{"id":"https://openalex.org/W4412956819","doi":"https://doi.org/10.1007/s11548-025-03489-9","title":"Real-time 3D US\u2013CT fusion-based semi-automatic puncture robot system: clinical evaluation","display_name":"Real-time 3D US\u2013CT fusion-based semi-automatic puncture robot system: clinical evaluation","publication_year":2025,"publication_date":"2025-08-05","ids":{"openalex":"https://openalex.org/W4412956819","doi":"https://doi.org/10.1007/s11548-025-03489-9","pmid":"https://pubmed.ncbi.nlm.nih.gov/40762895"},"language":"en","primary_location":{"id":"doi:10.1007/s11548-025-03489-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-025-03489-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-025-03489-9.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/s11548-025-03489-9.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Masayuki Nakayama","orcid":"https://orcid.org/0009-0001-4963-7315"},"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":true,"raw_author_name":"Masayuki Nakayama","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University, Tokyo, 1698555, Japan. m_nakayama@akane.waseda.jp","KYOSETO Co., Ltd, Tokyo, 1600023, Japan. m_nakayama@akane.waseda.jp"],"raw_orcid":"https://orcid.org/0009-0001-4963-7315","affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University, Tokyo, 1698555, Japan. m_nakayama@akane.waseda.jp","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"KYOSETO Co., Ltd, Tokyo, 1600023, Japan. m_nakayama@akane.waseda.jp","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","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"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Future Robotics Organization, Waseda University, Tokyo, 1620044, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086674791","display_name":"Ryoko Kuromatsu","orcid":null},"institutions":[{"id":"https://openalex.org/I105296287","display_name":"Kurume University","ror":"https://ror.org/057xtrt18","country_code":"JP","type":"education","lineage":["https://openalex.org/I105296287"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryoko Kuromatsu","raw_affiliation_strings":["Division of Gastroenterology, Department of Medicine, Kurume University School of Medicine, Fukuoka, 8300011, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Gastroenterology, Department of Medicine, Kurume University School of Medicine, Fukuoka, 8300011, Japan","institution_ids":["https://openalex.org/I105296287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103416687","display_name":"Masahito Nakano","orcid":null},"institutions":[{"id":"https://openalex.org/I105296287","display_name":"Kurume University","ror":"https://ror.org/057xtrt18","country_code":"JP","type":"education","lineage":["https://openalex.org/I105296287"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahito Nakano","raw_affiliation_strings":["Division of Gastroenterology, Department of Medicine, Kurume University School of Medicine, Fukuoka, 8300011, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Gastroenterology, Department of Medicine, Kurume University School of Medicine, Fukuoka, 8300011, Japan","institution_ids":["https://openalex.org/I105296287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003031164","display_name":"Yu Noda","orcid":null},"institutions":[{"id":"https://openalex.org/I105296287","display_name":"Kurume University","ror":"https://ror.org/057xtrt18","country_code":"JP","type":"education","lineage":["https://openalex.org/I105296287"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yu Noda","raw_affiliation_strings":["Division of Gastroenterology, Department of Medicine, Kurume University School of Medicine, Fukuoka, 8300011, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Gastroenterology, Department of Medicine, Kurume University School of Medicine, Fukuoka, 8300011, Japan","institution_ids":["https://openalex.org/I105296287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101842545","display_name":"Takumi Kawaguchi","orcid":"https://orcid.org/0000-0002-7064-4325"},"institutions":[{"id":"https://openalex.org/I105296287","display_name":"Kurume University","ror":"https://ror.org/057xtrt18","country_code":"JP","type":"education","lineage":["https://openalex.org/I105296287"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takumi Kawaguchi","raw_affiliation_strings":["Division of Gastroenterology, Department of Medicine, Kurume University School of Medicine, Fukuoka, 8300011, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Gastroenterology, Department of Medicine, Kurume University School of Medicine, Fukuoka, 8300011, Japan","institution_ids":["https://openalex.org/I105296287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100430015","display_name":"Q. Li","orcid":"https://orcid.org/0000-0002-8290-0517"},"institutions":[{"id":"https://openalex.org/I4210161633","display_name":"Hirose Electric (Japan)","ror":"https://ror.org/051s9pp55","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210161633"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Qiang Li","raw_affiliation_strings":["KYOSETO Co., Ltd, Tokyo, 1600023, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KYOSETO