Horizon Stabilized—Dynamic View Expansion for Robotic Assisted Surgery (HS-DVE) View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2012-03

AUTHORS

Alexander Warren, Peter Mountney, David Noonan, Guang-Zhong Yang

ABSTRACT

PURPOSE: New surgical approaches based on natural orifice transluminal surgery (NOTES) have the potential to further decrease morbidity and hospital stay. However, a number of key challenges have been identified preventing its clinical adoption, including inadequate instrument design and spatial disorientation. Furthermore, retroflexion, missing fixed anatomical references, and limited field-of-view are key factors contributing to disorientation in NOTES. METHODS: A hybrid approach of integrated orientation sensing and real-time vision processing is proposed to restore orientation cues for improved surgical navigation. The distal tip of an articulated robotic endoscope is equipped with an inertial measurement unit (IMU) enabling video images to be reoriented and stabilized with respect to the horizon. This is performed by measuring the direction of gravity in relation to the cameras. Dynamic view expansion is used to increase the field-of-view of the endoscope. The method registers past video images to the current image and creates an enlarged visualization of the anatomy through simultaneous localization and mapping (SLAM). RESULTS: The clinical potential of the system is demonstrated on a NOTES appendectomy procedure performed on the NOSsE phantom. This involves an articulated robotic endoscope navigating to visualize the appendix while retroflexed. The horizon stabilization is additionally evaluated quantitatively against known ground truth. CONCLUSIONS: The combination of horizon stabilization and dynamic view expansion presents a realistic approach for reintroducing orientation and navigation cues during NOTES. The platform allows real-time implementation, which is an important prerequisite for further clinical evaluation. More... »

PAGES

281-288

References to SciGraph publications

  • 2006. Simultaneous Stereoscope Localization and Soft-Tissue Mapping for Minimal Invasive Surgery in MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION – MICCAI 2006
  • 2008. Dynamic View Expansion for Enhanced Navigation in Natural Orifice Transluminal Endoscopic Surgery in MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION – MICCAI 2008
  • 2009. Unrotating images in laparoscopy with an application for 30° laparoscopes in 4TH EUROPEAN CONFERENCE OF THE INTERNATIONAL FEDERATION FOR MEDICAL AND BIOLOGICAL ENGINEERING
  • 2006-02. ASGE/SAGES Working Group on Natural Orifice Translumenal Endoscopic Surgery in SURGICAL ENDOSCOPY
  • 2009. Endoscopic Orientation Correction in MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION – MICCAI 2009
  • 2010. Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope in MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION – MICCAI 2010
  • Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/s11548-011-0603-3

    DOI

    http://dx.doi.org/10.1007/s11548-011-0603-3

    DIMENSIONS

    https://app.dimensions.ai/details/publication/pub.1045764385

    PUBMED

    https://www.ncbi.nlm.nih.gov/pubmed/21643946


    Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
    Incoming Citations Browse incoming citations for this publication using opencitations.net

    JSON-LD is the canonical representation for SciGraph data.

    TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

    [
      {
        "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
        "about": [
          {
            "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0801", 
            "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
            "name": "Artificial Intelligence and Image Processing", 
            "type": "DefinedTerm"
          }, 
          {
            "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/08", 
            "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
            "name": "Information and Computing Sciences", 
            "type": "DefinedTerm"
          }, 
          {
            "inDefinedTermSet": "https://www.nlm.nih.gov/mesh/", 
            "name": "Animals", 
            "type": "DefinedTerm"
          }, 
          {
            "inDefinedTermSet": "https://www.nlm.nih.gov/mesh/", 
            "name": "Appendectomy", 
            "type": "DefinedTerm"
          }, 
          {
            "inDefinedTermSet": "https://www.nlm.nih.gov/mesh/", 
            "name": "Computer Simulation", 
            "type": "DefinedTerm"
          }, 
          {
            "inDefinedTermSet": "https://www.nlm.nih.gov/mesh/", 
            "name": "Disease Models, Animal", 
            "type": "DefinedTerm"
          }, 
          {
            "inDefinedTermSet": "https://www.nlm.nih.gov/mesh/", 
            "name": "Endoscopes", 
            "type": "DefinedTerm"
          }, 
          {
            "inDefinedTermSet": "https://www.nlm.nih.gov/mesh/", 
            "name": "Equipment Design", 
            "type": "DefinedTerm"
          }, 
          {
            "inDefinedTermSet": "https://www.nlm.nih.gov/mesh/", 
            "name": "Equipment Safety", 
            "type": "DefinedTerm"
          }, 
          {
            "inDefinedTermSet": "https://www.nlm.nih.gov/mesh/", 
            "name": "Imaging, Three-Dimensional", 
            "type": "DefinedTerm"
          }, 
          {
            "inDefinedTermSet": "https://www.nlm.nih.gov/mesh/", 
            "name": "Natural Orifice Endoscopic Surgery", 
            "type": "DefinedTerm"
          }, 
          {
            "inDefinedTermSet": "https://www.nlm.nih.gov/mesh/", 
            "name": "Phantoms, Imaging", 
            "type": "DefinedTerm"
          }, 
          {
            "inDefinedTermSet": "https://www.nlm.nih.gov/mesh/", 
            "name": "Robotics", 
            "type": "DefinedTerm"
          }, 
          {
            "inDefinedTermSet": "https://www.nlm.nih.gov/mesh/", 
            "name": "Sensitivity and Specificity", 
            "type": "DefinedTerm"
          }, 
          {
            "inDefinedTermSet": "https://www.nlm.nih.gov/mesh/", 
            "name": "Software", 
            "type": "DefinedTerm"
          }, 
          {
            "inDefinedTermSet": "https://www.nlm.nih.gov/mesh/", 
            "name": "Swine", 
            "type": "DefinedTerm"
          }
        ], 
        "author": [
          {
            "affiliation": {
              "alternateName": "Imperial College London", 
              "id": "https://www.grid.ac/institutes/grid.7445.2", 
              "name": [
                "The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Warren", 
            "givenName": "Alexander", 
            "id": "sg:person.0714175123.46", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.0714175123.46"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Imperial College London", 
              "id": "https://www.grid.ac/institutes/grid.7445.2", 
              "name": [
                "The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Mountney", 
            "givenName": "Peter", 
            "id": "sg:person.0702376130.54", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.0702376130.54"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Imperial College London", 
              "id": "https://www.grid.ac/institutes/grid.7445.2", 
              "name": [
                "The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Noonan", 
            "givenName": "David", 
            "id": "sg:person.0651517624.68", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.0651517624.68"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Imperial College London", 
              "id": "https://www.grid.ac/institutes/grid.7445.2", 
              "name": [
                "The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Yang", 
            "givenName": "Guang-Zhong", 
            "id": "sg:person.01324214223.90", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.01324214223.90"
            ], 
            "type": "Person"
          }
        ], 
        "citation": [
          {
            "id": "sg:pub.10.1007/978-3-540-85990-1_56", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1000422284", 
              "https://doi.org/10.1007/978-3-540-85990-1_56"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/978-3-540-85990-1_56", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1000422284", 
              "https://doi.org/10.1007/978-3-540-85990-1_56"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/978-3-642-15711-0_31", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1016100561", 
              "https://doi.org/10.1007/978-3-642-15711-0_31"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/978-3-642-15711-0_31", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1016100561", 
              "https://doi.org/10.1007/978-3-642-15711-0_31"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/s00464-005-3006-0", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1018389443", 
              "https://doi.org/10.1007/s00464-005-3006-0"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/s00464-005-3006-0", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1018389443", 
              "https://doi.org/10.1007/s00464-005-3006-0"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1111/j.1442-2042.2009.02258.x", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1018940161"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/11866565_43", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1043534590", 
