{"id":"https://openalex.org/W3123883772","doi":"https://doi.org/10.1177/0142331220984350","title":"Multimodal data fusion framework enhanced robot-assisted minimally invasive surgery","display_name":"Multimodal data fusion framework enhanced robot-assisted minimally invasive surgery","publication_year":2021,"publication_date":"2021-01-18","ids":{"openalex":"https://openalex.org/W3123883772","doi":"https://doi.org/10.1177/0142331220984350","mag":"3123883772"},"language":"en","primary_location":{"id":"doi:10.1177/0142331220984350","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331220984350","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1651539","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035835836","display_name":"Wen Qi","orcid":"https://orcid.org/0000-0002-2091-3718"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Wen Qi","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100341891","display_name":"Hang Su","orcid":"https://orcid.org/0000-0002-6877-6783"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Hang Su","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy"],"raw_orcid":"https://orcid.org/0000-0002-6877-6783","affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051129466","display_name":"Ke Fan","orcid":"https://orcid.org/0009-0007-1718-9312"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ke Fan","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100324492","display_name":"Ziyang Chen","orcid":"https://orcid.org/0000-0003-3077-822X"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ziyang Chen","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058903424","display_name":"Jiehao Li","orcid":"https://orcid.org/0000-0002-4946-4434"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jiehao Li","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067999580","display_name":"Xuanyi Zhou","orcid":"https://orcid.org/0000-0001-9584-9426"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Xuanyi Zhou","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101760892","display_name":"Yingbai Hu","orcid":"https://orcid.org/0000-0003-2452-3570"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yingbai Hu","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2452-3570","affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002794703","display_name":"Longbin Zhang","orcid":"https://orcid.org/0000-0001-8785-5885"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Longbin Zhang","raw_affiliation_strings":["Department of Mechanics, KTH Royal Institute of Technology, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanics, KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045080493","display_name":"Giancarlo Ferrigno","orcid":"https://orcid.org/0000-0001-5913-9451"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giancarlo Ferrigno","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083795699","display_name":"Elena De Momi","orcid":"https://orcid.org/0000-0002-8819-2734"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elena De Momi","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100341891"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":0.8274,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.67961058,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"44","issue":"4","first_page":"735","last_page":"743"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9975000023841858,"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":0.9975000023841858,"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/T10888","display_name":"Augmented Reality Applications","score":0.9948999881744385,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.7455626726150513},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6274368166923523},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.5663827657699585},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5452703237533569},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5391528606414795},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5173501372337341},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.49997663497924805},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.44832319021224976},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.42280369997024536},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41261476278305054},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36907723546028137},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09173581004142761},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.08172646164894104}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7455626726150513},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6274368166923523},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.5663827657699585},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5452703237533569},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5391528606414795},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5173501372337341},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.49997663497924805},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.44832319021224976},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.42280369997024536},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41261476278305054},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36907723546028137},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09173581004142761},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.08172646164894104}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0142331220984350","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331220984350","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1651539","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1651539","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:re.public.polimi.it:11311/1212690","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/1212690","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1651539","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1651539","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G264784167","display_name":null,"funder_award_id":"732515","funder_id":"https://openalex.org/F4320337669","funder_display_name":"H2020 European Institute of Innovation and Technology"}],"funders":[{"id":"https://openalex.org/F4320337669","display_name":"H2020 European Institute of Innovation and Technology","ror":"https://ror.org/036dxts37"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1976018656","https://openalex.org/W2019690914","https://openalex.org/W2061983682","https://openalex.org/W2102731100","https://openalex.org/W2219995598","https://openalex.org/W2293748004","https://openalex.org/W2518937691","https://openalex.org/W2767704770","https://openalex.org/W2770265759","https://openalex.org/W2792117733","https://openalex.org/W2801350411","https://openalex.org/W2802717283","https://openalex.org/W2803865397","https://openalex.org/W2888491225","https://openalex.org/W2891765131","https://openalex.org/W2899088492","https://openalex.org/W2901599055","https://openalex.org/W2917250835","https://openalex.org/W2946490545","https://openalex.org/W2950667132","https://openalex.org/W2962459300","https://openalex.org/W2977323175","https://openalex.org/W2979984174","https://openalex.org/W2990029367","https://openalex.org/W2992312320","https://openalex.org/W2997199480","https://openalex.org/W3000358370","https://openalex.org/W3008806548","https://openalex.org/W3017424189","https://openalex.org/W3023797889","https://openalex.org/W3040879982","https://openalex.org/W3042873437","https://openalex.org/W3046507381","https://openalex.org/W3048422314","https://openalex.org/W3104471408","https://openalex.org/W3109827567","https://openalex.org/W3118688377"],"related_works":["https://openalex.org/W2020277666","https://openalex.org/W2111551460","https://openalex.org/W4233764379","https://openalex.org/W2139286786","https://openalex.org/W3137926360","https://openalex.org/W2145133212","https://openalex.org/W2252542483","https://openalex.org/W1473481164","https://openalex.org/W4400744849","https://openalex.org/W3195835170"],"abstract_inverted_index":{"The":[0,102],"generous":[1],"application":[2],"of":[3,16,108],"robot-assisted":[4],"minimally":[5],"invasive":[6],"surgery":[7],"(RAMIS)":[8],"promotes":[9],"human-machine":[10],"interaction":[11],"(HMI).":[12],"Identifying":[13],"various":[14,83],"behaviors":[15],"doctors":[17],"can":[18,99,138],"enhance":[19,50],"the":[20,24,37,95,106,110,124,134,144],"RAMIS":[21,114],"procedure":[22],"for":[23,67,113],"redundant":[25],"robot.":[26],"It":[27],"bridges":[28],"intelligent":[29],"robot":[30,96,130,136],"control":[31,97],"and":[32,43,88],"activity":[33],"recognition":[34],"strategies":[35],"in":[36,52,91,127,143],"operating":[38],"room,":[39],"including":[40,85],"hand":[41],"gestures":[42],"human":[44],"activities.":[45],"In":[46],"this":[47],"paper,":[48],"to":[49,63,78],"identification":[51],"a":[53,58,71,119,128],"dynamic":[54],"situation,":[55],"we":[56],"propose":[57],"multimodal":[59,111],"data":[60,81],"fusion":[61],"framework":[62,112],"provide":[64],"multiple":[65],"information":[66],"accuracy":[68],"enhancement.":[69],"Firstly,":[70],"multi-sensors":[72],"based":[73],"hardware":[74],"structure":[75],"is":[76],"designed":[77],"capture":[79],"varied":[80],"from":[82],"devices,":[84],"depth":[86],"camera":[87],"smartphone.":[89],"Furthermore,":[90],"different":[92],"surgical":[93,129,135],"tasks,":[94],"mechanism":[98],"shift":[100],"automatically.":[101],"experimental":[103],"results":[104],"evaluate":[105],"efficiency":[107],"developing":[109],"by":[115],"comparing":[116],"it":[117],"with":[118,140],"single":[120],"sensor":[121],"system.":[122],"Implementing":[123],"KUKA":[125],"LWR4+":[126],"environment":[131],"indicates":[132],"that":[133],"systems":[137],"work":[139],"medical":[141],"staff":[142],"future.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}