{"id":"https://openalex.org/W4365479438","doi":"https://doi.org/10.1007/s11548-023-02882-6","title":"A semi-automated robotic system for percutaneous interventions","display_name":"A semi-automated robotic system for percutaneous interventions","publication_year":2023,"publication_date":"2023-04-14","ids":{"openalex":"https://openalex.org/W4365479438","doi":"https://doi.org/10.1007/s11548-023-02882-6","pmid":"https://pubmed.ncbi.nlm.nih.gov/37058232"},"language":"en","primary_location":{"id":"doi:10.1007/s11548-023-02882-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-023-02882-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-023-02882-6.pdf","source":{"id":"https://openalex.org/S181408163","display_name":"International Journal of Computer Assisted Radiology and Surgery","issn_l":"1861-6410","issn":["1861-6410","1861-6429"],"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Assisted Radiology and Surgery","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s11548-023-02882-6.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013031225","display_name":"Marius Siegfarth","orcid":"https://orcid.org/0000-0002-2736-3683"},"institutions":[{"id":"https://openalex.org/I177802217","display_name":"University of Mannheim","ror":"https://ror.org/031bsb921","country_code":"DE","type":"education","lineage":["https://openalex.org/I177802217"]},{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Marius Siegfarth","raw_affiliation_strings":["Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany. marius.siegfarth@medma.uni-heidelberg.de","Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany"],"raw_orcid":"https://orcid.org/0000-0002-2736-3683","affiliations":[{"raw_affiliation_string":"Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany. marius.siegfarth@medma.uni-heidelberg.de","institution_ids":["https://openalex.org/I223822909"]},{"raw_affiliation_string":"Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany","institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003401220","display_name":"Raffael Lutz","orcid":"https://orcid.org/0000-0002-6477-8941"},"institutions":[{"id":"https://openalex.org/I177802217","display_name":"University of Mannheim","ror":"https://ror.org/031bsb921","country_code":"DE","type":"education","lineage":["https://openalex.org/I177802217"]},{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Raffael Lutz","raw_affiliation_strings":["Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6477-8941","affiliations":[{"raw_affiliation_string":"Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany","institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027664147","display_name":"Nils-Christian Iseke","orcid":"https://orcid.org/0000-0002-6242-5122"},"institutions":[{"id":"https://openalex.org/I177802217","display_name":"University of Mannheim","ror":"https://ror.org/031bsb921","country_code":"DE","type":"education","lineage":["https://openalex.org/I177802217"]},{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nils-Christian Iseke","raw_affiliation_strings":["Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6242-5122","affiliations":[{"raw_affiliation_string":"Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany","institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021943898","display_name":"Javier Moviglia","orcid":"https://orcid.org/0000-0002-3939-5893"},"institutions":[{"id":"https://openalex.org/I177802217","display_name":"University of Mannheim","ror":"https://ror.org/031bsb921","country_code":"DE","type":"education","lineage":["https://openalex.org/I177802217"]},{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Javier Moviglia","raw_affiliation_strings":["Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3939-5893","affiliations":[{"raw_affiliation_string":"Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany","institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023482361","display_name":"Fabian Sadi","orcid":"https://orcid.org/0000-0001-7052-844X"},"institutions":[{"id":"https://openalex.org/I177802217","display_name":"University of Mannheim","ror":"https://ror.org/031bsb921","country_code":"DE","type":"education","lineage":["https://openalex.org/I177802217"]},{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Fabian Sadi","raw_affiliation_strings":["Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany"],"raw_orcid":"https://orcid.org/0000-0001-7052-844X","affiliations":[{"raw_affiliation_string":"Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany","institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018592000","display_name":"Jan Stallkamp","orcid":null},"institutions":[{"id":"https://openalex.org/I177802217","display_name":"University of