{"id":"https://openalex.org/W2305133268","doi":"https://doi.org/10.1117/12.2214984","title":"Increasing safety of a robotic system for inner ear surgery using probabilistic error modeling near vital anatomy","display_name":"Increasing safety of a robotic system for inner ear surgery using probabilistic error modeling near vital anatomy","publication_year":2016,"publication_date":"2016-03-18","ids":{"openalex":"https://openalex.org/W2305133268","doi":"https://doi.org/10.1117/12.2214984","mag":"2305133268","pmid":"https://pubmed.ncbi.nlm.nih.gov/29200595"},"language":"en","primary_location":{"id":"doi:10.1117/12.2214984","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2214984","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030341212","display_name":"Neal P. Dillon","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Neal P. Dillon","raw_affiliation_strings":["Vanderbilt University, Department of Mechanical Engineering, Nashville, Tennessee, USA","Vanderbilt Univ. (United States)"],"affiliations":[{"raw_affiliation_string":"Vanderbilt University, Department of Mechanical Engineering, Nashville, Tennessee, USA","institution_ids":[]},{"raw_affiliation_string":"Vanderbilt Univ. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112243938","display_name":"Michael Siebold","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael A. Siebold","raw_affiliation_strings":["Vanderbilt University, Department of Electrical Engineering and Computer Science, Nashville, Tennessee, USA","Vanderbilt Univ. (United States)"],"affiliations":[{"raw_affiliation_string":"Vanderbilt University, Department of Electrical Engineering and Computer Science, Nashville, Tennessee, USA","institution_ids":[]},{"raw_affiliation_string":"Vanderbilt Univ. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059786636","display_name":"Jason E. Mitchell","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason E. Mitchell","raw_affiliation_strings":["Vanderbilt University, Department of Mechanical Engineering, Nashville, Tennessee, USA","Vanderbilt Univ. (United States)"],"affiliations":[{"raw_affiliation_string":"Vanderbilt University, Department of Mechanical Engineering, Nashville, Tennessee, USA","institution_ids":[]},{"raw_affiliation_string":"Vanderbilt Univ. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005884500","display_name":"Gr\u00e9goire S. Blachon","orcid":null},"institutions":[{"id":"https://openalex.org/I901861585","display_name":"Vanderbilt University Medical Center","ror":"https://ror.org/05dq2gs74","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210162197","https://openalex.org/I901861585"]},{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregoire S. Blachon","raw_affiliation_strings":["Vanderbilt University Medical Center, Department of Otolaryngology, Nashville, Tennessee, USA","Vanderbilt Univ. Medical Ctr. (United States)"],"affiliations":[{"raw_affiliation_string":"Vanderbilt University Medical Center, Department of Otolaryngology, Nashville, Tennessee, USA","institution_ids":["https://openalex.org/I901861585"]},{"raw_affiliation_string":"Vanderbilt Univ. Medical Ctr. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109928568","display_name":"Ramya Balachandran","orcid":null},"institutions":[{"id":"https://openalex.org/I901861585","display_name":"Vanderbilt University Medical Center","ror":"https://ror.org/05dq2gs74","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210162197","https://openalex.org/I901861585"]},{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ramya Balachandran","raw_affiliation_strings":["Vanderbilt University Medical Center, Department of Otolaryngology, Nashville, Tennessee, USA","Vanderbilt Univ. Medical Ctr. (United States)"],"affiliations":[{"raw_affiliation_string":"Vanderbilt University Medical Center, Department of Otolaryngology, Nashville, Tennessee, USA","institution_ids":["https://openalex.org/I901861585"]},{"raw_affiliation_string":"Vanderbilt Univ. Medical Ctr. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081343214","display_name":"J. Michael Fitzpatrick","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Michael Fitzpatrick","raw_affiliation_strings":["Vanderbilt University, Department of Electrical Engineering and Computer Science, Nashville, Tennessee, USA","Vanderbilt Univ. (United States)"],"affiliations":[{"raw_affiliation_string":"Vanderbilt University, Department of Electrical Engineering and Computer Science, Nashville, Tennessee, USA","institution_ids":[]},{"raw_affiliation_string":"Vanderbilt Univ. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009794922","display_name":"Robert J. Webster","orcid":"https://orcid.org/0000-0003-1389-224X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]},{"id":"https://openalex.org/I901861585","display_name":"Vanderbilt University Medical Center","ror":"https://ror.org/05dq2gs74","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210162197","https://openalex.org/I901861585"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Webster","raw_affiliation_strings":["Vanderbilt University Medical Center, Department of Otolaryngology, Nashville, Tennessee, USA","Vanderbilt University, Department of Electrical Engineering and Computer Science, Nashville, Tennessee, USA","Vanderbilt University, Department of Mechanical Engineering, Nashville, Tennessee, USA","Vanderbilt Univ. Medical Ctr. (United States)"],"affiliations":[{"raw_affiliation_string":"Vanderbilt University Medical Center, Department of Otolaryngology, Nashville, Tennessee, USA","institution_ids":["https://openalex.org/I901861585"]},{"raw_affiliation_string":"Vanderbilt University, Department of Electrical Engineering and Computer Science, Nashville, Tennessee, USA","institution_ids":[]},{"raw_affiliation_string":"Vanderbilt University, Department of Mechanical Engineering, Nashville, Tennessee, USA","institution_ids":[]},{"raw_affiliation_string":"Vanderbilt Univ. Medical Ctr. (United States)","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5030341212"],"corresponding_institution_ids":["https://openalex.org/I200719446"],"apc_list":null,"apc_paid":null,"fwci":1.2244,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.78506694,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"9786","issue":null,"first_page":"97861G","last_page":"97861G"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9965000152587891,"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":0.9965000152587891,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9855999946594238,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10776","display_name":"Spinal Fractures and Fixation Techniques","score":0.9717000126838684,"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/mastoidectomy","display_name":"Mastoidectomy","score":0.6613246202468872},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6033652424812317},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5624536871910095},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4516165256500244},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4326850473880768},{"id":"https://openalex.org/keywords/patient-safety","display_name":"Patient safety","score":0.4124703109264374},{"id":"https://openalex.org/keywords/cadaver","display_name":"Cadaver","score":0.41063833236694336},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39722028374671936},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3573235273361206},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35442522168159485},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.3013727068901062},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.18691158294677734},{"id":"https://openalex.org/keywords/cholesteatoma","display_name":"Cholesteatoma","score":0.14641159772872925}],"concepts":[{"id":"https://openalex.org/C2780868646","wikidata":"https://www.wikidata.org/wiki/Q4462424","display_name":"Mastoidectomy","level":3,"score":0.6613246202468872},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6033652424812317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5624536871910095},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4516165256500244},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4326850473880768},{"id":"https://openalex.org/C2779328685","wikidata":"https://www.wikidata.org/wiki/Q1475557","display_name":"Patient safety","level":3,"score":0.4124703109264374},{"id":"https://openalex.org/C91762617","wikidata":"https://www.wikidata.org/wiki/Q48422","display_name":"Cadaver","level":2,"score":0.41063833236694336},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39722028374671936},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3573235273361206},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35442522168159485},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.3013727068901062},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.18691158294677734},{"id":"https://openalex.org/C2780725665","wikidata":"https://www.wikidata.org/wiki/Q558230","display_name":"Cholesteatoma","level":2,"score":0.14641159772872925},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C160735492","wikidata":"https://www.wikidata.org/wiki/Q31207","display_name":"Health