              "https://doi.org/10.1007/11866565_43"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/11866565_43", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1043534590", 
              "https://doi.org/10.1007/11866565_43"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/978-3-540-89208-3_230", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1048621067", 
              "https://doi.org/10.1007/978-3-540-89208-3_230"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/978-3-642-04268-3_57", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1050265930", 
              "https://doi.org/10.1007/978-3-642-04268-3_57"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1089/lap.2008.0357", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1059293486"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/msp.2010.936728", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1061423478"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/tbme.2007.903520", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1061527138"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/tbme.2008.915680", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1061527465"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1145/1778765.1778767", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1063157908"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/iembs.2009.5333939", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1077993918"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/cvpr.1994.323794", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1093488775"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/acvmot.2005.104", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1095484242"
            ], 
            "type": "CreativeWork"
          }
        ], 
        "datePublished": "2012-03", 
        "datePublishedReg": "2012-03-01", 
        "description": "PURPOSE: New surgical approaches based on natural orifice transluminal surgery (NOTES) have the potential to further decrease morbidity and hospital stay. However, a number of key challenges have been identified preventing its clinical adoption, including inadequate instrument design and spatial disorientation. Furthermore, retroflexion, missing fixed anatomical references, and limited field-of-view are key factors contributing to disorientation in NOTES.\nMETHODS: A hybrid approach of integrated orientation sensing and real-time vision processing is proposed to restore orientation cues for improved surgical navigation. The distal tip of an articulated robotic endoscope is equipped with an inertial measurement unit (IMU) enabling video images to be reoriented and stabilized with respect to the horizon. This is performed by measuring the direction of gravity in relation to the cameras. Dynamic view expansion is used to increase the field-of-view of the endoscope. The method registers past video images to the current image and creates an enlarged visualization of the anatomy through simultaneous localization and mapping (SLAM).\nRESULTS: The clinical potential of the system is demonstrated on a NOTES appendectomy procedure performed on the NOSsE phantom. This involves an articulated robotic endoscope navigating to visualize the appendix while retroflexed. The horizon stabilization is additionally evaluated quantitatively against known ground truth.\nCONCLUSIONS: The combination of horizon stabilization and dynamic view expansion presents a realistic approach for reintroducing orientation and navigation cues during NOTES. The platform allows real-time implementation, which is an important prerequisite for further clinical evaluation.", 
        "genre": "research_article", 
        "id": "sg:pub.10.1007/s11548-011-0603-3", 
        "inLanguage": [
          "en"
        ], 
        "isAccessibleForFree": false, 
        "isPartOf": [
          {
            "id": "sg:journal.1041191", 
            "issn": [
              "1861-6410", 
              "1861-6429"
            ], 
            "name": "International Journal of Computer Assisted Radiology and Surgery", 
            "type": "Periodical"
          }, 
          {
            "issueNumber": "2", 
            "type": "PublicationIssue"
          }, 
          {
            "type": "PublicationVolume", 
            "volumeNumber": "7"
          }
        ], 
        "name": "Horizon Stabilized\u2014Dynamic View Expansion for Robotic Assisted Surgery (HS-DVE)", 
        "pagination": "281-288", 
        "productId": [
          {
            "name": "readcube_id", 
            "type": "PropertyValue", 
            "value": [
              "d9feac4accda8c7cb706ce0bad21fb01a46d0f800a490a6eab33438b3ccb47b5"
            ]
          }, 
          {
            "name": "pubmed_id", 
            "type": "PropertyValue", 
            "value": [
              "21643946"
            ]
          }, 
          {
            "name": "nlm_unique_id", 
            "type": "PropertyValue", 
            "value": [
              "101499225"
            ]
          }, 
          {
            "name": "doi", 
            "type": "PropertyValue", 
            "value": [
              "10.1007/s11548-011-0603-3"
            ]
          }, 
          {
            "name": "dimensions_id", 
            "type": "PropertyValue", 
            "value": [
              "pub.1045764385"
            ]
          }
        ], 
        "sameAs": [
          "https://doi.org/10.1007/s11548-011-0603-3", 
          "https://app.dimensions.ai/details/publication/pub.1045764385"
        ], 
        "sdDataset": "articles", 
        "sdDatePublished": "2019-04-10T20:49", 
        "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
        "sdPublisher": {
          "name": "Springer Nature - SN SciGraph project", 
          "type": "Organization"
        }, 
        "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000001_0000000264/records_8684_00000524.jsonl", 
        "type": "ScholarlyArticle", 
        "url": "http://link.springer.com/10.1007%2Fs11548-011-0603-3"
      }
    ]
     