Mannheim","ror":"https://ror.org/031bsb921","country_code":"DE","type":"education","lineage":["https://openalex.org/I177802217"]},{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Stallkamp","raw_affiliation_strings":["Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany","institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5013031225"],"corresponding_institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"],"apc_list":{"value":3390,"currency":"EUR","value_usd":4390},"apc_paid":{"value":3390,"currency":"EUR","value_usd":4390},"fwci":0.313,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.50947581,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"18","issue":"9","first_page":"1571","last_page":"1575"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9854999780654907,"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":0.9854999780654907,"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/T10888","display_name":"Augmented Reality Applications","score":0.006200000178068876,"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/T10916","display_name":"Surgical Simulation and Training","score":0.00139999995008111,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6548988223075867},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6314815282821655},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.6209002137184143},{"id":"https://openalex.org/keywords/scanner","display_name":"Scanner","score":0.6033894419670105},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5239622592926025},{"id":"https://openalex.org/keywords/positioning-system","display_name":"Positioning system","score":0.4985389709472656},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.48510682582855225},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44415318965911865},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4277305006980896},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4160863161087036},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4091850519180298},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40564921498298645},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.256222128868103},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09219297766685486}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6548988223075867},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6314815282821655},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.6209002137184143},{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.6033894419670105},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5239622592926025},{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.4985389709472656},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.48510682582855225},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44415318965911865},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4277305006980896},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4160863161087036},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4091850519180298},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40564921498298645},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.256222128868103},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09219297766685486},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012984","descriptor_name":"Software","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012984","descriptor_name":"Software","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012984","descriptor_name":"Software","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014057","descriptor_name":"Tomography, X-Ray Computed","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D014057","descriptor_name":"Tomography, X-Ray Computed","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D014057","descriptor_name":"Tomography, X-Ray Computed","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D019047","descriptor_name":"Phantoms, Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019047","descriptor_name":"Phantoms, Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019047","descriptor_name":"Phantoms, Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1007/s11548-023-02882-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-023-02882-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-023-02882-6.pdf","source":{"id":"https://openalex.org/S181408163","display_name":"International Journal of Computer Assisted Radiology and Surgery","issn_l":"1861-6410","issn":["1861-6410","1861-6429"],"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Assisted Radiology and Surgery","raw_type":"journal-article"},{"id":"pmid:37058232","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37058232","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":"International journal of computer assisted radiology and surgery","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10491544","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10491544","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10491544/pdf/11548_2023_Article_2882.