{"id":"https://openalex.org/W4403790215","doi":"https://doi.org/10.1007/s11548-024-03247-3","title":"Semi-automatic robotic puncture system based on deformable soft tissue point cloud registration","display_name":"Semi-automatic robotic puncture system based on deformable soft tissue point cloud registration","publication_year":2024,"publication_date":"2024-10-26","ids":{"openalex":"https://openalex.org/W4403790215","doi":"https://doi.org/10.1007/s11548-024-03247-3","pmid":"https://pubmed.ncbi.nlm.nih.gov/39460860"},"language":"en","primary_location":{"id":"doi:10.1007/s11548-024-03247-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-024-03247-3","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-024-03247-3.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/s11548-024-03247-3.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5119607114","display_name":"Bo Zhang","orcid":"https://orcid.org/0009-0002-9957-5914"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Bo Zhang","raw_affiliation_strings":["Future Robotics Organization, Waseda University, Tokyo, 1620044, Japan","WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Future Robotics Organization, Waseda University, Tokyo, 1620044, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100682690","display_name":"Kui Chen","orcid":"https://orcid.org/0000-0002-7473-5697"},"institutions":[{"id":"https://openalex.org/I77631543","display_name":"Wuxi Institute of Technology","ror":"https://ror.org/00ab95029","country_code":"CN","type":"education","lineage":["https://openalex.org/I77631543"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kui Chen","raw_affiliation_strings":["WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China. chenkui@amit.net.cn","WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China"],"raw_orcid":"https://orcid.org/0000-0002-7473-5697","affiliations":[{"raw_affiliation_string":"WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China. chenkui@amit.net.cn","institution_ids":["https://openalex.org/I77631543"]},{"raw_affiliation_string":"WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071052075","display_name":"Yuhang Yao","orcid":"https://orcid.org/0000-0002-3477-7075"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuhang Yao","raw_affiliation_strings":["WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028608923","display_name":"Bo Wu","orcid":"https://orcid.org/0000-0002-1487-7255"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bo Wu","raw_affiliation_strings":["WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100430015","display_name":"Q. Li","orcid":"https://orcid.org/0000-0002-8290-0517"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qiang Li","raw_affiliation_strings":["WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101831111","display_name":"Zheming Zhang","orcid":"https://orcid.org/0000-0003-1162-9747"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheming Zhang","raw_affiliation_strings":["WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Peihua Fan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peihua Fan","raw_affiliation_strings":["WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"WuXi AMIT Intelligent Medical Technology Col., Ltd., Wuxi, 214000, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115695506","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0002-5750-6980"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I4210128921","display_name":"The First Affiliated Hospital, Sun Yat-sen University","ror":"https://ror.org/037p24858","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210128921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["The First Affiliated Hospital of Sun Yat-sen University, Guangzhou, 510000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The First Affiliated Hospital of Sun Yat-sen University, Guangzhou, 510000, China","institution_ids":["https://openalex.org/I4210128921","https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034699747","display_name":"Manxia Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I4210128921","display_name":"The First Affiliated Hospital, Sun Yat-sen University","ror":"https://ror.org/037p24858","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210128921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Manxia Lin","raw_affiliation_strings":["The First Affiliated Hospital of Sun Yat-sen University, Guangzhou, 510000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The First Affiliated Hospital of Sun Yat-sen University, Guangzhou, 510000, China","institution_ids":["https://openalex.org/I4210128921","https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111640158","display_name":"Masakatsu G. Fujie","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masakatsu G. Fujie","raw_affiliation_strings":["Future Robotics Organization, Waseda University, Tokyo, 1620044, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Future Robotics Organization, Waseda University, Tokyo, 1620044, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100682690"],"corresponding_institution_ids":["https://openalex.org/I77631543"],"apc_list":{"value":3390,"currency":"EUR","value_usd":4390},"apc_paid":{"value":3390,"currency":"EUR","value_usd":4390},"fwci":0.5118,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.57406876,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"20","issue":"3","first_page":"525","last_page":"534"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.8579000234603882,"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":0.8579000234603882,"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/T13027","display_name":"Applied Advanced Technologies","score":0.009100000374019146,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.00800000037997961,"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/point-cloud","display_name":"Point cloud","score":0.6525958776473999},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6516079902648926},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6101216077804565},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5657198429107666},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4993767738342285},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4859715700149536},{"id":"https://openalex.org/keywords/soft-tissue","display_name":"Soft tissue","score":0.4199220538139343},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3732703626155853},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.2024596631526947},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.17051300406455994},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08629196882247925},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.059724122285842896}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6525958776473999},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6516079902648926},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6101216077804565},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5657198429107666},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4993767738342285},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4859715700149536},{"id":"https://openalex.org/C136948725","wikidata":"https://www.wikidata.org/wiki/Q1458306","display_name":"Soft