{"id":"https://openalex.org/W2534808597","doi":"https://doi.org/10.1109/embc.2016.7591878","title":"Towards synergistic control of hands-on needle insertion with automated needle steering for MRI-guided prostate interventions","display_name":"Towards synergistic control of hands-on needle insertion with automated needle steering for MRI-guided prostate interventions","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2534808597","doi":"https://doi.org/10.1109/embc.2016.7591878","mag":"2534808597","pmid":"https://pubmed.ncbi.nlm.nih.gov/28269418"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2016.7591878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2016.7591878","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"article","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/A5036607671","display_name":"Marek Wartenberg","orcid":"https://orcid.org/0000-0003-1084-4242"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I190270569","display_name":"Universit\u00e9 du Qu\u00e9bec en Abitibi-T\u00e9miscamingue","ror":"https://ror.org/02mqrrm75","country_code":"CA","type":"education","lineage":["https://openalex.org/I190270569","https://openalex.org/I49663120"]}],"countries":["CA","DE"],"is_corresponding":true,"raw_author_name":"Marek Wartenberg","raw_affiliation_strings":["Graduate School of Computational Engineering, Technische Universit\u00e4t Darmstadt, Germany","Underground communications research laboratory (LRTCS), Universite du Quebec en Abitibi-Temiscamingue (UQAT), Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Graduate School of Computational Engineering, Technische Universit\u00e4t Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Underground communications research laboratory (LRTCS), Universite du Quebec en Abitibi-Temiscamingue (UQAT), Quebec, Canada","institution_ids":["https://openalex.org/I190270569"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046099375","display_name":"Niravkumar Patel","orcid":"https://orcid.org/0000-0002-8113-6078"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I190270569","display_name":"Universit\u00e9 du Qu\u00e9bec en Abitibi-T\u00e9miscamingue","ror":"https://ror.org/02mqrrm75","country_code":"CA","type":"education","lineage":["https://openalex.org/I190270569","https://openalex.org/I49663120"]}],"countries":["CA","DE"],"is_corresponding":false,"raw_author_name":"Niravkumar Patel","raw_affiliation_strings":["Institute of Fluid Mechanics and Aerodynamics, Technische Universit\u00e4t Darmstadt, Germany","Underground communications research laboratory (LRTCS), Universite du Quebec en Abitibi-Temiscamingue (UQAT), Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Institute of Fluid Mechanics and Aerodynamics, Technische Universit\u00e4t Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Underground communications research laboratory (LRTCS), Universite du Quebec en Abitibi-Temiscamingue (UQAT), Quebec, Canada","institution_ids":["https://openalex.org/I190270569"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100438703","display_name":"Gang Li","orcid":"https://orcid.org/0000-0002-4991-1265"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I190270569","display_name":"Universit\u00e9 du Qu\u00e9bec en Abitibi-T\u00e9miscamingue","ror":"https://ror.org/02mqrrm75","country_code":"CA","type":"education","lineage":["https://openalex.org/I190270569","https://openalex.org/I49663120"]}],"countries":["CA","DE"],"is_corresponding":false,"raw_author_name":"Gang Li","raw_affiliation_strings":["Signal Processing Group, Technische Universit\u00e4t Darmstadt, Germany","Underground communications research laboratory (LRTCS), Universite du Quebec en Abitibi-Temiscamingue (UQAT), Quebec, Canada"],"affiliations":[{"raw_affiliation_string":"Signal Processing Group, Technische Universit\u00e4t Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Underground communications research laboratory (LRTCS), Universite du Quebec en Abitibi-Temiscamingue (UQAT), Quebec, Canada","institution_ids":["https://openalex.org/I190270569"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057001205","display_name":"Gregory S. Fischer","orcid":"https://orcid.org/0000-0001-6723-6614"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gregory S. Fischer","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5036607671"],"corresponding_institution_ids":["https://openalex.org/I190270569","https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":0.1709,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.57729738,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"164","issue":null,"first_page":"5116","last_page":"5119"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9932000041007996,"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":0.9896000027656555,"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/workspace","display_name":"Workspace","score":0.6270967721939087},{"id":"https://openalex.org/keywords/percutaneous","display_name":"Percutaneous","score":0.5482306480407715},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5382667779922485},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.5366491675376892},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.5169281363487244},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48715469241142273},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38904571533203125},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