{"id":"https://openalex.org/W1644188304","doi":"https://doi.org/10.1109/coase.2015.7294253","title":"A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery","display_name":"A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1644188304","doi":"https://doi.org/10.1109/coase.2015.7294253","mag":"1644188304"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2015.7294253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2015.7294253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-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/A5069821312","display_name":"Stephen McKinley","orcid":"https://orcid.org/0000-0001-8939-8411"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Stephen McKinley","raw_affiliation_strings":["Mechanical Engineering, University of California, Berkeley","[Mechanical Engineering, University of California, Berkeley]"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Mechanical Engineering, University of California, Berkeley]","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061193324","display_name":"Animesh Garg","orcid":"https://orcid.org/0000-0003-0482-4296"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Animesh Garg","raw_affiliation_strings":["IEOR and EECS, University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"IEOR and EECS, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048540485","display_name":"Siddarth Sen","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddarth Sen","raw_affiliation_strings":["EECS, University of California, Berkeley","EECS University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"EECS, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"EECS University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028759141","display_name":"Rishi Kapadia","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rishi Kapadia","raw_affiliation_strings":["EECS, University of California, Berkeley","EECS University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"EECS, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"EECS University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114179160","display_name":"Adithyavairavan Murali","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adithyavairavan Murali","raw_affiliation_strings":["EECS, University of California, Berkeley","EECS University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"EECS, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"EECS University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081321734","display_name":"Kirk A. Nichols","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kirk Nichols","raw_affiliation_strings":["Mechanical Engineering, Stanford University","[Mechanical Engineering, Stanford University]"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Stanford University","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"[Mechanical Engineering, Stanford University]","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110236661","display_name":"S. M. L. Lim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Susan Lim","raw_affiliation_strings":["Centre for Breast Screening and Surgery, Centre for Robotic Surgery, Singapore"],"affiliations":[{"raw_affiliation_string":"Centre for Breast Screening and Surgery, Centre for Robotic Surgery, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037296168","display_name":"Sachin Patil","orcid":"https://orcid.org/0000-0002-5162-269X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sachin Patil","raw_affiliation_strings":["EECS, University of California, Berkeley","EECS University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"EECS, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"EECS University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049349154","display_name":"Pieter Abbeel","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pieter Abbeel","raw_affiliation_strings":["EECS, University of California, Berkeley","EECS University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"EECS, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"EECS University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Mechanical Engineering, Stanford University","[Mechanical Engineering, Stanford University]"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Stanford University","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"[Mechanical Engineering, Stanford University]","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010019244","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0001-6747-9499"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["IEOR and EECS, University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"IEOR and EECS, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5069821312"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":4.1642,"has_fulltext":false,"cited_by_count":70,"citation_normalized_percentile":{"value":0.93948941,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1151","last_page":"1158"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.9961000084877014,"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/palpation","display_name":"Palpation","score":0.766014575958252},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.6976565718650818},{"id":"https://openalex.org/keywords/silicone","display_name":"Silicone","score":0.5883524417877197},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4892999827861786},{"id":"https://openalex.org/keywords/surgical-instrument","display_name":"Surgical