{"id":"https://openalex.org/W4400080227","doi":"https://doi.org/10.3390/s24134191","title":"Real-Time Tool Localization for Laparoscopic Surgery Using Convolutional Neural Network","display_name":"Real-Time Tool Localization for Laparoscopic Surgery Using Convolutional Neural Network","publication_year":2024,"publication_date":"2024-06-27","ids":{"openalex":"https://openalex.org/W4400080227","doi":"https://doi.org/10.3390/s24134191","pmid":"https://pubmed.ncbi.nlm.nih.gov/39000974"},"language":"en","primary_location":{"id":"doi:10.3390/s24134191","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24134191","pdf_url":"https://www.mdpi.com/1424-8220/24/13/4191/pdf?version=1719501110","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/24/13/4191/pdf?version=1719501110","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034182399","display_name":"Diego Benavides","orcid":"https://orcid.org/0000-0002-1468-7363"},"institutions":[{"id":"https://openalex.org/I108103353","display_name":"Universidad de Valladolid","ror":"https://ror.org/01fvbaw18","country_code":"ES","type":"education","lineage":["https://openalex.org/I108103353"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Diego Benavides","raw_affiliation_strings":["Instituto de las Tecnolog\u00edas Avanzadas de la Producci\u00f3n (ITAP), Escuela de Ingenier\u00edas Industriales, Universidad de Valladolid, Paseo Prado de la Magdalena 3-5, 47011 Valladolid, Spain"],"raw_orcid":"https://orcid.org/0000-0002-1468-7363","affiliations":[{"raw_affiliation_string":"Instituto de las Tecnolog\u00edas Avanzadas de la Producci\u00f3n (ITAP), Escuela de Ingenier\u00edas Industriales, Universidad de Valladolid, Paseo Prado de la Magdalena 3-5, 47011 Valladolid, Spain","institution_ids":["https://openalex.org/I108103353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002361928","display_name":"Ana Cisnal","orcid":"https://orcid.org/0000-0002-1556-7179"},"institutions":[{"id":"https://openalex.org/I108103353","display_name":"Universidad de Valladolid","ror":"https://ror.org/01fvbaw18","country_code":"ES","type":"education","lineage":["https://openalex.org/I108103353"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Ana Cisnal","raw_affiliation_strings":["Instituto de las Tecnolog\u00edas Avanzadas de la Producci\u00f3n (ITAP), Escuela de Ingenier\u00edas Industriales, Universidad de Valladolid, Paseo Prado de la Magdalena 3-5, 47011 Valladolid, Spain"],"raw_orcid":"https://orcid.org/0000-0002-1556-7179","affiliations":[{"raw_affiliation_string":"Instituto de las Tecnolog\u00edas Avanzadas de la Producci\u00f3n (ITAP), Escuela de Ingenier\u00edas Industriales, Universidad de Valladolid, Paseo Prado de la Magdalena 3-5, 47011 Valladolid, Spain","institution_ids":["https://openalex.org/I108103353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084863603","display_name":"Carlos Font\u00farbel","orcid":"https://orcid.org/0000-0002-2131-7483"},"institutions":[{"id":"https://openalex.org/I108103353","display_name":"Universidad de Valladolid","ror":"https://ror.org/01fvbaw18","country_code":"ES","type":"education","lineage":["https://openalex.org/I108103353"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Font\u00farbel","raw_affiliation_strings":["Instituto de las Tecnolog\u00edas Avanzadas de la Producci\u00f3n (ITAP), Escuela de Ingenier\u00edas Industriales, Universidad de Valladolid, Paseo Prado de la Magdalena 3-5, 47011 Valladolid, Spain"],"raw_orcid":"https://orcid.org/0000-0002-2131-7483","affiliations":[{"raw_affiliation_string":"Instituto de las Tecnolog\u00edas Avanzadas de la Producci\u00f3n (ITAP), Escuela de Ingenier\u00edas Industriales, Universidad de Valladolid, Paseo Prado de la Magdalena 3-5, 47011 Valladolid, Spain","institution_ids":["https://openalex.org/I108103353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071319719","display_name":"Eusebio de la Fuente L\u00f3pez","orcid":"https://orcid.org/0000-0001-5837-3510"},"institutions":[{"id":"https://openalex.org/I108103353","display_name":"Universidad de Valladolid","ror":"https://ror.org/01fvbaw18","country_code":"ES","type":"education","lineage":["https://openalex.org/I108103353"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eusebio de la Fuente","raw_affiliation_strings":["Instituto de las Tecnolog\u00edas Avanzadas de la Producci\u00f3n (ITAP), Escuela