Co., Ltd, Tokyo, 1600023, Japan","institution_ids":["https://openalex.org/I4210161633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067844197","display_name":"Yuji Maekawa","orcid":null},"institutions":[{"id":"https://openalex.org/I4210161633","display_name":"Hirose Electric (Japan)","ror":"https://ror.org/051s9pp55","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210161633"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuji Maekawa","raw_affiliation_strings":["KYOSETO Co., Ltd, Tokyo, 1600023, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KYOSETO Co., Ltd, Tokyo, 1600023, Japan","institution_ids":["https://openalex.org/I4210161633"]}]},{"author_position":"middle","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"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080654277","display_name":"Shigeki Sugano","orcid":"https://orcid.org/0000-0002-9331-2446"},"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":"Shigeki Sugano","raw_affiliation_strings":["Faculty of Science and Engineering, Waseda University, Tokyo, 1698555, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Tokyo, 1698555, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":{"value":4390,"currency":"USD","value_usd":4390},"apc_paid":{"value":4390,"currency":"USD","value_usd":4390},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12630189,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"20","issue":"9","first_page":"1817","last_page":"1827"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.656499981880188,"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":0.656499981880188,"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/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.07400000095367432,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10958","display_name":"Ultrasound and Hyperthermia Applications","score":0.043699998408555984,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.6520787477493286},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5535818934440613},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5393857955932617},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5004029273986816},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.4995841979980469},{"id":"https://openalex.org/keywords/workflow","display_name":"Workflow","score":0.45108941197395325},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4422290325164795},{"id":"https://openalex.org/keywords/percutaneous","display_name":"Percutaneous","score":0.423177033662796},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.34967824816703796},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33141976594924927},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.25491470098495483},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.10592693090438843}],"concepts":[{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.6520787477493286},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5535818934440613},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5393857955932617},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5004029273986816},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.4995841979980469},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.45108941197395325},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4422290325164795},{"id":"https://openalex.org/C2780813298","wikidata":"https://www.wikidata.org/wiki/Q2071287","display_name":"Percutaneous","level":2,"score":0.423177033662796},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.34967824816703796},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33141976594924927},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.25491470098495483},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.10592693090438843},{"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","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":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010865","descriptor_name":"Pilot Projects","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010865","descriptor_name":"Pilot Projects","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010865","descriptor_name":"Pilot Projects","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"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":"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":"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":"D018084","descriptor_name":"Ultrasonography, Interventional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D018084","descriptor_name":"Ultrasonography, Interventional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D018084","descriptor_name":"Ultrasonography, Interventional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D064847","descriptor_name":"Multimodal Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D064847","descriptor_name":"Multimodal Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D064847","descriptor_name":"Multimodal Imaging","qualifier_ui":null,"qualifier_name":null,"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":4,"locations":[{"id":"doi:10.1007/s11548-025-03489-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-025-03489-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-025-03489-9.