{"id":"https://openalex.org/W4220800944","doi":"https://doi.org/10.1117/12.2613231","title":"Robot-assisted neuroendoscopy for real-time 3D guidance of transventricular approach to deep-brain targets","display_name":"Robot-assisted neuroendoscopy for real-time 3D guidance of transventricular approach to deep-brain targets","publication_year":2022,"publication_date":"2022-04-01","ids":{"openalex":"https://openalex.org/W4220800944","doi":"https://doi.org/10.1117/12.2613231"},"language":"en","primary_location":{"id":"doi:10.1117/12.2613231","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2613231","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/A5029253617","display_name":"Prasad Vagdargi","orcid":"https://orcid.org/0000-0002-2740-6604"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Prasad Vagdargi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089623752","display_name":"Ali Uneri","orcid":"https://orcid.org/0000-0003-3419-1805"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ali Uneri","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018714925","display_name":"Craig Jones","orcid":"https://orcid.org/0000-0002-0629-3006"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Craig K. Jones","raw_affiliation_strings":["Johns Hopkins Univ. (United States)"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins Univ. (United States)","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058183994","display_name":"Pengwei Wu","orcid":"https://orcid.org/0000-0002-2412-3043"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pengwei Wu","raw_affiliation_strings":["Johns Hopkins Univ. (United States)"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins Univ. (United States)","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009793323","display_name":"Runze Han","orcid":"https://orcid.org/0000-0002-3618-5997"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Runze Han","raw_affiliation_strings":["Johns Hopkins Univ. (United States)"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins Univ. (United States)","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068150912","display_name":"Mark G. Luciano","orcid":"https://orcid.org/0000-0003-1456-9559"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark G. Luciano","raw_affiliation_strings":["Johns Hopkins Medicine (United States)"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins Medicine (United States)","institution_ids":["https://openalex.org/I2799853436","https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043335263","display_name":"William S. Anderson","orcid":"https://orcid.org/0000-0003-0958-050X"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William S. Anderson","raw_affiliation_strings":["Johns Hopkins Medicine (United States)"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins Medicine (United States)","institution_ids":["https://openalex.org/I2799853436","https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081877123","display_name":"Patrick A. Helm","orcid":"https://orcid.org/0009-0009-3734-4951"},"institutions":[{"id":"https://openalex.org/I4210091810","display_name":"Medtronic (United States)","ror":"https://ror.org/00grd1h17","country_code":"US","type":"company","lineage":["https://openalex.org/I4210091810"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick A. Helm","raw_affiliation_strings":["Medtronic, Inc. (United States)"],"affiliations":[{"raw_affiliation_string":"Medtronic, Inc. (United States)","institution_ids":["https://openalex.org/I4210091810"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041383246","display_name":"Gregory D. Hager","orcid":"https://orcid.org/0000-0002-6662-9763"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory D. Hager","raw_affiliation_strings":["Johns Hopkins Univ. (United States)"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins Univ. (United States)","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068070550","display_name":"Jeffrey H. Siewerdsen","orcid":"https://orcid.org/0000-0001-6644-1317"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey H. Siewerdsen","raw_affiliation_strings":["Johns Hopkins Univ. (United States)","John Hopkins Medicine (United States)"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins Univ. (United States)","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"John Hopkins Medicine (United States)","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5029253617"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1005,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.3483269,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"11598","issue":null,"first_page":"13","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11406","display_name":"Cerebrospinal fluid and hydrocephalus","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T11406","display_name":"Cerebrospinal fluid and hydrocephalus","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9970999956130981,"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/T12552","display_name":"Fetal and Pediatric Neurological Disorders","score":0.9872000217437744,"subfield":{"id":"https://openalex.org/subfields/2735","display_name":"Pediatrics, Perinatology and Child Health"},"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":0.7398138046264648},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7350074052810669},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7316566705703735},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6719702482223511},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6718758344650269},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.629677414894104},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.513892650604248},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.46956443786621094},{"id":"https://openalex.org/keywords/iterative-reconstruction","display_name":"Iterative