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Int J Comput Assist Radiol Surg","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1007/s11548-023-02882-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-023-02882-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-023-02882-6.pdf","source":{"id":"https://openalex.org/S181408163","display_name":"International Journal of Computer Assisted Radiology and Surgery","issn_l":"1861-6410","issn":["1861-6410","1861-6429"],"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computer Assisted Radiology and Surgery","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7099999785423279,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320881","display_name":"Universit\u00e4t Heidelberg","ror":"https://ror.org/038t36y30"},{"id":"https://openalex.org/F4320321990","display_name":"Ministerium f\u00fcr Wissenschaft, Forschung und Kunst Baden-W\u00fcrttemberg","ror":"https://ror.org/01hc18p32"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4365479438.pdf"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W78661028","https://openalex.org/W1996666143","https://openalex.org/W2070977115","https://openalex.org/W2075056858","https://openalex.org/W2147604166","https://openalex.org/W2171691043","https://openalex.org/W2595385770","https://openalex.org/W2766079582","https://openalex.org/W2896855540","https://openalex.org/W2914694628","https://openalex.org/W3092336296","https://openalex.org/W3193368830","https://openalex.org/W4228996622","https://openalex.org/W4280571816","https://openalex.org/W4283691222"],"related_works":["https://openalex.org/W2016398835","https://openalex.org/W1910101490","https://openalex.org/W4366330678","https://openalex.org/W2179301249","https://openalex.org/W2033423548","https://openalex.org/W2198681394","https://openalex.org/W67682705","https://openalex.org/W2736638679","https://openalex.org/W3192344083","https://openalex.org/W3185696992"],"abstract_inverted_index":{"PURPOSE:":[0],"A":[1],"robotic":[2,22,80,87,108,178],"assistive":[3,81],"device":[4,29,68],"is":[5,13,69,77,170,243,299,319],"developed":[6],"for":[7,148,161,181,187,293],"needle-based":[8],"percutaneous":[9,57],"interventions.":[10,58],"The":[11,59,75,98,118,141,168,192,228,260,279],"aim":[12],"a":[14,28,32,44,78,102,107,201,206,272,302],"hybrid":[15],"system":[16,99,120,263,284,314,325],"using":[17],"both":[18,246,294],"manual":[19,85,103],"and":[20,54,64,86,93,112,184,214,252,297],"actuated":[21,146],"operation":[23],"in":[24,39,71],"order":[25],"to":[26,51,89,134,157,235,266,321],"obtain":[27],"that":[30,289],"has":[31,121],"large":[33],"workspace":[34],"but":[35],"can":[36],"still":[37],"fit":[38],"the":[40,62,67,91,136,152,158,165,195,215,218,223,232,236,257,268,283,290,295,311,324],"gantry":[41],"opening":[42],"of":[43,61,66,95,101,124,126,138,151,164,217,256,275,282],"CT":[45,203],"scanner.":[46,204],"This":[47],"will":[48,315],"enable":[49],"physicians":[50],"perform":[52],"precise":[53],"time-efficient":[55],"CT-guided":[56],"concept":[60,292],"mechanics":[63],"software":[65,169,298],"presented":[70],"this":[72],"work.":[73],"METHODS:":[74],"approach":[76],"semi-automated":[79],"device,":[82],"which":[83,127,131,242,287,318],"combines":[84],"positioning":[88,105,110,150],"reduce":[90],"number":[92],"size":[94],"necessary":[96],"motors.":[97],"consists":[100],"rough":[104],"unit,":[106],"fine":[109,149],"unit":[111],"an":[113,305],"optical":[114,261,312],"needle":[115,166,188,210,220,233,258,269],"tracking":[116,163,262,313],"unit.":[117],"resulting":[119],"eight":[122],"degrees":[123],"freedom,":[125],"four":[128,143,209],"are":[129,145,155],"manual,":[130],"comprise":[132],"encoders":[133],"monitor":[135],"position":[137,270,307],"each":[139],"axis.":[140],"remaining":[142],"axes":[144,147],"needle.":[153],"Cameras":[154],"attached":[156],"mechanical":[159],"structure":[160],"3D":[162,185],"pose.":[167],"based":[171,309],"on":[172,310],"open-source":[173],"software,":[174],"mainly":[175,244],"ROS2":[176],"as":[177],"middleware,":[179],"Moveit2":[180],"trajectory":[182],"calculation":[183],"Slicer":[186],"path":[189,221,225,234],"planning.":[190],"RESULTS:":[191],"communication":[193],"between":[194],"components":[196],"was":[197,226,239,264,285],"successfully":[198],"tested":[199],"with":[200,271],"clinical":[202],"In":[205,301],"first":[207,280],"experiment,":[208],"insertions":[211],"were":[212],"planned":[213,224],"deviation":[216,230,249,254,274],"actual":[219],"from":[222,231],"measured.":[227],"mean":[229,273],"target":[237],"point":[238],"21.9":[240],"mm,":[241],"caused":[245],"by":[247],"translational":[248],"(15.4":[250],"mm)":[251],"angular":[253],"(6.8\u00b0)":[255],"holder.":[259],"able":[265],"detect":[267],"3.9":[276],"mm.":[277],"CONCLUSION:":[278],"validation":[281],"successful":[286],"proves":[288],"proposed":[291],"hardware":[296],"feasible.":[300],"next":[303],"step,":[304],"automatic":[306],"correction":[308],"be":[316],"integrated,":[317],"expected":[320],"significantly":[322],"improve":[323],"accuracy.":[326]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}