{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T07:58:48Z","timestamp":1777622328237,"version":"3.51.4"},"reference-count":27,"publisher":"Springer Science and Business Media LLC","issue":"5","license":[{"start":{"date-parts":[[2019,2,7]],"date-time":"2019-02-07T00:00:00Z","timestamp":1549497600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100002790","name":"Canadian Network for Research and Innovation in Machining Technology, Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100002790","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J CARS"],"published-print":{"date-parts":[[2019,5]]},"DOI":"10.1007\/s11548-018-01905-x","type":"journal-article","created":{"date-parts":[[2019,2,7]],"date-time":"2019-02-07T05:50:55Z","timestamp":1549518655000},"page":"809-818","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Robotic laser osteotomy through penscriptive structured light visual servoing"],"prefix":"10.1007","volume":"14","author":[{"given":"Jamil","family":"Jivraj","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ryan","family":"Deorajh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Phillips","family":"Lai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chaoliang","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nhu","family":"Nguyen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joel","family":"Ramjist","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Victor X. D.","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2019,2,7]]},"reference":[{"issue":"1","key":"1905_CR1","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1088\/0143-0815\/12\/1\/001","volume":"12","author":"JY Giraud","year":"1991","unstructured":"Giraud JY, Villemin S, Darmana R, Cahuzac JP, Autefage A, Morucci JP (1991) Bone cutting. Clin Phys Physiol Meas 12(1):1","journal-title":"Clin Phys Physiol Meas"},{"key":"1905_CR2","unstructured":"AOT AG. Advanced osteotomy tools. \n                    https:\/\/aot.swiss\/en\/"},{"key":"1905_CR3","doi-asserted-by":"publisher","first-page":"762-e11","DOI":"10.1016\/j.wneu.2015.11.009","volume":"97","author":"S Vadera","year":"2017","unstructured":"Vadera S, Chan A, Low T, Gill A, Morenkova A, Phiellip NM, Hermanowicz N, Hsu FP (2017) Frameless stereotactic robot-assisted subthalamic nucleus deep brain stimulation: case report. World Neurosurg 97:762-e11","journal-title":"World Neurosurg"},{"issue":"10","key":"1905_CR4","doi-asserted-by":"publisher","first-page":"1751","DOI":"10.1007\/s11548-017-1543-3","volume":"12","author":"A Giger","year":"2017","unstructured":"Giger A, Jud C, Cattin P (2017) Respiratory motion compensation for the robot-guided laser osteotome. Int J Comput Assist Radiol Surg 12(10):1751\u20131762","journal-title":"Int J Comput Assist Radiol Surg"},{"key":"1905_CR5","volume-title":"Robot assisted laser osteotomy","author":"J Burgner","year":"2010","unstructured":"Burgner J (2010) Robot assisted laser osteotomy. KIT Scientific Publishing, Karlsruhe"},{"issue":"10","key":"1905_CR6","doi-asserted-by":"publisher","first-page":"976","DOI":"10.1016\/j.bjoms.2015.07.019","volume":"53","author":"KW Baek","year":"2015","unstructured":"Baek KW, Deibel W, Martinov D, Griessen M, Bruno A, Zeilhofer HF, Cattin P, Juergens P (2015) Clinical applicability of robot-guided contact-free laser osteotomy in cranio-maxillo-facial surgery: in-vitro simulation and in-vivo surgery in minipig mandibles. J Oral Maxillofac Surg 53(10):976\u2013981","journal-title":"J Oral Maxillofac Surg"},{"key":"1905_CR7","doi-asserted-by":"crossref","unstructured":"Deibel W, Schneider A, Augello M, Bruno AE, Juergens P, Cattin P (2015) A compact, efficient and light weight laser head for CARLO\u00ae: integration, performance and benefits. In: Novel optical systems design and optimization XVIII, vol 9579, International Society for Optics and Photonics","DOI":"10.1117\/12.2187992"},{"key":"1905_CR8","doi-asserted-by":"crossref","unstructured":"M\u00f6nnich H, Stein D, Raczkowsky J, W\u00f6rn H (2010) Results of CO2 robotic laser oseotomy in surgery with motion compensation. In: Photonic therapeutics and diagnostics VI, vol 7548, International