reconstruction","score":0.4123240113258362},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4015663266181946},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35246315598487854},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16291826963424683},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.10639438033103943},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09163498878479004}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7398138046264648},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7350074052810669},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7316566705703735},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6719702482223511},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6718758344650269},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.629677414894104},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.513892650604248},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.46956443786621094},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.4123240113258362},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4015663266181946},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35246315598487854},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16291826963424683},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.10639438033103943},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09163498878479004},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1117/12.2613231","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2613231","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1522717150","https://openalex.org/W1558593257","https://openalex.org/W2096577216","https://openalex.org/W2119605622","https://openalex.org/W2149680049","https://openalex.org/W2151103935","https://openalex.org/W2470104007","https://openalex.org/W2624554198","https://openalex.org/W2737094507","https://openalex.org/W2982076750","https://openalex.org/W3006384955","https://openalex.org/W3129549478","https://openalex.org/W3176325883","https://openalex.org/W3210898535","https://openalex.org/W3213453253","https://openalex.org/W6677308130","https://openalex.org/W6721735350","https://openalex.org/W6790461905","https://openalex.org/W6790817271","https://openalex.org/W6804095681"],"related_works":["https://openalex.org/W170547082","https://openalex.org/W2136735429","https://openalex.org/W2587876411","https://openalex.org/W2358332176","https://openalex.org/W4229950834","https://openalex.org/W1587123803","https://openalex.org/W2128075414","https://openalex.org/W4301044568","https://openalex.org/W2952867832","https://openalex.org/W2144778520"],"abstract_inverted_index":{"Purpose:":[0],"Recent":[1],"neurosurgical":[2],"techniques":[3],"require":[4],"accurate":[5,62],"targeting":[6],"of":[7,14,19,126,137,157,161,185,192,201,225,252,269,287],"deep-brain":[8],"structures":[9,141],"even":[10],"in":[11,74,77,119,124,155,173,195,208,259],"the":[12,102,127,158,167,179,182,190,199,250,280,284],"presence":[13],"deformation":[15],"due":[16],"to":[17,60,101,113,277,292],"egress":[18],"cerebrospinal":[20],"fluid":[21],"(CSF)":[22],"during":[23],"surgical":[24],"access.":[25],"Prior":[26],"work":[27,261,275],"reported":[28,258],"Structure-from-Motion":[29],"(SfM)":[30],"based":[31,239],"methods":[32,46,291],"for":[33,47,61,175,236,249,266,271],"endoscopic":[34,51,254],"guidance":[35,238],"using":[36,54],"3D":[37,50,149,242],"reconstruction.":[38,151],"We":[39],"are":[40],"developing":[41],"feature":[42,116,135,146,176,272],"detection":[43,117,147,177],"and":[44,57,63,70,94,129,139,148,166,189,203,206,217,230,289],"description":[45],"a":[48,87,106,133,222,246],"real-time":[49,65],"navigation":[52],"system":[53,85,235],"simultaneous":[55],"localization":[56],"mapping":[58],"(SLAM)":[59],"near":[64],"registration.":[66],"Methods:":[67],"Feature":[68],"detectors":[69],"descriptors":[71],"were":[72,111,212],"evaluated":[73,154],"SLAM":[75,241,281],"reconstruction":[76,244],"anthropomorphic":[78],"phantom":[79],"studies":[80,257],"emulating":[81],"neuroendoscopy.":[82],"The":[83,234,256],"experimental":[84],"utilized":[86],"mobile":[88],"UR3e":[89],"robot":[90],"(Universal":[91],"Robots,":[92],"Denmark)":[93],"ventriculoscope":[95],"(Karl":[96],"Storz,":[97],"Tuttlingen,":[98],"Germany)":[99],"affixed":[100],"end":[103],"effector":[104],"as":[105,214,228],"repeatable":[107],"ventriculoscopy":[108],"platform.":[109],"Experiments":[110],"conducted":[112],"quantify":[114],"optimal":[115],"parameters":[118,211,270],"scale-space.":[120],"Neuroendoscopic":[121],"images":[122],"acquired":[123],"traversal":[125],"lateral":[128],"third":[130],"ventricles":[131],"provided":[132,245,262],"rich":[134],"space":[136],"vessels":[138],"other":[140],"on":[142,181,240],"ventricular":[143],"walls":[144],"supporting":[145],"point-cloud":[150,243],"Performance":[152],"was":[153],"terms":[156],"mean":[159,183,223],"number":[160,184,200,224],"features":[162,186,226],"detected":[163,227],"per":[164,187],"frame":[165],"algorithm":[168],"runtime.":[169,209],"Results:":[170],"Parameter":[171],"search":[172],"scale-space":[174],"demonstrated":[178],"dependence":[180],"image":[188],"points":[191],"diminishing":[193],"return":[194],"parameter":[196],"selection":[197,268],"(e.g.,":[198],"octaves":[202,216],"scale":[204,219],"levels)":[205],"tradeoffs":[207],"Nominal":[210],"identified":[213],"3":[215],"9":[218],"levels,":[220],"with":[221],"492":[229],"806":[231],"respectively.":[232],"Conclusions:":[233],"neuroendoscopic":[237],"promising":[247],"platform":[248],"development":[251],"robot-assisted":[253],"neurosurgery.":[255],"this":[260],"an":[263],"essential":[264],"basis":[265],"rigorous":[267],"detection.":[273],"Future":[274],"aims":[276],"further":[278],"develop":[279],"framework,":[282],"assess":[283],"geometric":[285],"accuracy":[286],"reconstruction,":[288],"translate":[290],"clinical":[293],"studies.":[294]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
