{"id":"https://openalex.org/W3180986736","doi":"https://doi.org/10.1109/lra.2021.3094644","title":"Towards an Autonomous Robot-Assistant for Laparoscopy Using Exteroceptive Sensors: Feasibility Study and Implementation","display_name":"Towards an Autonomous Robot-Assistant for Laparoscopy Using Exteroceptive Sensors: Feasibility Study and Implementation","publication_year":2021,"publication_date":"2021-07-07","ids":{"openalex":"https://openalex.org/W3180986736","doi":"https://doi.org/10.1109/lra.2021.3094644","mag":"3180986736"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3094644","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-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/A5012163368","display_name":"Juan Sandoval","orcid":"https://orcid.org/0000-0002-1118-5165"},"institutions":[{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I171246369","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et d'A\u00e9rotechnique","ror":"https://ror.org/04jx68594","country_code":"FR","type":"facility","lineage":["https://openalex.org/I171246369"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Juan Sandoval","raw_affiliation_strings":["Department GMSC of the Pprime Institute, CNRS - University of Poitiers - ENSMA, Poitiers, France"],"affiliations":[{"raw_affiliation_string":"Department GMSC of the Pprime Institute, CNRS - University of Poitiers - ENSMA, Poitiers, France","institution_ids":["https://openalex.org/I2802931824","https://openalex.org/I171246369","https://openalex.org/I32881790","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040555464","display_name":"Med Amine Laribi","orcid":"https://orcid.org/0000-0003-0797-7669"},"institutions":[{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I171246369","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et d'A\u00e9rotechnique","ror":"https://ror.org/04jx68594","country_code":"FR","type":"facility","lineage":["https://openalex.org/I171246369"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"med amine Laribi","raw_affiliation_strings":["Department GMSC of the Pprime Institute, CNRS - University of Poitiers - ENSMA, Poitiers, France"],"affiliations":[{"raw_affiliation_string":"Department GMSC of the Pprime Institute, CNRS - University of Poitiers - ENSMA, Poitiers, France","institution_ids":["https://openalex.org/I2802931824","https://openalex.org/I171246369","https://openalex.org/I32881790","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111962008","display_name":"Jean\u2010Pierre Faure","orcid":null},"institutions":[{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Pierre Faure","raw_affiliation_strings":["Anatomy and Biomechanical Simulation Laboratory of the College of Medicine and Pharmacy of the University of Poitiers, Poitiers, France"],"affiliations":[{"raw_affiliation_string":"Anatomy and Biomechanical Simulation Laboratory of the College of Medicine and Pharmacy of the University of Poitiers, Poitiers, France","institution_ids":["https://openalex.org/I32881790"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051973756","display_name":"Cyril Br\u00e8que","orcid":"https://orcid.org/0000-0003-0236-3422"},"institutions":[{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I171246369","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et d'A\u00e9rotechnique","ror":"https://ror.org/04jx68594","country_code":"FR","type":"facility","lineage":["https://openalex.org/I171246369"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Cyril Breque","raw_affiliation_strings":["Department GMSC of the Pprime Institute, CNRS - University of Poitiers - ENSMA, Poitiers, France"],"affiliations":[{"raw_affiliation_string":"Department GMSC of the Pprime Institute, CNRS - University of Poitiers - ENSMA, Poitiers, France","institution_ids":["https://openalex.org/I2802931824","https://openalex.org/I171246369","https://openalex.org/I32881790","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109240679","display_name":"Jean-Pierre Richer","orcid":null},"institutions":[{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Pierre Richer","raw_affiliation_strings":["Anatomy and Biomechanical Simulation Laboratory of the College of Medicine and Pharmacy of the University of Poitiers, Poitiers, France"],"affiliations":[{"raw_affiliation_string":"Anatomy and Biomechanical Simulation Laboratory of the College of Medicine and Pharmacy of the University of Poitiers, Poitiers, France","institution_ids":["https://openalex.org/I32881790"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103214796","display_name":"S. Zeghloul","orcid":"https://orcid.org/0000-0003-3590-9532"},"institutions":[{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I171246369","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et d'A\u00e9rotechnique","ror":"https://ror.org/04jx68594","country_code":"FR","type":"facility","lineage":["https://openalex.org/I171246369"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Said Zeghloul","raw_affiliation_strings":["Department GMSC of the Pprime Institute, CNRS - University of Poitiers - ENSMA, Poitiers, France"],"affiliations":[{"raw_affiliation_string":"Department GMSC of the Pprime Institute, CNRS - University of Poitiers - ENSMA, Poitiers, France","institution_ids":["https://openalex.org/I2802931824","https://openalex.org/I171246369","https://openalex.org/I32881790","https://openalex.org/I1294671590"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.354,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":17,"citation_normalized_percentile":{"value":0.494108,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":92,"max":93},"biblio":{"volume":"6","issue":"4","first_page":"6473","last_page":"6480"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998,"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":0.9998,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9993,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9975,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5077058}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.71381754},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5077058},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49595818},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4367525},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43318188},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40391928},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3787775},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35784164}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3094644","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":false,"landing_page_url":"https://hal.science/hal-04079542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, justice, and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.77}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":31,"referenced_works":["https://openalex.org/W1493743242","https://openalex.org/W1526462488","https://openalex.org/W1663487918","https://openalex.org/W1689251781","https://openalex.org/W18117025","https://openalex.org/W1971523475","https://openalex.org/W198640803","https://openalex.org/W2000685712","https://openalex.org/W2013024682","https://openalex.org/W2017379047","https://openalex.org/W2021435529","https://openalex.org/W2044792130","https://openalex.org/W2077853688","https://openalex.org/W2086824563","https://openalex.org/W2098701449","https://openalex.org/W2104632503","https://openalex.org/W2113265921","https://openalex.org/W2131666656","https://openalex.org/W2138355347","https://openalex.org/W2139761653","https://openalex.org/W2168282852","https://openalex.org/W2168691632","https://openalex.org/W2412073014","https://openalex.org/W2522206532","https://openalex.org/W2630904077","https://openalex.org/W2773707091","https://openalex.org/W2801350411","https://openalex.org/W2974969778","https://openalex.org/W3033807310","https://openalex.org/W3134397487","https://openalex.org/W4243385754"],"related_works":["https://openalex.org/W4238188170","https://openalex.org/W3125766170","https://openalex.org/W2383807498","https://openalex.org/W2149980199","https://openalex.org/W2125114371","https://openalex.org/W2040641410","https://openalex.org/W2019977573","https://openalex.org/W1997992934","https://openalex.org/W1987225439","https://openalex.org/W1978572805"],"abstract_inverted_index":{"A":[0,40],"new":[1],"autonomous":[2,66],"camera-holder":[3,192],"robotic":[4],"system":[5],"for":[6,96,161],"Laparoscopic":[7],"Surgery":[8],"(LS)":[9],"is":[10,89,94,110],"presented":[11],"in":[12],"this":[13,62],"paper.":[14],"In":[15,91],"the":[16,26,37,47,51,59,72,79,102,107,119,133,136,149,152,158,177,180],"proposed":[17,181],"system,":[18,44,156],"a":[19,84,114,124,185],"7-DoF":[20],"collaborative":[21,186],"robot":[22,98,121,153,187],"holds":[23],"and":[24,100,154],"moves":[25],"laparoscope,":[27],"or":[28],"surgical":[29,48,80],"camera,":[30],"so":[31],"that":[32,184],"it":[33,93],"permanently":[34],"points":[35],"towards":[36],"instruments'":[38],"tips.":[39],"motion":[41,56,74,122],"capture":[42],"(MoCap)":[43],"tracking":[45],"online":[46],"instruments,":[49],"provides":[50],"robot's":[52],"controller":[53],"with":[54,132,191],"instrument's":[55],"data.":[57],"Unlike":[58],"existing":[60],"systems,":[61],"paper":[63],"proposes":[64],"an":[65],"robot-assistant,":[67],"freeing":[68],"up":[69],"surgeons":[70,174],"from":[71],"laparoscope":[73],"control,":[75],"fully":[76,85],"responding":[77],"to":[78,128,147,175],"community":[81],"requirements.":[82],"Moreover,":[83],"compliance":[86,115],"control":[87,116],"law":[88,117],"implemented.":[90],"task-space,":[92],"suitable":[95],"smoothing":[97],"movements":[99],"reducing":[101],"contact":[103],"forces":[104],"generated":[105],"at":[106],"trocar.":[108],"Null-space":[109],"also":[111],"exploited":[112],"through":[113],"restricting":[118],"elbow's":[120],"into":[123],"desired":[125],"range,":[126],"defined":[127],"avoid":[129],"undesired":[130],"collisions":[131],"rest":[134],"of":[135,179],"medical":[137],"equipment.":[138],"Robot":[139],"Operating":[140],"System":[141],"(ROS)":[142],"framework":[143],"has":[144],"been":[145,171],"used":[146],"establish":[148],"communication":[150],"between":[151],"MoCap":[155],"using":[157],"UDP":[159],"protocol":[160],"data":[162],"exchange.":[163],"Training":[164],"tasks,":[165],"such":[166],"as":[167],"suturing":[168],"training,":[169],"have":[170],"performed":[172],"by":[173],"validate":[176],"usefulness":[178],"platform,":[182],"proving":[183],"can":[188],"autonomously":[189],"comply":[190],"assistant":[193],"tasks.":[194]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3180986736","counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":8}],"updated_date":"2025-01-18T15:55:53.794976","created_date":"2021-07-19"}