{"id":"https://openalex.org/W4413381273","doi":"https://doi.org/10.1002/aisy.202500478","title":"Robotic Needle Steering for Percutaneous Interventions: Sensing, Modeling, and Control","display_name":"Robotic Needle Steering for Percutaneous Interventions: Sensing, Modeling, and Control","publication_year":2025,"publication_date":"2025-08-15","ids":{"openalex":"https://openalex.org/W4413381273","doi":"https://doi.org/10.1002/aisy.202500478"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202500478","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202500478","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202500478","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202500478","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086375971","display_name":"Fang-Jiao Zhao","orcid":"https://orcid.org/0000-0002-6056-3054"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangjiao Zhao","raw_affiliation_strings":["School of Control Science and Engineering Dalian University of Technology  Dalian 116024 China","School of Control Science and Engineering, Dalian University of Technology, Dalian, 116024 China"],"raw_orcid":"https://orcid.org/0000-0002-6056-3054","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering Dalian University of Technology  Dalian 116024 China","institution_ids":["https://openalex.org/I27357992"]},{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, 116024 China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089753752","display_name":"Rui\u2010Xue Xu","orcid":"https://orcid.org/0000-0001-9931-201X"},"institutions":[{"id":"https://openalex.org/I191996457","display_name":"Dalian Medical University","ror":"https://ror.org/04c8eg608","country_code":"CN","type":"education","lineage":["https://openalex.org/I191996457"]},{"id":"https://openalex.org/I4210140813","display_name":"First Affiliated Hospital of Dalian Medical University","ror":"https://ror.org/055w74b96","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210140813"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruixue Xu","raw_affiliation_strings":["Department of Neurosurgery The First Affiliated Hospital of Dalian Medical University  Dalian 116011 China","Department of Neurosurgery, The First Affiliated Hospital of Dalian Medical University, Dalian, 116011 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Neurosurgery The First Affiliated Hospital of Dalian Medical University  Dalian 116011 China","institution_ids":["https://openalex.org/I191996457","https://openalex.org/I4210140813"]},{"raw_affiliation_string":"Department of Neurosurgery, The First Affiliated Hospital of Dalian Medical University, Dalian, 116011 China","institution_ids":["https://openalex.org/I191996457","https://openalex.org/I4210140813"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006672972","display_name":"Wujun Zhao","orcid":"https://orcid.org/0000-0001-6852-6293"},"institutions":[{"id":"https://openalex.org/I191996457","display_name":"Dalian Medical University","ror":"https://ror.org/04c8eg608","country_code":"CN","type":"education","lineage":["https://openalex.org/I191996457"]},{"id":"https://openalex.org/I4210140813","display_name":"First Affiliated Hospital of Dalian Medical University","ror":"https://ror.org/055w74b96","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210140813"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wujun Zhao","raw_affiliation_strings":["Department of Neurosurgery The First Affiliated Hospital of Dalian Medical University  Dalian 116011 China","Department of Neurosurgery, The First Affiliated Hospital of Dalian Medical University, Dalian, 116011 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Neurosurgery The First Affiliated Hospital of Dalian Medical University  Dalian 116011 China","institution_ids":["https://openalex.org/I191996457","https://openalex.org/I4210140813"]},{"raw_affiliation_string":"Department of Neurosurgery, The First Affiliated Hospital of Dalian Medical University, Dalian, 116011 China","institution_ids":["https://openalex.org/I191996457","https://openalex.org/I4210140813"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008939878","display_name":"Xi\u2010Ming Sun","orcid":"https://orcid.org/0000-0002-1883-3495"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi\u2010Ming Sun","raw_affiliation_strings":["School of Control Science and Engineering Dalian University of Technology  Dalian 116024 China","School of Control Science and Engineering, Dalian University of Technology, Dalian, 116024 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering Dalian University of Technology  Dalian 116024 China","institution_ids":["https://openalex.org/I27357992"]},{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, 116024 China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077878309","display_name":"Yu Sun","orcid":"https://orcid.org/0000-0001-7895-0741"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yu Sun","raw_affiliation_strings":["Institute of Robotics University of Toronto  Toronto M5S 3G8 ON Canada","Institute of Robotics, University of Toronto, Toronto, M5S 3G8 ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics University of Toronto  Toronto M5S 3G8 ON Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Institute of Robotics, University of Toronto, Toronto, M5S 3G8 ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037119790","display_name":"Changsheng