{"id":"https://openalex.org/W4220881324","doi":"https://doi.org/10.1117/12.2611306","title":"Real-time flexible endoscope navigation within bladder phantom having sparse non-distinct features is enhanced with robotic control","display_name":"Real-time flexible endoscope navigation within bladder phantom having sparse non-distinct features is enhanced with robotic control","publication_year":2022,"publication_date":"2022-04-01","ids":{"openalex":"https://openalex.org/W4220881324","doi":"https://doi.org/10.1117/12.2611306"},"language":"en","primary_location":{"id":"doi:10.1117/12.2611306","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2611306","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Medical Imaging 2022: Image-Guided Procedures, Robotic Interventions, and Modeling","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/A5101979962","display_name":"Pengcheng Chen","orcid":"https://orcid.org/0000-0001-7473-1285"},"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":"Pengcheng Chen","raw_affiliation_strings":["Univ. of Washington (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of Washington (United States)","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000249670","display_name":"Chen Gong","orcid":"https://orcid.org/0000-0002-4142-7380"},"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":"Chen Gong","raw_affiliation_strings":["Univ. of Washington (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of Washington (United States)","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011217149","display_name":"Andrew Lewis","orcid":"https://orcid.org/0000-0001-9556-3890"},"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":"Andrew Lewis","raw_affiliation_strings":["Univ. of Washington (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of Washington (United States)","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061750495","display_name":"Yaxuan Zhou","orcid":"https://orcid.org/0000-0002-6639-0078"},"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":"Yaxuan Zhou","raw_affiliation_strings":["Univ. of Washington (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of Washington (United States)","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020398407","display_name":"Mohammad M. Poor","orcid":null},"institutions":[{"id":"https://openalex.org/I46247651","display_name":"University of Manitoba","ror":"https://ror.org/02gfys938","country_code":"CA","type":"education","lineage":["https://openalex.org/I46247651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mohammad M. Poor","raw_affiliation_strings":["Univ. of Manitoba (Canada)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of Manitoba (Canada)","institution_ids":["https://openalex.org/I46247651"]}]},{"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":["Univ. of Washington (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. 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":["Univ. of Washington (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of Washington (United States)","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.8162,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.93568474,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"11","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T10888","display_name":"Augmented Reality Applications","score":0.9764999747276306,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9657999873161316,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cystoscope","display_name":"Cystoscope","score":0.9289073944091797},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6803205013275146},{"id":"https://openalex.org/keywords/cystoscopy","display_name":"Cystoscopy","score":0.6453967094421387},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6316397786140442},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.6007461547851562},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5715424418449402},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5622138381004333},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4682164192199707},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.42889130115509033},{"id":"https://openalex.org/keywords/endoscope","display_name":"Endoscope","score":0.4157401919364929},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.24931925535202026},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.17972224950790405},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14939507842063904},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.1415189802646637},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.11461487412452698}],"concepts":[{"id":"https://openalex.org/C2909269795","wikidata":"https://www.wikidata.org/wiki/Q246090","display_name":"Cystoscope","level":2,"score":0.9289073944091797},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6803205013275146},{"id":"https://openalex.org/C2778769751","wikidata":"https://www.wikidata.org/wiki/Q246090","display_name":"Cystoscopy","level":3,"score":0.6453967094421387},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6316397786140