    Download the RDF metadata as:  json-ld nt turtle xml License info

    HOW TO GET THIS DATA PROGRAMMATICALLY:

    JSON-LD is a popular format for linked data which is fully compatible with JSON.

    curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/s11548-011-0603-3'

    N-Triples is a line-based linked data format ideal for batch operations.

    curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/s11548-011-0603-3'

    Turtle is a human-readable linked data format.

    curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/s11548-011-0603-3'

    RDF/XML is a standard XML format for linked data.

    curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/s11548-011-0603-3'


     

    This table displays all metadata directly associated to this object as RDF triples.

    197 TRIPLES      21 PREDICATES      58 URIs      35 LITERALS      23 BLANK NODES

    Subject Predicate Object
    1 sg:pub.10.1007/s11548-011-0603-3 schema:about N0bafb101485d443b9b1d153f247c13a6
    2 N185b261afaae4fd8afc634e995c30631
    3 N20664289d1654db29a7abc451d45e344
    4 N3193a95936f1456f82b5a1f28968e1bd
    5 N582fd68181f54d9b932e34126a0fec73
    6 N5eccc7199d3b44e781132e7bbd266a51
    7 N7690221ab5234c0da872ed8ecea80cd5
    8 N82a2f3c9e5c143259205658c152f027d
    9 N8d4335020a044f6092e6eb721a3e8b09
    10 N99f26e633e904f858ab7822a739398b1
    11 N9be3047753c04b2caa105cb36b16df31
    12 Nd2905ed8db5542e4b89801afa5b21e23
    13 Nd558b802fd2049c0a7428c16a744b1ac
    14 Ndbd3b2652dce440bb257446d50018723
    15 anzsrc-for:08
    16 anzsrc-for:0801
    17 schema:author Nd642ad0db62548f8b488f6849f04be0b
    18 schema:citation sg:pub.10.1007/11866565_43
    19 sg:pub.10.1007/978-3-540-85990-1_56
    20 sg:pub.10.1007/978-3-540-89208-3_230
    21 sg:pub.10.1007/978-3-642-04268-3_57
    22 sg:pub.10.1007/978-3-642-15711-0_31
    23 sg:pub.10.1007/s00464-005-3006-0
    24 https://doi.org/10.1089/lap.2008.0357
    25 https://doi.org/10.1109/acvmot.2005.104
    26 https://doi.org/10.1109/cvpr.1994.323794
    27 https://doi.org/10.1109/iembs.2009.5333939
    28 https://doi.org/10.1109/msp.2010.936728
    29 https://doi.org/10.1109/tbme.2007.903520
    30 https://doi.org/10.1109/tbme.2008.915680
    31 https://doi.org/10.1111/j.1442-2042.2009.02258.x
    32 https://doi.org/10.1145/1778765.1778767
    33 schema:datePublished 2012-03
    34 schema:datePublishedReg 2012-03-01
    35 schema:description PURPOSE: New surgical approaches based on natural orifice transluminal surgery (NOTES) have the potential to further decrease morbidity and hospital stay. However, a number of key challenges have been identified preventing its clinical adoption, including inadequate instrument design and spatial disorientation. Furthermore, retroflexion, missing fixed anatomical references, and limited field-of-view are key factors contributing to disorientation in NOTES. METHODS: A hybrid approach of integrated orientation sensing and real-time vision processing is proposed to restore orientation cues for improved surgical navigation. The distal tip of an articulated robotic endoscope is equipped with an inertial measurement unit (IMU) enabling video images to be reoriented and stabilized with respect to the horizon. This is performed by measuring the direction of gravity in relation to the cameras. Dynamic view expansion is used to increase the field-of-view of the endoscope. The