tissue","level":2,"score":0.4199220538139343},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3732703626155853},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.2024596631526947},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.17051300406455994},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08629196882247925},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.059724122285842896},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","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":"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":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":true},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":true},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":true},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":true},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":true},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":true},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":true},{"descriptor_ui":"D011677","descriptor_name":"Punctures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D011677","descriptor_name":"Punctures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D011677","descriptor_name":"Punctures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D011677","descriptor_name":"Punctures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D011677","descriptor_name":"Punctures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D011677","descriptor_name":"Punctures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D011677","descriptor_name":"Punctures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D011677","descriptor_name":"Punctures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014057","descriptor_name":"Tomography, X-Ray Computed","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014057","descriptor_name":"Tomography, X-Ray Computed","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":true},{"descriptor_ui":"D014057","descriptor_name":"Tomography, X-Ray Computed","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D014057","descriptor_name":"Tomography, X-Ray Computed","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D014057","descriptor_name":"Tomography, X-Ray Computed","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","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":true},{"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":true},{"descriptor_ui":"D019047","descriptor_name":"Phantoms, Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019047","descriptor_name":"Phantoms, Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019047","descriptor_name":"Phantoms, Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","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},{"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},{"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/s11548-024-03247-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-024-03247-3","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-024-03247-3.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:39460860","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39460860","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:11929701","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11929701","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11929701/pdf/11548_2024_Article_3247.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/s11548-024-03247-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-024-03247-3","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-024-03247-3.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":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403790215.pdf","grobid_xml":"https://content.openalex.org/works/W4403790215.grobid-xml"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W1957091982","https://openalex.org/W2076829151","https://openalex.org/W2144594079","https://openalex.org/W2168398544","https://openalex.org/W2755389330","https://openalex.org/W2774436127","https://openalex.org/W2800754480","https://openalex.org/W2888011474","https://openalex.org/W2943580940","https://openalex.org/W2971670951","https://openalex.org/W3034665620","https://openalex.org/W3039287786","https://openalex.org/W4220709362","https://openalex.org/W4297858150","https://openalex.org/W4383746866"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W1997222214","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W3150465815","https://openalex.org/W2802581102","https://openalex.org/W4205786897"],"abstract_inverted_index":{"PURPOSE:":[0],"Traditional":[1],"surgical":[2],"puncture":[3,19,51,134,145,150,225,231,241,265,283,288],"robot":[4,75,141,284],"systems":[5],"based":[6,53,123],"on":[7,54,124],"computed":[8],"tomography":[9],"(CT)":[10],"and":[11,30,40,66,87,152,185,212,220,235,250,261,267,274,293],"infrared":[12],"camera":[13],"guidance":[14],"have":[15],"natural":[16],"disadvantages":[17],"for":[18],"of":[20,102,161,166,171,205,243,271],"deformable":[21],"soft":[22],"tissues":[23],"such":[24],"as":[25,196],"the":[26,103,107,118,144,149,154,164,194,213,217,221,236,240,268,282],"liver.":[27],"Liver":[28],"movement":[29],"deformation":[31],"caused":[32],"by":[33,42,74,113,178],"breathing":[34,187],"are":[35,131,247],"difficult":[36],"to":[37,58,148,169,181,192],"accurately":[38],"assess":[39],"compensate":[41],"current":[43],"technical":[44],"solutions.":[45],"We":[46],"propose":[47],"a":[48,179],"semi-automatic":[49],"robotic":[50],"system":[52,256,285],"real-time":[55,92],"ultrasound":[56,64,85,93],"images":[57,65,86],"solve":[59],"this":[60,77],"problem.":[61],"METHOD:":[62],"Real-time":[63],"their":[67],"spatial":[68],"position":[69],"information":[70],"can":[71,97,110,175,257],"be":[72,98,111,137,176,193],"obtained":[73,112],"in":[76,83,106],"system.":[78],"By":[79],"recognizing":[80],"target":[81,104,135,222],"tissue":[82,94,105,264],"these":[84,244],"using":[88,114],"reconstruction":[89],"algorithm,":[90],"3D":[91],"point":[95,119,128,223],"cloud":[96,101,120],"constructed.":[99],"Point":[100],"CT":[108,198],"image":[109,167],"developed":[115],"software.":[116],"Through":[117],"registration":[121],"method":[122],"feature":[125],"points,":[126],"two":[127,245],"clouds":[129],"above":[130],"registered.":[132],"The":[133,201],"will":[136],"automatically":[138],"positioned,":[139],"then":[140],"quickly":[142],"carries":[143],"guide":[146],"mechanism":[147],"site":[151],"guides":[153],"puncture.":[155],"It":[156,278],"takes":[157],"about":[158],"just":[159],"tens":[160],"seconds":[162],"from":[163],"start":[165],"acquisition":[168],"completion":[170],"needle":[172,218],"insertion.":[173],"Patient":[174],"controlled":[177],"ventilator":[180],"temporarily":[182],"stop":[183],"breathing,":[184],"patient's":[186],"state":[188],"does":[189],"not":[190],"need":[191],"same":[195],"taking":[197],"scan.":[199],"RESULTS:":[200],"average":[202,214],"operation":[203,291],"time":[204],"24":[206],"phantom":[207,272],"experiments":[208,246,273,275],"is":[209,226,276],"64.5":[210],"s,":[211],"error":[215],"between":[216],"tip":[219],"after":[224],"0.8":[227],"mm.":[228],"Two":[229],"animal":[230],"surgeries":[232],"were":[233],"performed,":[234],"results":[237],"indicated":[238],"that":[239,281],"errors":[242],"1.76":[248],"mm":[249],"1.81":[251],"mm,":[252],"respectively.":[253],"CONCLUSION:":[254],"Robot":[255],"effectively":[258],"carry":[259],"out":[260],"implement":[262],"liver":[263],"surgery,":[266],"success":[269],"rate":[270],"100%.":[277],"also":[279],"shows":[280],"has":[286],"high":[287],"accuracy,":[289],"short":[290],"time,":[292],"great":[294],"clinical":[295],"value.":[296]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-16T13:24:37.021932","created_date":"2025-10-10T00:00:00"}
