{"id":"https://openalex.org/W1499315759","doi":"https://doi.org/10.1007/978-3-642-00312-7_33","title":"3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics","display_name":"3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W1499315759","doi":"https://doi.org/10.1007/978-3-642-00312-7_33","mag":"1499315759","pmid":"https://pubmed.ncbi.nlm.nih.gov/21359051"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-642-00312-7_33","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-642-00312-7_33","pdf_url":null,"source":{"id":"https://openalex.org/S4210185684","display_name":"Springer tracts in advanced robotics","issn_l":"1610-742X","issn":["1610-742X","1610-7438"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Tracts in Advanced Robotics","raw_type":"book-chapter"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3045211","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108134326","display_name":"Vincent Duindam","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vincent Duindam","raw_affiliation_strings":["Depts. of EECS and IEOR, University of California at Berkeley, CA, USA","Dept. of EECS, University of California, Berkeley, CA"],"affiliations":[{"raw_affiliation_string":"Depts. of EECS and IEOR, University of California at Berkeley, CA, USA","institution_ids":[]},{"raw_affiliation_string":"Dept. of EECS, University of California, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103472911","display_name":"Jijie Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I155173764","display_name":"Rochester Institute of Technology","ror":"https://ror.org/00v4yb702","country_code":"US","type":"education","lineage":["https://openalex.org/I155173764"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jijie Xu","raw_affiliation_strings":["Ph.D. Program, GCCIS, Rochester Institute of Technology, NY"],"affiliations":[{"raw_affiliation_string":"Ph.D. Program, GCCIS, Rochester Institute of Technology, NY","institution_ids":["https://openalex.org/I155173764"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054402635","display_name":"Ron Alterovitz","orcid":"https://orcid.org/0000-0002-4492-1384"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ron Alterovitz","raw_affiliation_strings":["Dept. of CS, University of North Carolina at Chapel Hill, NC"],"affiliations":[{"raw_affiliation_string":"Dept. of CS, University of North Carolina at Chapel Hill, NC","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062722286","display_name":"Shankar Sastry","orcid":"https://orcid.org/0009-0000-9021-7235"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shankar Sastry","raw_affiliation_strings":["Dept. of EECS, University of California, Berkeley, CA"],"affiliations":[{"raw_affiliation_string":"Dept. of EECS, University of California, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010019244","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0001-6747-9499"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["Dept. of EECS and IEOR, University of California, Berkeley, CA"],"affiliations":[{"raw_affiliation_string":"Dept. of EECS and IEOR, University of California, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5108134326"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":7.1961,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.9829592,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"57","issue":null,"first_page":"535","last_page":"549"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/motion-planning","display_name":"Motion planning","score":0.7165964245796204},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7130699753761292},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6659201383590698},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.6327561140060425},{"id":"https://openalex.org/keywords/constant-curvature","display_name":"Constant curvature","score":0.5582689046859741},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.501659631729126},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.4453078508377075},{"id":"https://openalex.org/keywords/radius-of-curvature","display_name":"Radius of curvature","score":0.4219958484172821},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4215381145477295},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4214664697647095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4186837077140808},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4098409116268158},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40790724754333496},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3263578414916992},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.2940310835838318},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2545469403266907},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25340211391448975},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.22519871592521667},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2146829068660736},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21324515342712402},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14072847366333008},{"id":"https://openalex.org/keywords/mean-curvature","display_name":"Mean curvature","score":0.10268670320510864},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0950097143650055},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07132464647293091}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7165964245796204},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7130699753761292},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6659201383590698},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.6327561140060425},{"id":"https://openalex.org/C2779668893","wikidata":"https://www.wikidata.org/wiki/Q2250422","display_name":"Constant curvature","level":3,"score":0.5582689046859741},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.501659631729126},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.4453078508377075},{"id":"https://openalex.org/C11665553","wikidata":"https://www.wikidata.org/wiki/Q1136069","display_name":"Radius of curvature","level":5,"score":0.4219958484172821},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4215381145477295},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4214664697647095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4186837077140808},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4098409116268158},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40790724754333496},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3263578414916992},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.2940310835838318},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2545469403266907},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25340211391448975},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.22519871592521667},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2146829068660736},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21324515342712402},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14072847366333008},{"id":"https://openalex.org/C175017881","wikidata":"https://www.wikidata.org/wiki/Q1318998","display_name":"Mean curvature","level":3,"score":0.10268670320510864},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0950097143650055},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07132464647293091},{"id":"https://openalex.org/C127813850","wikidata":"https://www.wikidata.org/wiki/Q6803617","display_name":"Mean curvature flow","level":4,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1007/978-3-642-00312-7_33","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-642-00312-7_33","pdf_url":null,"source":{"id":"https://openalex.org/S4210185684","display_name":"Springer tracts in advanced robotics","issn_l":"1610-742X","issn":["1610-742X","1610-7438"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Tracts in Advanced Robotics","raw_type":"book-chapter"},{"id":"pmid:21359051","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/21359051","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International journal of robotics research","raw_type":null},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.141.123","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.141.123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ieor.berkeley.edu/~goldberg/pubs/vincent-wafr2008final.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.158.925","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.158.925","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://goldberg.berkeley.edu/pubs/vincent-ijrr2009-v5.pdf","raw_type":"text"},{"id":"pmh:oai:pubmedcentral.nih.gov:3045211","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3045211","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Int J Rob Res","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:3045211","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3045211","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Int J Rob Res","raw_type":"Text"},"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310145","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95"},{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W47556920","https://openalex.org/W131069610","https://openalex.org/W343994056","https://openalex.org/W373813039","https://openalex.org/W1556748495","https://openalex.org/W1564897360","https://openalex.org/W1573720488","https://openalex.org/W1576048652","https://openalex.org/W1756618330","https://openalex.org/W2033810246","https://openalex.org/W2076024895","https://openalex.org/W2098306053","https://openalex.org/W2098914047","https://openalex.org/W2100890205","https://openalex.org/W2101817128","https://openalex.org/W2102729693","https://openalex.org/W2107550832","https://openalex.org/W2123228603","https://openalex.org/W2128990851","https://openalex.org/W2138475205","https://openalex.org/W2141933910","https://openalex.org/W2146175757","https://openalex.org/W2146593008","https://openalex.org/W2146716210","https://openalex.org/W2154598371","https://openalex.org/W2165061586","https://openalex.org/W2168278516","https://openalex.org/W2180065899","https://openalex.org/W2313274380","https://openalex.org/W2397696187","https://openalex.org/W2406339261","https://openalex.org/W3217246742"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W4385430464","https://openalex.org/W2218553016","https://openalex.org/W2727478987","https://openalex.org/W397783476","https://openalex.org/W2380276478"],"abstract_inverted_index":null,"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}