method registers past video images to the current image and creates an enlarged visualization of the anatomy through simultaneous localization and mapping (SLAM). RESULTS: The clinical potential of the system is demonstrated on a NOTES appendectomy procedure performed on the NOSsE phantom. This involves an articulated robotic endoscope navigating to visualize the appendix while retroflexed. The horizon stabilization is additionally evaluated quantitatively against known ground truth. CONCLUSIONS: The combination of horizon stabilization and dynamic view expansion presents a realistic approach for reintroducing orientation and navigation cues during NOTES. The platform allows real-time implementation, which is an important prerequisite for further clinical evaluation.
    36 schema:genre research_article
    37 schema:inLanguage en
    38 schema:isAccessibleForFree false
    39 schema:isPartOf N05f8f6b4f049419fbf6d57b366f9bbc1
    40 N8193866c249c43d3836231a7169982aa
    41 sg:journal.1041191
    42 schema:name Horizon Stabilized—Dynamic View Expansion for Robotic Assisted Surgery (HS-DVE)
    43 schema:pagination 281-288
    44 schema:productId N29d6b4c5543841f6b4479cb082fabe50
    45 N47ba4e63e02243c0947df9a4ccc64384
    46 N57cfdf17979a4d7caf97a1fbea12143b
    47 N9cfb806bbd3745489f777a316fadba97
    48 Ne04f7b4e3bd6479d944a56df55206156
    49 schema:sameAs https://app.dimensions.ai/details/publication/pub.1045764385
    50 https://doi.org/10.1007/s11548-011-0603-3
    51 schema:sdDatePublished 2019-04-10T20:49
    52 schema:sdLicense https://scigraph.springernature.com/explorer/license/
    53 schema:sdPublisher Ncc00694f458d4b42b2764fbca00472b5
    54 schema:url http://link.springer.com/10.1007%2Fs11548-011-0603-3
    55 sgo:license sg:explorer/license/
    56 sgo:sdDataset articles
    57 rdf:type schema:ScholarlyArticle
    58 N05f8f6b4f049419fbf6d57b366f9bbc1 schema:volumeNumber 7
    59 rdf:type schema:PublicationVolume
    60 N0bafb101485d443b9b1d153f247c13a6 schema:inDefinedTermSet https://www.nlm.nih.gov/mesh/
    61 schema:name Computer Simulation
    62 rdf:type schema:DefinedTerm
    63 N1379844994794587bf0a571ee552833b rdf:first sg:person.0651517624.68
    64 rdf:rest N1f51735188504e2fa522c63200c1e936
    65 N185b261afaae4fd8afc634e995c30631 schema:inDefinedTermSet https://www.nlm.nih.gov/mesh/
    66 schema:name Equipment Design
    67 rdf:type schema:DefinedTerm
    68 N1f51735188504e2fa522c63200c1e936 rdf:first sg:person.01324214223.90
    69 rdf:rest rdf:nil
    70 N20664289d1654db29a7abc451d45e344 schema:inDefinedTermSet https://www.nlm.nih.gov/mesh/
    71 schema:name Equipment Safety
    72 rdf:type schema:DefinedTerm
    73 N29d6b4c5543841f6b4479cb082fabe50 schema:name readcube_id
    74 schema:value d9feac4accda8c7cb706ce0bad21fb01a46d0f800a490a6eab33438b3ccb47b5
    75 rdf:type schema:PropertyValue
    76 N3193a95936f1456f82b5a1f28968e1bd schema:inDefinedTermSet https://www.nlm.nih.gov/mesh/
    77 schema:name Phantoms, Imaging
    78 rdf:type schema:DefinedTerm
    79 N47ba4e63e02243c0947df9a4ccc64384 schema:name dimensions_id
    80 schema:value pub.1045764385
    81 rdf:type schema:PropertyValue
    82 N57cfdf17979a4d7caf97a1fbea12143b schema:name pubmed_id
    83 schema:value 21643946
    84 rdf:type schema:PropertyValue
    85 N582fd68181f54d9b932e34126a0fec73 schema:inDefinedTermSet https://www.nlm.nih.gov/mesh/
    86 schema:name Animals