instrument","score":0.46905186772346497},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.44786587357521057},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33118924498558044},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2581862211227417},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2547319531440735},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.24837785959243774},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13579502701759338}],"concepts":[{"id":"https://openalex.org/C2781167935","wikidata":"https://www.wikidata.org/wiki/Q795090","display_name":"Palpation","level":2,"score":0.766014575958252},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.6976565718650818},{"id":"https://openalex.org/C2779769944","wikidata":"https://www.wikidata.org/wiki/Q146439","display_name":"Silicone","level":2,"score":0.5883524417877197},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4892999827861786},{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.46905186772346497},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.44786587357521057},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33118924498558044},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2581862211227417},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2547319531440735},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.24837785959243774},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13579502701759338},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2015.7294253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2015.7294253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320309411","display_name":"University of California Berkeley","ror":"https://ror.org/01an7q238"},{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"},{"id":"https://openalex.org/F4320337373","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W175063537","https://openalex.org/W1516923186","https://openalex.org/W1557783360","https://openalex.org/W1595297024","https://openalex.org/W1938892272","https://openalex.org/W1965563852","https://openalex.org/W1982261161","https://openalex.org/W1986339804","https://openalex.org/W1993160339","https://openalex.org/W1993840291","https://openalex.org/W2019690914","https://openalex.org/W2023199018","https://openalex.org/W2035769068","https://openalex.org/W2036754385","https://openalex.org/W2048613709","https://openalex.org/W2049577501","https://openalex.org/W2054854590","https://openalex.org/W2081276484","https://openalex.org/W2090604109","https://openalex.org/W2100196519","https://openalex.org/W2109660190","https://openalex.org/W2110247861","https://openalex.org/W2111417878","https://openalex.org/W2121019374","https://openalex.org/W2121363846","https://openalex.org/W2123242181","https://openalex.org/W2126671448","https://openalex.org/W2133066598","https://openalex.org/W2139590107","https://openalex.org/W2147462102","https://openalex.org/W2150630468","https://openalex.org/W2160636558","https://openalex.org/W2165831226","https://openalex.org/W2168766990","https://openalex.org/W2169817992","https://openalex.org/W2324505963","https://openalex.org/W4211131370","https://openalex.org/W6682507803"],"related_works":["https://openalex.org/W2396260350","https://openalex.org/W1481335984","https://openalex.org/W2323625407","https://openalex.org/W1503243521","https://openalex.org/W2627174696","https://openalex.org/W2417898593","https://openalex.org/W2068356387","https://openalex.org/W2683098030","https://openalex.org/W3002123865","https://openalex.org/W2084780923"],"abstract_inverted_index":{"We":[0,97,117],"present":[1],"the":[2,35,77,86,151,171],"design":[3],"and":[4,54,61,74,143],"evaluation":[5],"of":[6,70,79,124,138,159,166],"a":[7,30,42,68,136,164],"novel":[8],"low-cost":[9],"palpation":[10,103],"probe":[11,26,48,152],"for":[12,19,100],"Robot":[13],"assisted":[14],"Minimally":[15],"Invasive":[16],"Surgery":[17],"(RMIS)":[18],"localizing":[20],"subcutaneous":[21,113,131,155],"blood":[22,114],"vessels.":[23],"It":[24],"measures":[25],"tip":[27,37],"deflection":[28],"using":[29],"Hall":[31],"Effect":[32],"sensor":[33],"as":[34,112],"spherical":[36],"is":[38,49],"moved":[39],"tangentially":[40],"across":[41],"surface":[43],"under":[44],"automated":[45],"control.":[46],"The":[47,65],"intended":[50],"to":[51,168],"be":[52],"single-use":[53],"disposable,":[55],"built":[56],"from":[57],"3D":[58],"printed":[59],"parts":[60],"commercially":[62],"available":[63],"electronics.":[64],"prototype":[66],"has":[67],"cross-section":[69],"less":[71],"than":[72],"15mm\u00d710mm":[73],"fits":[75],"on":[76],"end":[78],"an":[80],"8mm":[81],"diameter":[82,160],"needle":[83],"driver":[84],"in":[85,157],"Intuitive":[87],"Surgical":[88],"da":[89],"Vinci":[90],"<sup":[91],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[92],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u00ae</sup>":[93],"Research":[94],"Kit":[95],"(dVRK).":[96],"report":[98],"experiments":[99],"quasi-static":[101],"sliding":[102,144],"with":[104,109,121,135],"silicone":[105,125],"based":[106],"tissue":[107,172],"phantoms":[108,158],"embedded":[110],"cylinders":[111,126],"vessel":[115],"phantoms.":[116],"analyzed":[118],"signal-to-noise":[119],"ratios":[120],"multiple":[122],"diameters":[123],"(1.58-4.75":[127],"mm)":[128,134,142],"at":[129,163],"varying":[130],"depths":[132,140],"(1-5":[133],"range":[137],"indentation":[139],"(0-8":[141],"speeds":[145],"(0.5-21":[146],"mm/s).":[147],"Results":[148],"suggest":[149],"that":[150],"can":[153],"detect":[154],"structures":[156],"2.25":[161],"mm":[162],"depth":[165],"up":[167],"5mm":[169],"below":[170],"surface.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}