{"id":"https://openalex.org/W1574656249","doi":"https://doi.org/10.1007/978-3-540-39899-8_20","title":"Virtual Remote Center of Motion Control for Needle Placement Robots","display_name":"Virtual Remote Center of Motion Control for Needle Placement Robots","publication_year":2003,"publication_date":"2003-01-01","ids":{"openalex":"https://openalex.org/W1574656249","doi":"https://doi.org/10.1007/978-3-540-39899-8_20","mag":"1574656249"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-540-39899-8_20","is_oa":true,"landing_page_url":"https://doi.org/10.1007/978-3-540-39899-8_20","pdf_url":"https://link.springer.com/content/pdf/10.1007/978-3-540-39899-8_20.pdf","source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/978-3-540-39899-8_20.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061883300","display_name":"Emad M. Boctor","orcid":"https://orcid.org/0000-0002-9536-6720"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Emad M. Boctor","raw_affiliation_strings":["Engineering Research Center for Computer Integrated Surgical Systems and Technology, Johns Hopkins University, 3400 North Charles Street 315 NEB, Baltimore, MD, 21218-2681, USA"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Computer Integrated Surgical Systems and Technology, Johns Hopkins University, 3400 North Charles Street 315 NEB, Baltimore, MD, 21218-2681, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009794922","display_name":"Robert J. Webster","orcid":"https://orcid.org/0000-0003-1389-224X"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Webster","raw_affiliation_strings":["Engineering Research Center for Computer Integrated Surgical Systems and Technology, Johns Hopkins University, 3400 North Charles Street 315 NEB, Baltimore, MD, 21218-2681, USA"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Computer Integrated Surgical Systems and Technology, Johns Hopkins University, 3400 North Charles Street 315 NEB, Baltimore, MD, 21218-2681, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112044754","display_name":"Herv\u00e9 Mathieu","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Herve Mathieu","raw_affiliation_strings":["Engineering Research Center for Computer Integrated Surgical Systems and Technology, Johns Hopkins University, 3400 North Charles Street 315 NEB, Baltimore, MD, 21218-2681, USA"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Computer Integrated Surgical Systems and Technology, Johns Hopkins University, 3400 North Charles Street 315 NEB, Baltimore, MD, 21218-2681, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Engineering Research Center for Computer Integrated Surgical Systems and Technology, Johns Hopkins University, 3400 North Charles Street 315 NEB, Baltimore, MD, 21218-2681, USA"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Computer Integrated Surgical Systems and Technology, Johns Hopkins University, 3400 North Charles Street 315 NEB, Baltimore, MD, 21218-2681, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084753910","display_name":"G\u00e1bor Fichtinger","orcid":"https://orcid.org/0000-0002-6354-262X"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gabor Fichtinger","raw_affiliation_strings":["Engineering Research Center for Computer Integrated Surgical Systems and Technology, Johns Hopkins University, 3400 North Charles Street 315 NEB, Baltimore, MD, 21218-2681, USA"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Computer Integrated Surgical Systems and Technology, Johns Hopkins University, 3400 North Charles Street 315 NEB, Baltimore, MD, 21218-2681, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5061883300"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":{"value":5000,"currency":"EUR","value_usd":5392},"fwci":1.1522,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.77463713,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"157","last_page":"164"},"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/T10916","display_name":"Surgical Simulation and Training","score":0.9962000250816345,"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/T10888","display_name":"Augmented Reality Applications","score":0.9941999912261963,"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/computer-science","display_name":"Computer science","score":0.7412749528884888},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7206330895423889},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7054389119148254},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5548827052116394},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5527908205986023},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.45449697971343994},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4415688216686249},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07968977093696594}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7412749528884888},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7206330895423889},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7054389119148254},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5548827052116394},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5527908205986023},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.45449697971343994},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4415688216686249},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07968977093696594},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/978-3-540-39899-8_20","is_oa":true,"landing_page_url":"https://doi.org/10.1007/978-3-540-39899-8_20","pdf_url":"https://link.springer.com/content/pdf/10.1007/978-3-540-39899-8_20.pdf","source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},{"id":"pmh:oai:HAL:inria-00590169v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00590169","pdf_url":"https://inria.hal.science/inria-00590169/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Medical