de Ingenier\u00edas Industriales, Universidad de Valladolid, Paseo Prado de la Magdalena 3-5, 47011 Valladolid, Spain"],"raw_orcid":"https://orcid.org/0000-0001-5837-3510","affiliations":[{"raw_affiliation_string":"Instituto de las Tecnolog\u00edas Avanzadas de la Producci\u00f3n (ITAP), Escuela de Ingenier\u00edas Industriales, Universidad de Valladolid, Paseo Prado de la Magdalena 3-5, 47011 Valladolid, Spain","institution_ids":["https://openalex.org/I108103353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063243214","display_name":"Juan Carlos Fraile","orcid":"https://orcid.org/0000-0002-2877-7300"},"institutions":[{"id":"https://openalex.org/I108103353","display_name":"Universidad de Valladolid","ror":"https://ror.org/01fvbaw18","country_code":"ES","type":"education","lineage":["https://openalex.org/I108103353"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan Carlos Fraile","raw_affiliation_strings":["Instituto de las Tecnolog\u00edas Avanzadas de la Producci\u00f3n (ITAP), Escuela de Ingenier\u00edas Industriales, Universidad de Valladolid, Paseo Prado de la Magdalena 3-5, 47011 Valladolid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de las Tecnolog\u00edas Avanzadas de la Producci\u00f3n (ITAP), Escuela de Ingenier\u00edas Industriales, Universidad de Valladolid, Paseo Prado de la Magdalena 3-5, 47011 Valladolid, Spain","institution_ids":["https://openalex.org/I108103353"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5002361928"],"corresponding_institution_ids":["https://openalex.org/I108103353"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":4.0979,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.94200416,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"24","issue":"13","first_page":"4191","last_page":"4191"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9984999895095825,"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"}},"topics":[{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9984999895095825,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9970999956130981,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7492966651916504},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.68977290391922},{"id":"https://openalex.org/keywords/generalizability-theory","display_name":"Generalizability theory","score":0.6777989864349365},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6456277966499329},{"id":"https://openalex.org/keywords/robotic-surgery","display_name":"Robotic surgery","score":0.46506431698799133},{"id":"https://openalex.org/keywords/hourglass","display_name":"Hourglass","score":0.4217674136161804},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3779316246509552}],"concepts":[{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7492966651916504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.68977290391922},{"id":"https://openalex.org/C27158222","wikidata":"https://www.wikidata.org/wiki/Q5532422","display_name":"Generalizability theory","level":2,"score":0.6777989864349365},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6456277966499329},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.46506431698799133},{"id":"https://openalex.org/C127532173","wikidata":"https://www.wikidata.org/wiki/Q179904","display_name":"Hourglass","level":2,"score":0.4217674136161804},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3779316246509552},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010535","descriptor_name":"Laparoscopy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D010535","descriptor_name":"Laparoscopy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D010535","descriptor_name":"Laparoscopy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D010535","descriptor_name":"Laparoscopy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false}],"locations_count":4,"locations":[{"id":"doi:10.3390/s24134191","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24134191","pdf_url":"https://www.mdpi.com/1424-8220/24/13/4191/pdf?version=1719501110","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:39000974","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39000974","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11243864","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11243864","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11243864/pdf/sensors-24-04191.