    87 rdf:type schema:DefinedTerm
    88 N5eccc7199d3b44e781132e7bbd266a51 schema:inDefinedTermSet https://www.nlm.nih.gov/mesh/
    89 schema:name Imaging, Three-Dimensional
    90 rdf:type schema:DefinedTerm
    91 N7690221ab5234c0da872ed8ecea80cd5 schema:inDefinedTermSet https://www.nlm.nih.gov/mesh/
    92 schema:name Appendectomy
    93 rdf:type schema:DefinedTerm
    94 N8193866c249c43d3836231a7169982aa schema:issueNumber 2
    95 rdf:type schema:PublicationIssue
    96 N82a2f3c9e5c143259205658c152f027d schema:inDefinedTermSet https://www.nlm.nih.gov/mesh/
    97 schema:name Robotics
    98 rdf:type schema:DefinedTerm
    99 N8d4335020a044f6092e6eb721a3e8b09 schema:inDefinedTermSet https://www.nlm.nih.gov/mesh/
    100 schema:name Natural Orifice Endoscopic Surgery
    101 rdf:type schema:DefinedTerm
    102 N99f26e633e904f858ab7822a739398b1 schema:inDefinedTermSet https://www.nlm.nih.gov/mesh/
    103 schema:name Disease Models, Animal
    104 rdf:type schema:DefinedTerm
    105 N9be3047753c04b2caa105cb36b16df31 schema:inDefinedTermSet https://www.nlm.nih.gov/mesh/
    106 schema:name Endoscopes
    107 rdf:type schema:DefinedTerm
    108 N9cfb806bbd3745489f777a316fadba97 schema:name nlm_unique_id
    109 schema:value 101499225
    110 rdf:type schema:PropertyValue
    111 Na98d430b9d66491dad68cfba4799bc38 rdf:first sg:person.0702376130.54
    112 rdf:rest N1379844994794587bf0a571ee552833b
    113 Ncc00694f458d4b42b2764fbca00472b5 schema:name Springer Nature - SN SciGraph project
    114 rdf:type schema:Organization
    115 Nd2905ed8db5542e4b89801afa5b21e23 schema:inDefinedTermSet https://www.nlm.nih.gov/mesh/
    116 schema:name Swine
    117 rdf:type schema:DefinedTerm
    118 Nd558b802fd2049c0a7428c16a744b1ac schema:inDefinedTermSet https://www.nlm.nih.gov/mesh/
    119 schema:name Software
    120 rdf:type schema:DefinedTerm
    121 Nd642ad0db62548f8b488f6849f04be0b rdf:first sg:person.0714175123.46
    122 rdf:rest Na98d430b9d66491dad68cfba4799bc38
    123 Ndbd3b2652dce440bb257446d50018723 schema:inDefinedTermSet https://www.nlm.nih.gov/mesh/
    124 schema:name Sensitivity and Specificity
    125 rdf:type schema:DefinedTerm
    126 Ne04f7b4e3bd6479d944a56df55206156 schema:name doi
    127 schema:value 10.1007/s11548-011-0603-3
    128 rdf:type schema:PropertyValue
    129 anzsrc-for:08 schema:inDefinedTermSet anzsrc-for:
    130 schema:name Information and Computing Sciences
    131 rdf:type schema:DefinedTerm
    132 anzsrc-for:0801 schema:inDefinedTermSet anzsrc-for:
    133 schema:name Artificial Intelligence and Image Processing
    134 rdf:type schema:DefinedTerm
    135 sg:journal.1041191 schema:issn 1861-6410
    136 1861-6429
    137 schema:name International Journal of Computer Assisted Radiology and Surgery
    138 rdf:type schema:Periodical
    139 sg:person.01324214223.90 schema:affiliation https://www.grid.ac/institutes/grid.7445.2
    140 schema:familyName Yang
    141 schema:givenName Guang-Zhong
    142 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.01324214223.90
    143 rdf:type schema:Person
    144 sg:person.0651517624.68 schema:affiliation https://www.grid.ac/institutes/grid.7445.2
    145 schema:familyName Noonan
    146 schema:givenName David
    147 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.0651517624.68
    148 rdf:type schema:Person
    149 sg:person.0702376130.54 schema:affiliation https://www.grid.ac/institutes/grid.7445.2
