{"id":"https://openalex.org/W2596339453","doi":"https://doi.org/10.1080/01691864.2017.1298465","title":"Modelling and analysis of a novel CT-guided puncture robot for lung brachytherapy","display_name":"Modelling and analysis of a novel CT-guided puncture robot for lung brachytherapy","publication_year":2017,"publication_date":"2017-03-16","ids":{"openalex":"https://openalex.org/W2596339453","doi":"https://doi.org/10.1080/01691864.2017.1298465","mag":"2596339453"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2017.1298465","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2017.1298465","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051143140","display_name":"Shan Jiang","orcid":"https://orcid.org/0000-0002-5518-5335"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shan Jiang","raw_affiliation_strings":["Center for Advanced Mechanism and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Advanced Mechanism and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108227836","display_name":"Wei Yuan","orcid":"https://orcid.org/0009-0001-9812-2297"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Yuan","raw_affiliation_strings":["Center for Advanced Mechanism and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Advanced Mechanism and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101560972","display_name":"Yunpeng Yang","orcid":"https://orcid.org/0000-0002-4472-1251"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunpeng Yang","raw_affiliation_strings":["Center for Advanced Mechanism and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Advanced Mechanism and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052571284","display_name":"Daguang Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I2802573037","display_name":"Tianjin Medical University Cancer Institute and Hospital","ror":"https://ror.org/0152hn881","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I2802573037"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daguang Zhang","raw_affiliation_strings":["Center for Advanced Mechanism and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin, China","Department of Radiation Oncology, Tianjin Medical University Cancer Institute and Hospital, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Advanced Mechanism and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"Department of Radiation Oncology, Tianjin Medical University Cancer Institute and Hospital, Tianjin, China","institution_ids":["https://openalex.org/I2802573037"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089984086","display_name":"Ningbo Liu","orcid":"https://orcid.org/0000-0001-6166-2946"},"institutions":[{"id":"https://openalex.org/I2802573037","display_name":"Tianjin Medical University Cancer Institute and Hospital","ror":"https://ror.org/0152hn881","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I2802573037"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ningbo Liu","raw_affiliation_strings":["Department of Radiation Oncology, Tianjin Medical University Cancer Institute and Hospital, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Radiation Oncology, Tianjin Medical University Cancer Institute and Hospital, Tianjin, China","institution_ids":["https://openalex.org/I2802573037"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100391894","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0002-1710-0919"},"institutions":[{"id":"https://openalex.org/I2802573037","display_name":"Tianjin Medical University Cancer Institute and Hospital","ror":"https://ror.org/0152hn881","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I2802573037"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Department of Radiation Oncology, Tianjin Medical University Cancer Institute and Hospital, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Radiation Oncology, Tianjin Medical University Cancer Institute and Hospital, Tianjin, China","institution_ids":["https://openalex.org/I2802573037"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5051143140"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":1.3186,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.78242976,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"31","issue":"11","first_page":"557","last_page":"569"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.9987999796867371,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9972000122070312,"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/T10202","display_name":"Lung Cancer Diagnosis and Treatment","score":0.9667999744415283,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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/brachytherapy","display_name":"Brachytherapy","score":0.824958086013794},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5274548530578613},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4545012414455414},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.3885675072669983},{"id":"https://openalex.org/keywords/medical-physics","display_name":"Medical