3823682367801666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33939409255981445},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.3198518753051758},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2175672948360443},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.1388413906097412}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6270967721939087},{"id":"https://openalex.org/C2780813298","wikidata":"https://www.wikidata.org/wiki/Q2071287","display_name":"Percutaneous","level":2,"score":0.5482306480407715},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5382667779922485},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.5366491675376892},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.5169281363487244},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48715469241142273},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38904571533203125},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3823682367801666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33939409255981445},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3198518753051758},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2175672948360443},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.1388413906097412},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001707","descriptor_name":"Biopsy, Needle","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D001707","descriptor_name":"Biopsy, Needle","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D001707","descriptor_name":"Biopsy, Needle","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","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":"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":"D011467","descriptor_name":"Prostate","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D011467","descriptor_name":"Prostate","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D011467","descriptor_name":"Prostate","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},{"descriptor_ui":"D019047","descriptor_name":"Phantoms, Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019047","descriptor_name":"Phantoms, Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019047","descriptor_name":"Phantoms, Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D053783","descriptor_name":"Magnetic Resonance Imaging, Interventional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D053783","descriptor_name":"Magnetic Resonance Imaging, Interventional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D053783","descriptor_name":"Magnetic Resonance Imaging, Interventional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc.2016.7591878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2016.7591878","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:28269418","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/28269418","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":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W146858336","https://openalex.org/W1550622122","https://openalex.org/W1995104587","https://openalex.org/W2015719854","https://openalex.org/W2017756316","https://openalex.org/W2017854888","https://openalex.org/W2034983909","https://openalex.org/W2040709641","https://openalex.org/W2044544244","https://openalex.org/W2074752419","https://openalex.org/W2084452455","https://openalex.org/W2091884377","https://openalex.org/W2095831419","https://openalex.org/W2100593987","https://openalex.org/W2102948618","https://openalex.org/W2120026602","https://openalex.org/W2121358567","https://openalex.org/W2134720593","https://openalex.org/W2146761577","https://openalex.org/W2155672172","https://openalex.org/W2164018716","https://openalex.org/W2170354816","https://openalex.org/W2180065899","https://openalex.org/W2296595409","https://openalex.org/W4250925410","https://openalex.org/W6669299237"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556","https://openalex.org/W2073535592"],"abstract_inverted_index":{"A":[0],"significant":[1],"hurdle":[2],"of":[3,44,57,65,80,101,108],"accurate":[4],"needle":[5,15,33,40,81,86],"tip":[6],"placement":[7],"in":[8],"percutaneous":[9],"needle-based":[10],"prostate":[11],"interventions":[12],"is":[13],"unmodeled":[14],"deflection":[16],"and":[17,105],"tissue":[18],"deformation":[19],"during":[20],"insertion.":[21,87],"This":[22],"paper":[23],"introduces":[24],"a":[25,52,92],"robotic":[26,58],"platform":[27],"for":[28],"developing":[29],"synergistic,":[30],"cooperatively":[31],"controlled":[32],"insertion":[34],"algorithms":[35],"decoupled":[36],"from":[37],"closed-loop":[38],"image-guided":[39,77],"steering.":[41],"Shared":[42],"control":[43,64,79],"the":[45,55,66,69],"surgical":[46],"workspace":[47],"through":[48],"human-robot":[49],"synergy":[50],"creates":[51],"balance":[53],"between":[54],"accuracy":[56],"autonomy":[59],"while":[60],"still":[61],"providing":[62],"ultimate":[63],"procedure":[67],"to":[68],"physician.":[70],"Validation":[71],"tests":[72],"were":[73,89],"performed":[74],"using":[75],"camera-based":[76],"feedback":[78],"steering":[82],"with":[83,96],"cooperative":[84],"hands-on":[85],"Locations":[88],"targeted":[90],"inside":[91],"transparent":[93],"gelatin":[94],"phantom":[95],"an":[97],"average":[98],"total":[99],"error":[100,107],"2.68":[102],"\u00b1":[103,110],"0.34mm":[104],"in-plane":[106],"2.59":[109],"0.30mm.":[111]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