Dai","orcid":"https://orcid.org/0000-0002-8293-0097"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]},{"id":"https://openalex.org/I4210092944","display_name":"Dalian University","ror":"https://ror.org/00g2ypp58","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092944"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Changsheng Dai","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems Dalian University of Technology  Dalian 116024 China","Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, 116024 China"],"raw_orcid":"https://orcid.org/0000-0002-8293-0097","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems Dalian University of Technology  Dalian 116024 China","institution_ids":["https://openalex.org/I4210092944","https://openalex.org/I27357992"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, 116024 China","institution_ids":["https://openalex.org/I4210092944","https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5037119790"],"corresponding_institution_ids":["https://openalex.org/I27357992","https://openalex.org/I4210092944"],"apc_list":{"value":2750,"currency":"USD","value_usd":2750},"apc_paid":{"value":2750,"currency":"USD","value_usd":2750},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17276611,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"8","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.991599977016449,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/percutaneous","display_name":"Percutaneous","score":0.7168051600456238},{"id":"https://openalex.org/keywords/psychological-intervention","display_name":"Psychological intervention","score":0.6675314903259277},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45079049468040466},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4069393277168274},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.37265369296073914},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3251134753227234},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3147614300251007},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.20915481448173523},{"id":"https://openalex.org/keywords/nursing","display_name":"Nursing","score":0.1274695098400116}],"concepts":[{"id":"https://openalex.org/C2780813298","wikidata":"https://www.wikidata.org/wiki/Q2071287","display_name":"Percutaneous","level":2,"score":0.7168051600456238},{"id":"https://openalex.org/C27415008","wikidata":"https://www.wikidata.org/wiki/Q7256382","display_name":"Psychological intervention","level":2,"score":0.6675314903259277},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45079049468040466},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4069393277168274},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.37265369296073914},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3251134753227234},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3147614300251007},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.20915481448173523},{"id":"https://openalex.org/C159110408","wikidata":"https://www.wikidata.org/wiki/Q121176","display_name":"Nursing","level":1,"score":0.1274695098400116}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/aisy.202500478","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202500478","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202500478","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:89d6134c6d514555a5ffb8049a794e4a","is_oa":true,"landing_page_url":"https://doaj.org/article/89d6134c6d514555a5ffb8049a794e4a","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 8, Iss 1, Pp n/a-n/a (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202500478","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202500478","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202500478","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3585780359","display_name":null,"funder_award_id":"2023YFC2415100","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5520768470","display_name":null,"funder_award_id":"DUT23RC","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4413381273.pdf","grobid_xml":"https://content.openalex.org/works/W4413381273.grobid-xml"},"referenced_works_count":136,"referenced_works":["https://openalex.org/W1544433213","https://openalex.org/W1555731158","https://openalex.org/W1660309994","https://openalex.org/W1971086298","https://openalex.org/W1980043163","https://openalex.org/W1994293086","https://openalex.org/W2008809493","https://openalex.org/W2009396276","https://openalex.org/W2021735006","https://openalex.org/W2024243741","https://openalex.org/W2029990316","https://openalex.org/W2037221868","https://openalex.org/W2040709641","https://openalex.org/W2041921836","https://openalex.org/W2044719288","https://openalex.org/W2048458881","https://openalex.org/W2057271741","https://openalex.org/W2057960800","https://openalex.org/W2058132970","https://openalex.org/W2079133692","https://openalex.org/W2081984806","https://openalex.org/W2087539422","https://openalex.org/W2090415875","https://openalex.org/W2093664976","https://openalex.org/W2097442662","https://openalex.org/W2101817128","https://openalex.org/W2104367785","https://openalex.org/W2107550832","https://openalex.org/W2109121052","https://openalex.org/W2111362408","https://openalex.org/W2118152376","https://openalex.org/W2128339709","https://openalex.org/W2132929497","https://openalex.org/W2177324447","https://openalex.org/W2206556072","https://openalex.org