Image Computing and Computer-Assisted Intervention (MICCAI '03)","raw_type":"\\ninfo:eu-repo/semantics/conferenceObject\\n"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.143.3862","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.143.3862","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://perception.inrialpes.fr/Publications/2003/MOFBW03/miccai2003.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.88.6719","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.88.6719","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://pegasus.me.jhu.edu/~rwebster/index_files/pub_files/Miccai03_VRCM.pdf","raw_type":"text"}],"best_oa_location":{"id":"doi:10.1007/978-3-540-39899-8_20","is_oa":true,"landing_page_url":"https://doi.org/10.1007/978-3-540-39899-8_20","pdf_url":"https://link.springer.com/content/pdf/10.1007/978-3-540-39899-8_20.pdf","source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320333566","display_name":"National Defense Science and Engineering Graduate","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1574656249.pdf","grobid_xml":"https://content.openalex.org/works/W1574656249.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1512507524","https://openalex.org/W1520625355","https://openalex.org/W1999936869","https://openalex.org/W2003587977","https://openalex.org/W2007732954","https://openalex.org/W2019617864","https://openalex.org/W2022638873","https://openalex.org/W2025939589","https://openalex.org/W2042849704","https://openalex.org/W2062691475","https://openalex.org/W2089919971","https://openalex.org/W2094111095","https://openalex.org/W2112474089","https://openalex.org/W2115243734","https://openalex.org/W2117155403","https://openalex.org/W2126977300","https://openalex.org/W2128991966","https://openalex.org/W2130113954","https://openalex.org/W2155512611","https://openalex.org/W2157783846","https://openalex.org/W2158482478","https://openalex.org/W2166885972","https://openalex.org/W2167501464","https://openalex.org/W2415479952"],"related_works":["https://openalex.org/W2084086966","https://openalex.org/W2023861399","https://openalex.org/W2730915376","https://openalex.org/W8302103","https://openalex.org/W2626306547","https://openalex.org/W2021396365","https://openalex.org/W2394134009","https://openalex.org/W2119515433","https://openalex.org/W2158788032","https://openalex.org/W2353404991"],"abstract_inverted_index":{"Surgical":[0],"robots,":[1],"including":[2],"those":[3],"with":[4,122],"remote":[5],"center":[6],"of":[7,24,43,82],"motion":[8,106,129],"(RCM)":[9],"mechanisms,":[10],"have":[11],"demonstrated":[12],"utility":[13],"in":[14],"image-guided":[15],"percutaneous":[16],"needle":[17,112],"placement":[18],"procedures.":[19],"However,":[20],"widespread":[21],"clinical":[22],"application":[23],"these":[25],"robots":[26],"is":[27],"hindered":[28],"by":[29],"not":[30,99],"only":[31,64],"complicated":[32],"mechanical":[33],"design":[34],"but":[35],"also":[36],"the":[37,44,47,69,73,111,114,123,152],"need":[38],"for":[39],"calibration":[40],"and":[41,75,97,117,146],"registration":[42],"robot":[45,80,92,126],"to":[46,51,72,113,120],"medical":[48],"imager":[49],"prior":[50],"each":[52],"use.":[53],"In":[54],"response,":[55],"we":[56],"propose":[57],"a":[58,76,133],"Virtual":[59],"RCM":[60,128],"algorithm":[61],"that":[62],"requires":[63],"online":[65],"tracking":[66],"or":[67],"registering":[68],"surgical":[70],"tool":[71],"imager,":[74],"five":[77],"degree-of-freedom":[78],"(DOF)":[79],"comprised":[81],"three":[83],"prismatic":[84],"DOF":[85],"decoupled":[86],"from":[87],"two":[88],"rotational":[89,149],"DOF.":[90],"The":[91,125,138],"can":[93],"be":[94],"unencoded,":[95],"uncalibrated,":[96],"does":[98],"require":[100],"pre-operative":[101],"registration.":[102],"An":[103],"incremental":[104],"adaptive":[105],"control":[107],"cycle":[108],"both":[109],"guides":[110],"insertion":[115],"point":[116],"orients":[118],"it":[119],"align":[121],"target.":[124],"executes":[127],"\u201cvirtually\u201d":[130],"without":[131],"having":[132],"physically":[134],"constrained":[135],"fulcrum":[136],"point.":[137],"proof-of-concept":[139],"prototype":[140],"system":[141],"achieved":[142],"0.78":[143],"mm":[144],"translation":[145],"1.4":[147],"degrees":[148],"accuracy":[150],"(within":[151],"tracker":[153],"accuracy),":[154],"within":[155],"17":[156],"iterative":[157],"steps":[158],"(0.5\u20131s).":[159]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