    150 schema:familyName Mountney
    151 schema:givenName Peter
    152 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.0702376130.54
    153 rdf:type schema:Person
    154 sg:person.0714175123.46 schema:affiliation https://www.grid.ac/institutes/grid.7445.2
    155 schema:familyName Warren
    156 schema:givenName Alexander
    157 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.0714175123.46
    158 rdf:type schema:Person
    159 sg:pub.10.1007/11866565_43 schema:sameAs https://app.dimensions.ai/details/publication/pub.1043534590
    160 https://doi.org/10.1007/11866565_43
    161 rdf:type schema:CreativeWork
    162 sg:pub.10.1007/978-3-540-85990-1_56 schema:sameAs https://app.dimensions.ai/details/publication/pub.1000422284
    163 https://doi.org/10.1007/978-3-540-85990-1_56
    164 rdf:type schema:CreativeWork
    165 sg:pub.10.1007/978-3-540-89208-3_230 schema:sameAs https://app.dimensions.ai/details/publication/pub.1048621067
    166 https://doi.org/10.1007/978-3-540-89208-3_230
    167 rdf:type schema:CreativeWork
    168 sg:pub.10.1007/978-3-642-04268-3_57 schema:sameAs https://app.dimensions.ai/details/publication/pub.1050265930
    169 https://doi.org/10.1007/978-3-642-04268-3_57
    170 rdf:type schema:CreativeWork
    171 sg:pub.10.1007/978-3-642-15711-0_31 schema:sameAs https://app.dimensions.ai/details/publication/pub.1016100561
    172 https://doi.org/10.1007/978-3-642-15711-0_31
    173 rdf:type schema:CreativeWork
    174 sg:pub.10.1007/s00464-005-3006-0 schema:sameAs https://app.dimensions.ai/details/publication/pub.1018389443
    175 https://doi.org/10.1007/s00464-005-3006-0
    176 rdf:type schema:CreativeWork
    177 https://doi.org/10.1089/lap.2008.0357 schema:sameAs https://app.dimensions.ai/details/publication/pub.1059293486
    178 rdf:type schema:CreativeWork
    179 https://doi.org/10.1109/acvmot.2005.104 schema:sameAs https://app.dimensions.ai/details/publication/pub.1095484242
    180 rdf:type schema:CreativeWork
    181 https://doi.org/10.1109/cvpr.1994.323794 schema:sameAs https://app.dimensions.ai/details/publication/pub.1093488775
    182 rdf:type schema:CreativeWork
    183 https://doi.org/10.1109/iembs.2009.5333939 schema:sameAs https://app.dimensions.ai/details/publication/pub.1077993918
    184 rdf:type schema:CreativeWork
    185 https://doi.org/10.1109/msp.2010.936728 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061423478
    186 rdf:type schema:CreativeWork
    187 https://doi.org/10.1109/tbme.2007.903520 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061527138
    188 rdf:type schema:CreativeWork
    189 https://doi.org/10.1109/tbme.2008.915680 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061527465
    190 rdf:type schema:CreativeWork
    191 https://doi.org/10.1111/j.1442-2042.2009.02258.x schema:sameAs https://app.dimensions.ai/details/publication/pub.1018940161
    192 rdf:type schema:CreativeWork
    193 https://doi.org/10.1145/1778765.1778767 schema:sameAs https://app.dimensions.ai/details/publication/pub.1063157908
    194 rdf:type schema:CreativeWork
    195 https://www.grid.ac/institutes/grid.7445.2 schema:alternateName Imperial College London
    196 schema:name The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK
    197 rdf:type schema:Organization
     




    Preview window. Press ESC to close (or click here)


    ...