442},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.6007461547851562},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5715424418449402},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5622138381004333},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4682164192199707},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.42889130115509033},{"id":"https://openalex.org/C2776820786","wikidata":"https://www.wikidata.org/wiki/Q580725","display_name":"Endoscope","level":2,"score":0.4157401919364929},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.24931925535202026},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.17972224950790405},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14939507842063904},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.1415189802646637},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.11461487412452698},{"id":"https://openalex.org/C77411442","wikidata":"https://www.wikidata.org/wiki/Q181100","display_name":"Urinary system","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1117/12.2611306","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2611306","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Medical Imaging 2022: Image-Guided Procedures, Robotic Interventions, and Modeling","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W356219054","https://openalex.org/W1612997784","https://openalex.org/W1711618159","https://openalex.org/W1989552041","https://openalex.org/W1994168595","https://openalex.org/W2028394888","https://openalex.org/W2060525195","https://openalex.org/W2078954581","https://openalex.org/W2087575424","https://openalex.org/W2131675109","https://openalex.org/W2246023205","https://openalex.org/W2331426679","https://openalex.org/W2472201084","https://openalex.org/W2552046020","https://openalex.org/W2592027433","https://openalex.org/W2615465674","https://openalex.org/W2786939934","https://openalex.org/W2883362502","https://openalex.org/W2920271856","https://openalex.org/W3031407864","https://openalex.org/W3043971245","https://openalex.org/W3161080829","https://openalex.org/W3183290586","https://openalex.org/W4241307704","https://openalex.org/W4242669880","https://openalex.org/W4252907012","https://openalex.org/W4285471655","https://openalex.org/W4323653464","https://openalex.org/W6633658626","https://openalex.org/W6648558556","https://openalex.org/W6671628644","https://openalex.org/W6677308130","https://openalex.org/W6688317595","https://openalex.org/W6725581227","https://openalex.org/W6748325645","https://openalex.org/W6754694891","https://openalex.org/W6764970037","https://openalex.org/W6778440393","https://openalex.org/W6795262631","https://openalex.org/W6990856964"],"related_works":["https://openalex.org/W3048236305","https://openalex.org/W2168620136","https://openalex.org/W3204876922","https://openalex.org/W1977213985","https://openalex.org/W2981119606","https://openalex.org/W2230269989","https://openalex.org/W3125442832","https://openalex.org/W2049935401","https://openalex.org/W4252712924","https://openalex.org/W3130540790"],"abstract_inverted_index":{"Endoscopic":[0],"inspection":[1],"of":[2,20,45,61,104,108,163],"the":[3,16,21,46,49,54,62,109,130,145,154,164],"bladder":[4,50,56,85,110,168],"is":[5,23,51],"called":[6],"cystoscopy,":[7],"and":[8,42,58,120,132,151,160,167],"over":[9],"1":[10],"million":[11],"are":[12],"performed":[13],"annually":[14],"in":[15,48,83,100,171],"USA.1":[17],"Robotic":[18],"assistance":[19],"procedure":[22],"being":[24],"considered":[25],"to":[26,31,141],"overcome":[27],"healthcare":[28],"disparities":[29],"due":[30],"geographic":[32],"distances.":[33],"To":[34],"ensure":[35],"safety,":[36],"real-time":[37,105],"navigation":[38,71],"by":[39,65],"simultaneous":[40],"localization":[41],"mapping":[43],"(SLAM)":[44],"cystoscope":[47,64,147],"desired.":[52],"However,":[53],"near-featureless":[55],"wall":[57,169],"irregular":[59],"movement":[60],"monocular":[63],"manual":[66,133,142],"operation":[67],"has":[68],"made":[69],"SLAM-based":[70],"a":[72,80,84,88,102,122],"difficult":[73],"challenge.":[74],"In":[75,113,139],"this":[76,93],"work":[77],"we":[78,97,115],"develop":[79],"robot-assisted":[81],"approach":[82],"phantom":[86],"using":[87,129,144],"commercial":[89],"flexible":[90],"cystoscope.":[91],"With":[92],"simple":[94],"remote-controlled":[95],"robot,":[96],"have":[98],"succeeded":[99],"creating":[101],"series":[103],"2.5D":[106,118],"reconstructions":[107,162],"interior":[111],"wall.":[112],"post-processing,":[114],"combine":[116],"those":[117],"results":[119],"achieve":[121],"3D":[123],"reconstruction.":[124],"We":[125],"compared":[126],"SLAM":[127],"performance":[128],"robot":[131],"control":[134,143],"under":[135],"different":[136],"scanning":[137],"speeds.":[138],"comparison":[140],"same":[146],"at":[148],"1x,":[149],"2x":[150],"3x":[152],"speeds,":[153],"robotic-assistance":[155],"provides":[156],"significantly":[157],"more":[158],"robust":[159],"accurate":[161],"camera":[165],"trajectories":[166],"locations":[170],"real-time.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}