physics","score":0.3851989507675171},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.3695841431617737},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36262133717536926},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32183578610420227},{"id":"https://openalex.org/keywords/radiation-therapy","display_name":"Radiation therapy","score":0.29439347982406616}],"concepts":[{"id":"https://openalex.org/C2777416452","wikidata":"https://www.wikidata.org/wiki/Q896687","display_name":"Brachytherapy","level":3,"score":0.824958086013794},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5274548530578613},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4545012414455414},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3885675072669983},{"id":"https://openalex.org/C19527891","wikidata":"https://www.wikidata.org/wiki/Q1120908","display_name":"Medical physics","level":1,"score":0.3851989507675171},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.3695841431617737},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36262133717536926},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32183578610420227},{"id":"https://openalex.org/C509974204","wikidata":"https://www.wikidata.org/wiki/Q180507","display_name":"Radiation therapy","level":2,"score":0.29439347982406616}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2017.1298465","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2017.1298465","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7400000095367432}],"awards":[{"id":"https://openalex.org/G5791892921","display_name":null,"funder_award_id":"51175373","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322701","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1256870269","https://openalex.org/W1873685150","https://openalex.org/W1987800279","https://openalex.org/W1991669272","https://openalex.org/W1994009770","https://openalex.org/W1995781593","https://openalex.org/W1998299095","https://openalex.org/W2005287757","https://openalex.org/W2006719561","https://openalex.org/W2027226834","https://openalex.org/W2028465208","https://openalex.org/W2032177360","https://openalex.org/W2054138161","https://openalex.org/W2056505407","https://openalex.org/W2075056858","https://openalex.org/W2076879727","https://openalex.org/W2088396407","https://openalex.org/W2090811630","https://openalex.org/W2092892497","https://openalex.org/W2118484261","https://openalex.org/W2147604166","https://openalex.org/W2153920907","https://openalex.org/W2158980349","https://openalex.org/W2159126926","https://openalex.org/W2160722457","https://openalex.org/W2167767036","https://openalex.org/W2169961966","https://openalex.org/W2170245125","https://openalex.org/W4210556961"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2091634078","https://openalex.org/W1965975826","https://openalex.org/W2528568805","https://openalex.org/W4220908969","https://openalex.org/W1992044992","https://openalex.org/W4236636304","https://openalex.org/W2061090284","https://openalex.org/W2125579716"],"abstract_inverted_index":{"In":[0,146],"this":[1,112,132],"paper,":[2],"we":[3],"present":[4],"a":[5,95],"novel":[6],"CT-guided":[7],"needle":[8],"puncture":[9,102,117,141],"robot":[10,52,153],"system":[11],"with":[12],"seven":[13],"degree":[14],"of":[15,20,42,50,65,92,111,123,151],"freedoms.":[16],"All":[17],"basic":[18],"requirements":[19],"interventional":[21],"radiology":[22],"can":[23,60],"be":[24],"met.":[25],"To":[26],"solve":[27],"the":[28,39,43,47,51,54,63,69,83,93,101,109,140,148,152,157,164],"space":[29],"constraints":[30],"and":[31,79,156],"compatibility":[32,150],"requirement,":[33],"tendon-sheath":[34],"transmission":[35],"is":[36,57,97,114,129,154,160],"used":[37],"as":[38],"drive":[40],"mode":[41],"end-effector.":[44],"According":[45],"to":[46,99,136],"kinematics":[48],"analysis":[49],"configuration,":[53],"reachable":[55],"workspace":[56],"obtained,":[58],"which":[59],"completely":[61],"cover":[62],"chest":[64],"patient.":[66],"Based":[67],"on":[68,120],"Jacobian":[70],"matrix,":[71],"dimension":[72],"parameters":[73],"are":[74],"optimised":[75],"for":[76],"better":[77],"flexibility":[78],"kinematic":[80],"performance":[81],"in":[82,139],"workspace.":[84],"Since":[85],"respiratory":[86,106,124],"movement":[87],"will":[88,134],"cause":[89],"real-time":[90],"motion":[91,125],"tumour,":[94],"method":[96,113,133],"proposed":[98],"decrease":[100],"error":[103],"caused":[104],"by":[105,116,143],"movement.":[107],"And":[108],"feasibility":[110],"verified":[115],"experiment":[118],"based":[119],"independent":[121],"design":[122],"simulation":[126],"device.":[127],"It":[128],"proved":[130],"that":[131],"lead":[135],"an":[137],"increase":[138],"accuracy":[142,159],"2.4":[144],"times.":[145],"addition,":[147],"CT":[149],"verified,":[155],"positioning":[158],"also":[161],"measured":[162],"through":[163],"experiments.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
