{"id":"https://openalex.org/W2324385144","doi":"https://doi.org/10.1109/embc.2014.6943608","title":"Path planning for robot-assisted active flexible needle using improved Rapidly-Exploring Random trees","display_name":"Path planning for robot-assisted active flexible needle using improved Rapidly-Exploring Random trees","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W2324385144","doi":"https://doi.org/10.1109/embc.2014.6943608","mag":"2324385144","pmid":"https://pubmed.ncbi.nlm.nih.gov/25569976"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2014.6943608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2014.6943608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","pubmed"],"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/A5113732926","display_name":"Yan-Jiang Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]},{"id":"https://openalex.org/I149251103","display_name":"Thomas Jefferson University","ror":"https://ror.org/00ysqcn41","country_code":"US","type":"education","lineage":["https://openalex.org/I149251103"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Yan-Jiang Zhao","raw_affiliation_strings":["Department of Radiation Oncology, Thomas Jefferson University, Philadelphia, PA, USA","Intelligent Machine Institute, Harbin University of Science and Technology, Harbin, Heilongjiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Radiation Oncology, Thomas Jefferson University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I149251103"]},{"raw_affiliation_string":"Intelligent Machine Institute, Harbin University of Science and Technology, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013583763","display_name":"Felix Orlando Maria Joseph","orcid":"https://orcid.org/0000-0001-8500-7604"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Felix Orlando Maria Joseph","raw_affiliation_strings":["Case Western Reserve University, Cleveland, OH, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Case Western Reserve University, Cleveland, OH, US","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100812955","display_name":"Kaiguo Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I184565670","display_name":"Georgetown University","ror":"https://ror.org/05vzafd60","country_code":"US","type":"education","lineage":["https://openalex.org/I184565670"]},{"id":"https://openalex.org/I2802534011","display_name":"MedStar Georgetown University Hospital","ror":"https://ror.org/03ja1ak26","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2802534011","https://openalex.org/I86755215"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaiguo Yan","raw_affiliation_strings":["Department of Radiation Medicine, Medstar Georgetown University Hospital, Washington, DC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Radiation Medicine, Medstar Georgetown University Hospital, Washington, DC, USA","institution_ids":["https://openalex.org/I184565670","https://openalex.org/I2802534011"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074956473","display_name":"Naresh V. Datla","orcid":"https://orcid.org/0000-0001-7699-963X"},"institutions":[{"id":"https://openalex.org/I84392919","display_name":"Temple University","ror":"https://ror.org/00kx1jb78","country_code":"US","type":"education","lineage":["https://openalex.org/I84392919"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Naresh V. Datla","raw_affiliation_strings":["Department of Mechanical Engineering, Temple University, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Temple University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I84392919"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yong-De Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong-De Zhang","raw_affiliation_strings":["Intelligent Machine Institute, Harbin University of Science and Technology, Harbin, Heilongjiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Machine Institute, Harbin University of Science and Technology, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005758666","display_name":"Tarun K. Podder","orcid":"https://orcid.org/0000-0002-2925-1431"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tarun K. Podder","raw_affiliation_strings":["Departments of Radiation Oncology, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departments of Radiation Oncology, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071236120","display_name":"Parsaoran Hutapea","orcid":"https://orcid.org/0000-0001-6917-1252"},"institutions":[{"id":"https://openalex.org/I84392919","display_name":"Temple University","ror":"https://ror.org/00kx1jb78","country_code":"US","type":"education","lineage":["https://openalex.org/I84392919"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Parsaoran Hutapea","raw_affiliation_strings":["Department of Mechanical Engineering, Temple University, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Temple University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I84392919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049018134","display_name":"Adam P. Dicker","orcid":"https://orcid.org/0000-0003-0733-3337"},"institutions":[{"id":"https://openalex.org/I149251103","display_name":"Thomas Jefferson University","ror":"https://ror.org/00ysqcn41","country_code":"US","type":"education","lineage":["https://openalex.org/I149251103"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adam Dicker","raw_affiliation_strings":["Department of Radiation Oncology, Thomas Jefferson University, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Radiation Oncology, Thomas Jefferson University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I149251103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103426906","display_name":"Yan