"at":[54],"high-resolution.":[55],"Furthermore,":[56],"our":[57],"miniature":[58],"system":[60],"affixed":[62],"to":[63,136,230],"a":[64,138,155],"robotic":[65,168],"arm":[66,196],"providing":[67],"programmable":[68],"motion":[69],"SFE,":[71,199],"which":[73,143],"generate":[75],"multimodal":[76,156,221],"surface":[77,105],"maps":[78,106,176,222],"the":[80,115,118,160,194,198,200,216,224,238,242],"surgical":[81,109,225,239],"field.":[82],"test":[84],"system,":[86],"synthetic":[87],"phantoms":[88],"debulked":[90],"are":[94,111,144,181,204],"fabricated":[95],"having":[96],"spots":[97],"representing":[100],"residual":[101],"tumor.":[102],"Three-dimension":[103],"(3D)":[104],"field":[110,226],"produced":[112],"by":[113,148,208,233],"moving":[114,241],"SFE":[116],"over":[117],"phantom":[119],"during":[120,185],"concurrent":[121],"(30Hz":[126],"video).":[127],"SIFT-based":[128],"feature":[129],"matching":[130],"between":[131],"implemented":[135],"select":[137],"subset":[139],"key":[141],"frames,":[142],"reconstructed":[145],"3D":[147,157,175],"bundle":[149],"adjustment.":[150],"The":[151],"resultant":[152],"reconstruction":[153],"yields":[154],"map":[158],"region":[162],"path":[169],"planning.":[170],"Efficiency":[171],"creating":[173,219],"these":[174,220],"important":[178],"as":[179],"they":[180],"generated":[182],"multiple":[183],"times":[184],"margin":[187],"clean-up.":[188],"By":[189],"using":[190,234],"pre-programmed":[191],"motions":[192],"robot":[195,240],"holding":[197],"computer":[201],"vision":[202],"algorithms":[203],"optimized":[205],"for":[206,218],"efficiency":[207],"reducing":[209],"search":[210],"times.":[211],"Preliminary":[212],"results":[213],"indicate":[214],"time":[217],"be":[228],"reduced":[229],"one":[231],"third":[232],"known":[235],"trajectories":[236],"image-guided":[243],"tool.":[244]},"counts_by_year":[{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