/W2218586536","https://openalex.org/W2228799617","https://openalex.org/W2291266724","https://openalex.org/W2323973715","https://openalex.org/W2327864658","https://openalex.org/W2329446256","https://openalex.org/W2338895756","https://openalex.org/W2399007842","https://openalex.org/W2413731925","https://openalex.org/W2440321054","https://openalex.org/W2520200000","https://openalex.org/W2522393237","https://openalex.org/W2523762078","https://openalex.org/W2560102456","https://openalex.org/W2601771264","https://openalex.org/W2604443115","https://openalex.org/W2736507014","https://openalex.org/W2758941972","https://openalex.org/W2767602403","https://openalex.org/W2770795106","https://openalex.org/W2787948339","https://openalex.org/W2788503139","https://openalex.org/W2792795607","https://openalex.org/W2801002069","https://openalex.org/W2802569337","https://openalex.org/W2885907015","https://openalex.org/W2888546857","https://openalex.org/W2907897161","https://openalex.org/W2921511327","https://openalex.org/W2953235417","https://openalex.org/W2990598707","https://openalex.org/W2991355332","https://openalex.org/W3011143832","https://openalex.org/W3014176788","https://openalex.org/W3023603755","https://openalex.org/W3043438200","https://openalex.org/W3045244376","https://openalex.org/W3090318113","https://openalex.org/W3090745866","https://openalex.org/W3094483310","https://openalex.org/W3096597946","https://openalex.org/W3097440668","https://openalex.org/W3104630713","https://openalex.org/W3118738650","https://openalex.org/W3129488746","https://openalex.org/W3131926212","https://openalex.org/W3142938931","https://openalex.org/W3155716154","https://openalex.org/W3162897757","https://openalex.org/W3165281685","https://openalex.org/W3173507124","https://openalex.org/W3203313557","https://openalex.org/W3206235622","https://openalex.org/W3206727527","https://openalex.org/W3209800110","https://openalex.org/W4200553277","https://openalex.org/W4206322160","https://openalex.org/W4220863102","https://openalex.org/W4241047085","https://openalex.org/W4248882439","https://openalex.org/W4251325513","https://openalex.org/W4293243487","https://openalex.org/W4294653625","https://openalex.org/W4295036269","https://openalex.org/W4295520160","https://openalex.org/W4296425581","https://openalex.org/W4296871182","https://openalex.org/W4297254054","https://openalex.org/W4300962417","https://openalex.org/W4301390930","https://openalex.org/W4306403197","https://openalex.org/W4307304009","https://openalex.org/W4308903084","https://openalex.org/W4309092697","https://openalex.org/W4311289377","https://openalex.org/W4362453071","https://openalex.org/W4362620170","https://openalex.org/W4366495666","https://openalex.org/W4377227416","https://openalex.org/W4377695248","https://openalex.org/W4383108298","https://openalex.org/W4383109239","https://openalex.org/W4384028964","https://openalex.org/W4385703237","https://openalex.org/W4387093627","https://openalex.org/W4387747219","https://openalex.org/W4388019973","https://openalex.org/W4388654323","https://openalex.org/W4389151945","https://openalex.org/W4389665749","https://openalex.org/W4389960193","https://openalex.org/W4392611992","https://openalex.org/W4392667213","https://openalex.org/W4393190268","https://openalex.org/W4399467333","https://openalex.org/W4400228563","https://openalex.org/W4401416138","https://openalex.org/W4402978674","https://openalex.org/W4404830674","https://openalex.org/W4405786476","https://openalex.org/W4407937880"],"related_works":["https://openalex.org/W3030345308","https://openalex.org/W2582969095","https://openalex.org/W3195929500","https://openalex.org/W2385470123","https://openalex.org/W2050665215","https://openalex.org/W2900068172","https://openalex.org/W2238030311","https://openalex.org/W2775630902","https://openalex.org/W1982842519","https://openalex.org/W2597242094"],"abstract_inverted_index":{"Robotic":[0],"needle":[1,22,49,60,69],"steering":[2,23,97],"plays":[3],"a":[4],"critical":[5],"role":[6],"in":[7,47,84,102],"improving":[8],"the":[9],"precision":[10],"and":[11,31,68,71,75,88,99],"safety":[12],"of":[13,64],"percutaneous":[14,105],"interventions":[15],"across":[16],"various":[17],"clinical":[18],"applications.":[19],"However,":[20],"manual":[21],"remains":[24],"challenged":[25],"by":[26],"operator\u2010dependent":[27],"variability,":[28],"physiological":[29],"tremor,":[30],"limited":[32],"adaptability":[33,101],"to":[34,95],"dynamic":[35],"tissue":[36,66],"deformation.":[37],"To":[38],"address":[39],"these":[40],"limitations,":[41],"this":[42],"review":[43],"examines":[44],"recent":[45],"advances":[46],"robotic":[48],"steering,":[50,61],"structured":[51],"around":[52],"three":[53],"core":[54],"components:":[55],"1)":[56],"sensing":[57],"for":[58],"closed\u2010loop":[59,76],"2)":[62],"modeling":[63],"soft":[65],"deformation":[67],"deflection,":[70],"3)":[72],"trajectory":[73],"planning":[74],"control":[77],"strategies.":[78],"Furthermore,":[79],"emerging":[80],"trends":[81],"are":[82],"discussed":[83],"artificial":[85],"intelligence\u2010driven":[86],"autonomy":[87],"advanced":[89],"biocompatible":[90],"materials,":[91],"highlighting":[92],"their":[93],"potential":[94],"enhance":[96],"accuracy":[98],"real\u2010time":[100],"future":[103],"robot\u2010assisted":[104],"procedures.":[106]},"counts_by_year":[],"updated_date":"2026-06-15T08:34:33.830935","created_date":"2025-10-10T00:00:00"}