Yu","orcid":"https://orcid.org/0000-0002-5210-3971"},"institutions":[{"id":"https://openalex.org/I149251103","display_name":"Thomas Jefferson University","ror":"https://ror.org/00ysqcn41","country_code":"US","type":"education","lineage":["https://openalex.org/I149251103"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Yu","raw_affiliation_strings":["Department of Radiation Oncology, Thomas Jefferson University, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Radiation Oncology, Thomas Jefferson University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I149251103"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5369,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.71606712,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2014","issue":null,"first_page":"380","last_page":"383"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9983999729156494,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/motion-planning","display_name":"Motion planning","score":0.8660134673118591},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7737598419189453},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.6785171031951904},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6295497417449951},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.5943229794502258},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5803757309913635},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5499163269996643},{"id":"https://openalex.org/keywords/greedy-algorithm","display_name":"Greedy algorithm","score":0.4856530427932739},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.4816085994243622},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.479840487241745},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4120883345603943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3594624996185303},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19555959105491638}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8660134673118591},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7737598419189453},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.6785171031951904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6295497417449951},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.5943229794502258},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5803757309913635},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5499163269996643},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.4856530427932739},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.4816085994243622},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.479840487241745},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4120883345603943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3594624996185303},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19555959105491638},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc.2014.6943608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2014.6943608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society","raw_type":"proceedings-article"},{"id":"pmid:25569976","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/25569976","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":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W1985036816","https://openalex.org/W2029990316","https://openalex.org/W2035823739","https://openalex.org/W2040709641","https://openalex.org/W2044018641","https://openalex.org/W2057960800","https://openalex.org/W2072558512","https://openalex.org/W2098306053","https://openalex.org/W2101817128","https://openalex.org/W2107464528","https://openalex.org/W2146593008","https://openalex.org/W6675216798"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W1987694097","https://openalex.org/W3158818664","https://openalex.org/W2797949337","https://openalex.org/W2863424594","https://openalex.org/W2372633663","https://openalex.org/W1827895227","https://openalex.org/W4388720133","https://openalex.org/W2564325388","https://openalex.org/W2108906364"],"abstract_inverted_index":{"In":[0],"robot-assisted":[1,58],"needle-based":[2],"medical":[3],"procedures,":[4],"path":[5,53,119],"planning":[6,54,135],"for":[7,21,56,131,136],"a":[8,49,57],"flexible":[9,60],"needle":[10,31,45],"is":[11,64],"challenging":[12],"with":[13,71],"regard":[14],"to":[15,25,84,107],"time":[16],"consumption":[17],"and":[18,33,39,51,74,87,120],"searching":[19,123],"robustness":[20,121],"the":[22,26,30,34,43,85,93,96,108,132],"solution":[23],"due":[24],"nonholonomic":[27],"motion":[28],"of":[29,36,95,114,118,122],"tip":[32],"presence":[35],"anatomic":[37],"obstacles":[38],"sensitive":[40],"organs":[41],"in":[42,112],"intended":[44],"path.":[46],"We":[47],"propose":[48],"novel":[50],"fast":[52],"algorithm":[55,63,101,111],"active":[59],"needle.":[61],"The":[62,99],"based":[65],"on":[66],"Rapidly-Exploring":[67],"Random":[68],"Trees":[69],"combined":[70],"reachability-guided":[72],"strategy":[73],"greedy":[75],"heuristic":[76],"strategy.":[77],"Linear":[78],"segments":[79],"are":[80,90],"taken":[81],"into":[82],"consideration":[83],"paths,":[86],"insertion":[88],"orientations":[89],"relaxed":[91],"by":[92],"introduction":[94],"linear":[97],"segments.":[98],"proposed":[100],"yields":[102],"superior":[103],"results":[104],"as":[105],"compared":[106],"commonly":[109],"used":[110],"terms":[113],"computational":[115],"speed,":[116],"form":[117],"ability,":[124],"which":[125],"potentially":[126],"can":[127],"make":[128],"it":[129],"suitable":[130],"real-time":[133],"intraoperative":[134],"clinical":[137],"procedures.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}