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:40762895","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40762895","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:europepmc.org:11285092","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12476430","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12476430/pdf/11548_2025_Article_3489.pdf","source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:12476430","is_oa":true,"landing_page_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12476430/","pdf_url":null,"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/s11548-025-03489-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11548-025-03489-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11548-025-03489-9.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":[{"score":0.5799999833106995,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4412956819.pdf","grobid_xml":"https://content.openalex.org/works/W4412956819.grobid-xml"},"referenced_works_count":14,"referenced_works":["https://openalex.org/W1980020889","https://openalex.org/W2046546462","https://openalex.org/W2102148524","https://openalex.org/W2119255561","https://openalex.org/W2155634500","https://openalex.org/W2487875306","https://openalex.org/W3123159783","https://openalex.org/W3205841225","https://openalex.org/W4200214130","https://openalex.org/W4220709362","https://openalex.org/W4378195137","https://openalex.org/W4387023510","https://openalex.org/W4403790215","https://openalex.org/W4403946050"],"related_works":["https://openalex.org/W2381926679","https://openalex.org/W2007009951","https://openalex.org/W2082644203","https://openalex.org/W2350539780","https://openalex.org/W3165040664","https://openalex.org/W4242386713","https://openalex.org/W3122652148","https://openalex.org/W1583866266","https://openalex.org/W2996505764","https://openalex.org/W1981780420"],"abstract_inverted_index":{"PURPOSE:":[0],"Conventional":[1],"systems":[2],"supporting":[3],"percutaneous":[4],"radiofrequency":[5],"ablation":[6,239],"(PRFA)":[7],"have":[8],"faced":[9],"difficulties":[10],"in":[11,132,176,245],"ensuring":[12],"safe":[13],"and":[14,26,136,161,211,226,251],"accurate":[15],"puncture":[16,42,258],"due":[17],"to":[18,21,62,124,138,277],"issues":[19],"inherent":[20],"the":[22,64,76,80,94,97,100,118,128,133,148,153,168,177,183,188,195,219,227,238,248,254,261,264,269,278],"medical":[23],"images":[24,50,106,230],"used":[25],"organ":[27],"displacement":[28],"caused":[29],"by":[30],"patients'":[31],"respiration.":[32],"To":[33],"address":[34],"this":[35,37,59],"problem,":[36],"study":[38],"proposes":[39],"a":[40,68,199,205],"semi-automatic":[41],"robot":[43],"system":[44,135,150,256],"that":[45],"integrates":[46],"real-time":[47],"ultrasound":[48],"(US)":[49],"with":[51,110,152,273],"computed":[52],"tomography":[53],"(CT)":[54],"images.":[55],"The":[56,113,164,192],"purpose":[57],"of":[58,96,194,202,208,214,241,253,268],"paper":[60],"is":[61],"evaluate":[63],"system's":[65,280],"usefulness":[66],"through":[67],"pilot":[69],"clinical":[70,77,139,143],"experiment":[71,78,144],"involving":[72],"participants.":[73,163],"METHODS:":[74],"For":[75],"using":[79,104,147],"proposed":[81,98],"system,":[82,99],"an":[83,212],"improved":[84],"U-net":[85],"model":[86,101,129,156,271],"based":[87],"on":[88,157],"fivefold":[89],"cross-validation":[90],"was":[91,102,122,130,145],"constructed.":[92],"Following":[93],"workflow":[95],"trained":[103,272],"US":[105,229],"acquired":[107,275],"from":[108,171],"patients":[109],"robotic":[111,134,149,255,279],"arms.":[112],"average":[114,213],"Dice":[115],"coefficient":[116],"for":[117,257],"entire":[119],"validation":[120],"dataset":[121],"confirmed":[123],"be":[125],"0.87.":[126],"Therefore,":[127],"implemented":[131],"applied":[137],"experiment.":[140],"RESULTS:":[141],"A":[142],"conducted":[146],"equipped":[151],"developed":[154],"AI":[155,270],"five":[158,220],"adult":[159],"male":[160],"female":[162],"centroid":[165,196,235],"distances":[166,197,236],"between":[167],"point":[169],"clouds":[170],"each":[172],"modality":[173],"were":[174],"evaluated":[175],"3D":[178],"US-CT":[179],"fusion":[180],"process,":[181],"assuming":[182],"blood":[184],"vessel":[185],"centerline":[186],"represents":[187],"overall":[189],"structural":[190],"position.":[191],"results":[193,262],"showed":[198],"minimum":[200],"value":[201,207],"0.38":[203],"mm,":[204,210],"maximum":[206],"4.81":[209],"1.97":[215],"mm.":[216],"CONCLUSION:":[217],"Although":[218],"participants":[221],"had":[222],"different":[223],"CP":[224],"classifications":[225],"derived":[228],"exhibited":[231],"individual":[232],"variability,":[233],"all":[234],"satisfied":[237],"margin":[240],"5.00":[242],"mm":[243],"considered":[244],"PRFA,":[246],"suggesting":[247],"potential":[249,265],"accuracy":[250],"utility":[252],"navigation.":[259],"Additionally,":[260],"suggested":[263],"generalization":[266],"performance":[267],"data":[274],"according":[276],"workflow.":[281]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}