{"id":"https://openalex.org/W2896227457","doi":"https://doi.org/10.1109/biorob.2018.8487952","title":"Enhancing Force Feedback in Teleoperated Needle Insertion Through On-Line Identification of the Needle-Tissue Interaction Parameters","display_name":"Enhancing Force Feedback in Teleoperated Needle Insertion Through On-Line Identification of the Needle-Tissue Interaction Parameters","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2896227457","doi":"https://doi.org/10.1109/biorob.2018.8487952","mag":"2896227457"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2018.8487952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2018.8487952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5085314955","display_name":"Niccolo Cacciotti","orcid":null},"institutions":[{"id":"https://openalex.org/I119939252","display_name":"Indraprastha Institute of Information Technology Delhi","ror":"https://ror.org/03vfp4g33","country_code":"IN","type":"education","lineage":["https://openalex.org/I119939252"]},{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Niccolo Cacciotti","raw_affiliation_strings":["IIIT Delhi, New Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT Delhi, New Delhi, India","institution_ids":["https://openalex.org/I119939252","https://openalex.org/I68891433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046414622","display_name":"Antonio Cifonelli","orcid":"https://orcid.org/0000-0002-6082-2001"},"institutions":[{"id":"https://openalex.org/I119939252","display_name":"Indraprastha Institute of Information Technology Delhi","ror":"https://ror.org/03vfp4g33","country_code":"IN","type":"education","lineage":["https://openalex.org/I119939252"]},{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Antonio Cifonelli","raw_affiliation_strings":["IIIT Delhi, New Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT Delhi, New Delhi, India","institution_ids":["https://openalex.org/I119939252","https://openalex.org/I68891433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014237127","display_name":"Claudio Gaz","orcid":"https://orcid.org/0000-0003-4659-5831"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Claudio Gaz","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007121607","display_name":"Valerio Paduano","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Valerio Paduano","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091869116","display_name":"Antonio V. Russo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Antonio V. Russo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5040398924","display_name":"Marilena Vendittelli","orcid":"https://orcid.org/0000-0002-5348-0525"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marilena Vendittelli","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5549,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.80878963,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"33","issue":null,"first_page":"79","last_page":"85"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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":0.9991999864578247,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7978978157043457},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7055538892745972},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5032913088798523},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49685218930244446},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46688738465309143},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.42427128553390503},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.4176998734474182},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4117323160171509},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.36942151188850403},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.24762976169586182},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24263930320739746},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.194257915019989},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15912869572639465}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7978978157043457},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7055538892745972},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5032913088798523},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49685218930244446},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46688738465309143},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.42427128553390503},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.4176998734474182},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4117323160171509},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.36942151188850403},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.24762976169586182},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24263930320739746},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.194257915019989},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15912869572639465}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/biorob.2018.8487952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2018.8487952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.kingston.ac.uk:52872","is_oa":false,"landing_page_url":"https://eprints.kingston.ac.uk/id/eprint/52872/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400991","display_name":"Research Repository (Kingston University London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801636071","host_organization_name":"Kingston Hospital NHS Trust","host_organization_lineage":["https://openalex.org/I2801636071"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:iris.uniroma1.it:11573/1137867","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/1137867","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W105751747","https://openalex.org/W1971076945","https://openalex.org/W1978512749","https://openalex.org/W1989169659","https://openalex.org/W2020255928","https://openalex.org/W2032543005","https://openalex.org/W2044535354","https://openalex.org/W2045410034","https://openalex.org/W2128038346","https://openalex.org/W2128851696","https://openalex.org/W2169924715","https://openalex.org/W2217565158","https://openalex.org/W2325067522","https://openalex.org/W2762248135","https://openalex.org/W2773771478","https://openalex.org/W3121386509","https://openalex.org/W4255694987"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2094105667","https://openalex.org/W3083255641","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2,78],"an":[3,120],"approach":[4,116],"for":[5,104],"displaying":[6],"the":[7,13,17,20,31,34,46,56,60,65,68,72,82,86,89,100,107,112,124,152,155],"needle-tip":[8],"interaction":[9,37,58,129],"force":[10,38,109,130,135,157],"exchanged":[11,110],"between":[12,67],"needle":[14,26,35,69,90,113,167],"tip":[15,36,61],"and":[16,71,146,164],"tissues":[18,40],"to":[19,81,132,139,150,158],"remote":[21],"operator":[22],"of":[23,33,55,64,84,123,126,154],"a":[24,52,127],"teleoperated":[25],"insertion":[27],"procedure.":[28],"As":[29],"known,":[30],"measures":[32],"with":[39],"obtained":[41],"through":[42,144],"F/T":[43,101],"sensor":[44,102],"at":[45,59,88,98,111],"robot":[47],"wrist":[48],"do":[49],"not":[50],"provide":[51],"transparent":[53],"perception":[54],"needle-tissue":[57,128],"mainly":[62,77,137],"because":[63],"friction":[66],"shaft":[70],"traversed":[73],"tissues.":[74],"Current":[75],"literature":[76],"hardware":[79],"solutions":[80],"problem":[83],"measuring":[85],"forces":[87],"tip.":[91,114],"In":[92],"this":[93],"work":[94],"we":[95],"aim":[96],"instead":[97],"cleaning":[99],"information":[103],"rendering":[105],"only":[106],"estimated":[108],"The":[115,141],"is":[117,148],"based":[118],"on":[119],"online":[121],"identification":[122],"parameters":[125],"model":[131],"isolate":[133],"offset":[134],"values":[136],"due":[138],"friction.":[140],"approach,":[142],"validated":[143],"simulations":[145],"experiments,":[147],"expected":[149],"increase":[151],"sensitivity":[153],"rendered":[156],"tissue":[159],"transitions":[160],"thus":[161],"improving":[162],"safety":[163],"accuracy":[165],"in":[166],"placement.":[168]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}