Society for Optics and Photonics","DOI":"10.1117\/12.840645"},{"key":"1905_CR9","unstructured":"Xu D, andLinkun Wang ZJ, Tan M (2004) Features extraction for structured light image of welding seam with arc and splash disturbance. In: 8th International conference on control, automation, robotics and vision, Kunming, China, pp 1559\u20131563"},{"key":"1905_CR10","unstructured":"Xu D, Wang L, Tan M (2004) Image processing and visual control method for arc welding robot. In: International conference on robotics and biomimetics, Shenyang, pp 727\u2013732"},{"key":"1905_CR11","doi-asserted-by":"crossref","unstructured":"Xu D, Tan M, Li Y (2006) Visual control system for robotic welding. In: Industrial robotics theory modelling control, Pro Literatur Verlag, Austria","DOI":"10.5772\/5041"},{"key":"1905_CR12","doi-asserted-by":"publisher","first-page":"63","DOI":"10.1007\/s11633-004-0063-0","volume":"1","author":"D Xu","year":"2004","unstructured":"Xu D, Tan M, Zhao X, Tu Z (2004) Seam tracking and visual control for robotic arc welding based on structured light stereovision. Int J Autom Comput 1:63\u201375","journal-title":"Int J Autom Comput"},{"issue":"9\u201312","key":"1905_CR13","doi-asserted-by":"publisher","first-page":"4449","DOI":"10.1007\/s00170-017-1546-9","volume":"95","author":"Z Yu","year":"2018","unstructured":"Yu Z, He Y, Xu Y, Chen H (2018) Vision-based deviation extraction for three-dimensional control in robotic welding with steel sheet. Int J Adv Manuf Technol 95(9\u201312):4449\u20134458","journal-title":"Int J Adv Manuf Technol"},{"key":"1905_CR14","doi-asserted-by":"publisher","first-page":"1987","DOI":"10.1007\/s00170-012-4625-y","volume":"67","author":"Z Ye","year":"2012","unstructured":"Ye Z, Fang G, Chen S, Zou JJ (2012) Passive vision based seam tracking system for pulse-MAG welding. Int J Adv Manuf Technol 67:1987\u20131996","journal-title":"Int J Adv Manuf Technol"},{"issue":"9","key":"1905_CR15","doi-asserted-by":"publisher","first-page":"1413","DOI":"10.1007\/s00170-014-5925-1","volume":"73","author":"Y Xu","year":"2014","unstructured":"Xu Y, Fang G, Chen S, Zou JJ, Ye Z (2014) Real-time image processing for vision-based weld seam tracking in robotic GMAW. Int J Adv Manuf Technol 73(9):1413\u20131425","journal-title":"Int J Adv Manuf Technol"},{"issue":"10","key":"1905_CR16","doi-asserted-by":"publisher","first-page":"S254","DOI":"10.1016\/j.spinee.2017.08.175","volume":"17","author":"D Guha","year":"2017","unstructured":"Guha D, Gupta S, Fehlings MG, Yang V (2017) Optical topographic imaging for spinal intraoperative three-dimensional navigation in minimally invasive approaches: initial preclinical experience. Spine J 17(10):S254","journal-title":"Spine J"},{"key":"1905_CR17","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0449-0","volume-title":"Modelling and control of robot manipulators","author":"L Sciavicco","year":"2000","unstructured":"Sciavicco L, Siciliano B (2000) Modelling and control of robot manipulators, 2nd edn. Springer, Berlin","edition":"2"},{"issue":"3","key":"1905_CR18","first-page":"254","volume":"54","author":"RVD Boomgaard","year":"1992","unstructured":"Boomgaard RVD, Balen RV (1992) Computer vision, methods for fast morphological image transforms using bitmapped images. Gr Image Process Gr Models Image Process 54(3):254\u2013258","journal-title":"Gr Image Process Gr Models Image Process"},{"key":"1905_CR19","unstructured":"Sobel I, Feldman G (1968) A \n                    \n                      \n                    \n                    $$3\\times 3$$\n                    \n                      \n                        \n                          3\n                          \u00d7\n                          3\n                        \n                      \n                    \n                   isotropic gradient operator for image processing. In: A talk at the Stanford artificial project, pp 271\u2013272"},{"key":"1905_CR20","volume-title":"Advanced engineering mathematics","author":"D Zill","year":"2006","unstructured":"Zill D, Cullen M (2006) Advanced engineering mathematics, 3rd edn. Jones & Bartlett