care","level":2,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1117/12.2214984","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2214984","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:29200595","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29200595","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:europepmc.org:4623763","is_oa":false,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5708556","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W89283330","https://openalex.org/W1256870269","https://openalex.org/W1565230518","https://openalex.org/W1966036053","https://openalex.org/W1970281514","https://openalex.org/W1997855975","https://openalex.org/W2002208310","https://openalex.org/W2011246361","https://openalex.org/W2011843892","https://openalex.org/W2012368881","https://openalex.org/W2015734154","https://openalex.org/W2036787791","https://openalex.org/W2048650656","https://openalex.org/W2070923631","https://openalex.org/W2070927739","https://openalex.org/W2071882623","https://openalex.org/W2075244165","https://openalex.org/W2087318557","https://openalex.org/W2108343861","https://openalex.org/W2115060260","https://openalex.org/W2141892017","https://openalex.org/W2143167399","https://openalex.org/W2149563690","https://openalex.org/W2155216368","https://openalex.org/W2155512611","https://openalex.org/W2157333192","https://openalex.org/W2166745316","https://openalex.org/W2289551487","https://openalex.org/W4231800612","https://openalex.org/W4248610436","https://openalex.org/W6603586557","https://openalex.org/W6642639226","https://openalex.org/W6649701844","https://openalex.org/W6659311639","https://openalex.org/W6668237342","https://openalex.org/W6672283313","https://openalex.org/W6682751725","https://openalex.org/W6696608445"],"related_works":["https://openalex.org/W1980030841","https://openalex.org/W2370126626","https://openalex.org/W3023128176","https://openalex.org/W2383297818","https://openalex.org/W2132633202","https://openalex.org/W4390576759","https://openalex.org/W2993344177","https://openalex.org/W2080485069","https://openalex.org/W2896607511","https://openalex.org/W1964304278"],"abstract_inverted_index":{"Safe":[0],"and":[1,122,129,141,184],"effective":[2],"planning":[3,194],"for":[4,144,148,155,193],"robotic":[5,197],"surgery":[6,150],"that":[7,35,54,102],"involves":[8],"cutting":[9],"or":[10,62],"ablation":[11],"of":[12,19,65,82,131,137,165,180,195],"tissue":[13],"must":[14,103],"consider":[15,39],"all":[16],"potential":[17,40],"sources":[18,136],"error":[20,92,138],"when":[21],"determining":[22],"how":[23],"close":[24],"the":[25,66,80,132,167],"tool":[26],"may":[27,46,58],"come":[28],"to":[29,48,93,118],"vital":[30,75,100],"anatomy.":[31],"A":[32],"pre-operative":[33],"plan":[34,53],"does":[36],"not":[37],"adequately":[38],"deviations":[41],"from":[42],"ideal":[43],"system":[44],"behavior":[45],"lead":[47],"patient":[49],"injury.":[50],"Conversely,":[51],"a":[52,95,145,162,177,181,196],"is":[55,77,171],"overly":[56],"conservative":[57],"result":[59],"in":[60,79],"ineffective":[61],"incomplete":[63],"performance":[64],"task.":[67],"Thus,":[68],"enforcing":[69],"simple,":[70],"uniform-thickness":[71],"safety":[72,97,158,185],"margins":[73,159,186],"around":[74,99,189],"anatomy":[76],"insufficient":[78],"presence":[81],"spatially":[83],"varying,":[84],"anisotropic":[85],"error.":[86],"Prior":[87],"work":[88],"has":[89],"used":[90],"registration":[91],"determine":[94],"variable-thickness":[96],"margin":[98],"structures":[101,192],"be":[104],"approached":[105],"during":[106],"mastoidectomy":[107],"but":[108],"ultimately":[109],"preserved.":[110],"In":[111],"this":[112],"paper,":[113],"these":[114],"methods":[115],"are":[116,139,151,174,187],"extended":[117],"incorporate":[119],"image":[120],"distortion":[121],"physical":[123],"robot":[124,147],"errors,":[125],"including":[126],"kinematic":[127],"errors":[128],"deflections":[130],"robot.":[133],"These":[134],"additional":[135],"discussed":[140],"stochastic":[142],"models":[143],"bone-attached":[146],"otologic":[149],"developed.":[152],"An":[153],"algorithm":[154],"generating":[156],"appropriate":[157],"based":[160],"on":[161,176],"desired":[163],"probability":[164],"preserving":[166],"underlying":[168],"anatomical":[169],"structure":[170],"presented.":[172],"Simulations":[173],"performed":[175],"CT":[178],"scan":[179],"cadaver":[182],"head":[183],"calculated":[188],"several":[190],"critical":[191],"mastoidectomy.":[198]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}