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:bb595ee7d3af475bb224261376db7601","is_oa":false,"landing_page_url":"https://doaj.org/article/bb595ee7d3af475bb224261376db7601","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 13, p 4191 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24134191","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24134191","pdf_url":"https://www.mdpi.com/1424-8220/24/13/4191/pdf?version=1719501110","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4400080227.pdf"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W198640803","https://openalex.org/W639708223","https://openalex.org/W1901129140","https://openalex.org/W1970701570","https://openalex.org/W2021435529","https://openalex.org/W2042849704","https://openalex.org/W2102605133","https://openalex.org/W2133916563","https://openalex.org/W2138355347","https://openalex.org/W2139761653","https://openalex.org/W2150050574","https://openalex.org/W2307770531","https://openalex.org/W2522206532","https://openalex.org/W2528330244","https://openalex.org/W2531409750","https://openalex.org/W2587007321","https://openalex.org/W2604690505","https://openalex.org/W2753115354","https://openalex.org/W2755513326","https://openalex.org/W2884561390","https://openalex.org/W2886335102","https://openalex.org/W2962858109","https://openalex.org/W2963037989","https://openalex.org/W2963647178","https://openalex.org/W2979328438","https://openalex.org/W3002838030","https://openalex.org/W3017903670","https://openalex.org/W3020714075","https://openalex.org/W3037754531","https://openalex.org/W3043995050","https://openalex.org/W3098609708","https://openalex.org/W4285095183","https://openalex.org/W4366220844","https://openalex.org/W6608126213","https://openalex.org/W6639824700","https://openalex.org/W6679940722","https://openalex.org/W6680753884","https://openalex.org/W6735917613","https://openalex.org/W6744236382"],"related_works":["https://openalex.org/W2008001194","https://openalex.org/W2512390310","https://openalex.org/W2059645356","https://openalex.org/W3141841835","https://openalex.org/W2380057626","https://openalex.org/W2033695776","https://openalex.org/W2118717649","https://openalex.org/W2354533751","https://openalex.org/W2413243053","https://openalex.org/W2755014831"],"abstract_inverted_index":{"Partially":[0],"automated":[1],"robotic":[2,99],"systems,":[3],"such":[4],"as":[5],"camera":[6],"holders,":[7],"represent":[8],"a":[9,134],"pivotal":[10],"step":[11],"towards":[12],"enhancing":[13,144],"efficiency":[14,146],"and":[15,71,90],"precision":[16],"in":[17,30,45],"surgical":[18,52,145],"procedures.":[19],"Therefore,":[20],"this":[21,131],"paper":[22],"introduces":[23],"an":[24,104],"approach":[25],"for":[26,96,137,151],"real-time":[27],"tool":[28],"localization":[29],"laparoscopy":[31],"surgery":[32],"using":[33,120],"convolutional":[34],"neural":[35],"networks.":[36],"The":[37,115],"proposed":[38],"model,":[39],"based":[40],"on":[41,103],"two":[42,51,64],"Hourglass":[43],"modules":[44],"series,":[46],"can":[47],"localize":[48],"up":[49],"to":[50,124],"tools":[53],"simultaneously.":[54],"This":[55],"study":[56],"utilized":[57],"three":[58],"datasets:":[59],"the":[60,77,83,121,149],"ITAP":[61],"dataset,":[62],"alongside":[63],"publicly":[65],"available":[66],"datasets,":[67],"namely":[68],"Atlas":[69],"Dione":[70],"EndoVis":[72],"Challenge.":[73],"Three":[74],"variations":[75],"of":[76,140],"Hourglass-based":[78],"models":[79],"were":[80],"proposed,":[81],"with":[82],"best":[84],"model":[85,116],"achieving":[86],"high":[87],"accuracy":[88],"(92.86%)":[89],"frame":[91],"rates":[92],"(27.64":[93],"FPS),":[94],"suitable":[95],"integration":[97],"into":[98,127],"systems.":[100],"An":[101],"evaluation":[102],"independent":[105],"test":[106],"set":[107],"yielded":[108],"slightly":[109],"lower":[110],"accuracy,":[111],"indicating":[112],"limited":[113],"generalizability.":[114],"was":[117],"further":[118],"analyzed":[119],"Grad-CAM":[122],"technique":[123],"gain":[125],"insights":[126],"its":[128],"functionality.":[129],"Overall,":[130],"work":[132],"presents":[133],"promising":[135],"solution":[136],"automating":[138],"aspects":[139],"laparoscopic":[141],"surgery,":[142],"potentially":[143],"by":[147],"reducing":[148],"need":[150],"manual":[152],"endoscope":[153],"manipulation.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}