Learning, Burlington","edition":"3"},{"key":"1905_CR21","volume-title":"Principal component analysis, series: Springer series in statistics","author":"I Jolliffe","year":"2002","unstructured":"Jolliffe I (2002) Principal component analysis, series: Springer series in statistics, 2nd edn. Springer, New York","edition":"2"},{"key":"1905_CR22","doi-asserted-by":"crossref","unstructured":"Wiles A, Thompson D, Frantz D (2004) Accuracy assessment and interpretation for optical tracking systems. In: Proceedings of SPIE medical imaging 2004: visualization, image-guided procedures and display (SPIE), vol 5367, pp 421\u2013432","DOI":"10.1117\/12.536128"},{"issue":"1\u20133","key":"1905_CR23","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3109\/10929081003647239","volume":"15","author":"R Elfring","year":"2010","unstructured":"Elfring R, de la Fuente M, Radermarcher K (2010) Assessment of optical localizer accuracy for computer aided surgery systems. Comput Aided Surg 15(1\u20133):1\u201312","journal-title":"Comput Aided Surg"},{"key":"1905_CR24","doi-asserted-by":"crossref","unstructured":"Dillon NP (2014) Preliminary testing of a compact bone-attached robot for otologic surgery. In: Medical imaging 2014: image-guided procedures, robotic interventions, and modeling, vol 9036, International Society for Optics and Photonics","DOI":"10.1117\/12.2043875"},{"issue":"3","key":"1905_CR25","doi-asserted-by":"publisher","first-page":"031003","DOI":"10.1115\/1.4030083","volume":"9","author":"NP Dillion","year":"2015","unstructured":"Dillion NP, Balachandran R, Fitzpatrick JM, Siebold MA, Labadie RF, Wanna GB, Withrow TJ, Webster RJ (2015) A compact, bone-attached robot for mastoidectomy. J Med Devices 9(3):031003","journal-title":"J Med Devices"},{"issue":"1","key":"1905_CR26","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1007\/s11548-013-0908-5","volume":"9","author":"N Gerber","year":"2014","unstructured":"Gerber N, Bell B, Gavaghan K, Weisstanner C, Caversaccio M, Weber S (2014) Surgical planning tool for robotically assisted hearing aid implantation. Int J Comput Assist Radiol Surg 9(1):11\u201320","journal-title":"Int J Comput Assist Radiol Surg"},{"key":"1905_CR27","doi-asserted-by":"publisher","first-page":"347","DOI":"10.1016\/j.wneu.2018.05.194","volume":"116","author":"N Zagzoog","year":"2018","unstructured":"Zagzoog N, Yang VX (2018) State of robotic mastoidectomy: literature review. World Neurosurg 116:347\u2013351","journal-title":"World Neurosurg"}],"container-title":["International Journal of Computer Assisted Radiology and Surgery"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11548-018-01905-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-018-01905-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-018-01905-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,2,6]],"date-time":"2020-02-06T19:07:56Z","timestamp":1581016076000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11548-018-01905-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,2,7]]},"references-count":27,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2019,5]]}},"alternative-id":["1905"],"URL":"https:\/\/doi.org\/10.1007\/s11548-018-01905-x","relation":{},"ISSN":["1861-6410","1861-6429"],"issn-type":[{"value":"1861-6410","type":"print"},{"value":"1861-6429","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,2,7]]},"assertion":[{"value":"19 September 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 December 2018","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 February 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with ethical standards"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"This article does not contain and studies with human or animal participants performed by any of the authors. All ex-vivo animal parts were obtained in accordance with the research ethics guidelines of Ryerson University. All patient data were anonymized in accordance with Sunnybrook Health Sciences Centre policy. Informed consent was obtained from all individual participants included in the study.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Humans and animal rights"}}]}}