{"id":"https://openalex.org/W4294975271","doi":"https://doi.org/10.1109/embc48229.2022.9871792","title":"Towards a Closed-loop Neuro-Robotic Approach to DBS Electrode Implantation based on Real-Time Wrist Rigidity Evaluation","display_name":"Towards a Closed-loop Neuro-Robotic Approach to DBS Electrode Implantation based on Real-Time Wrist Rigidity Evaluation","publication_year":2022,"publication_date":"2022-07-11","ids":{"openalex":"https://openalex.org/W4294975271","doi":"https://doi.org/10.1109/embc48229.2022.9871792","pmid":"https://pubmed.ncbi.nlm.nih.gov/36086618"},"language":"en","primary_location":{"id":"doi:10.1109/embc48229.2022.9871792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc48229.2022.9871792","pdf_url":null,"source":{"id":"https://openalex.org/S4363607706","display_name":"2022 44th Annual International Conference of the IEEE Engineering in Medicine &amp; Biology Society (EMBC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 44th Annual International Conference of the IEEE Engineering in Medicine &amp; 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/A5085429057","display_name":"T\u00e2nia Baptista","orcid":"https://orcid.org/0000-0003-1130-3499"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Tania Sousa Baptista","raw_affiliation_strings":["Faculdade de Ci&#x00EA;ncias da Universidade de Lisboa,Lisbon","INESC TEC, Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"Faculdade de Ci&#x00EA;ncias da Universidade de Lisboa,Lisbon","institution_ids":["https://openalex.org/I141596103"]},{"raw_affiliation_string":"INESC TEC, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038558903","display_name":"Manuel Rito","orcid":null},"institutions":[{"id":"https://openalex.org/I3018176973","display_name":"Hospital de S\u00e3o Jo\u00e3o","ror":"https://ror.org/04qsnc772","country_code":"PT","type":"healthcare","lineage":["https://openalex.org/I3018176973"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Manuel Rito","raw_affiliation_strings":["University Hospital S. Joao,Neurosurgery Department,Porto,Portugal","Neurosurgery Department, University Hospital S. Joao, Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"University Hospital S. Joao,Neurosurgery Department,Porto,Portugal","institution_ids":["https://openalex.org/I3018176973"]},{"raw_affiliation_string":"Neurosurgery Department, University Hospital S. Joao, Porto, Portugal","institution_ids":["https://openalex.org/I3018176973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038753275","display_name":"Clara Chamadoira","orcid":"https://orcid.org/0000-0001-8864-481X"},"institutions":[{"id":"https://openalex.org/I3018176973","display_name":"Hospital de S\u00e3o Jo\u00e3o","ror":"https://ror.org/04qsnc772","country_code":"PT","type":"healthcare","lineage":["https://openalex.org/I3018176973"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Clara Chamadoira","raw_affiliation_strings":["University Hospital S. Joao,Neurosurgery Department,Porto,Portugal","Neurosurgery Department, University Hospital S. Joao, Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"University Hospital S. Joao,Neurosurgery Department,Porto,Portugal","institution_ids":["https://openalex.org/I3018176973"]},{"raw_affiliation_string":"Neurosurgery Department, University Hospital S. Joao, Porto, Portugal","institution_ids":["https://openalex.org/I3018176973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015359007","display_name":"Lu\u00eds F. Rocha","orcid":"https://orcid.org/0000-0002-8680-4290"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Luis Freitas Rocha","raw_affiliation_strings":["INESC TEC,Porto,Portugal","INESC TEC, Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"INESC TEC,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"INESC TEC, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048542432","display_name":"G. Evans","orcid":"https://orcid.org/0000-0003-0434-6925"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I4210117229","display_name":"Portuguese Air Transportations (Portugal)","ror":"https://ror.org/02fsnvs68","country_code":"PT","type":"company","lineage":["https://openalex.org/I4210117229"]},{"id":"https://openalex.org/I2800204708","display_name":"LIP - Laboratory of Instrumentation and Experimental Particle Physics","ror":"https://ror.org/01hys1667","country_code":"PT","type":"facility","lineage":["https://openalex.org/I2800204708"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Guiomar Evans","raw_affiliation_strings":["LIP,Lisbon,Portugal","LIP, Lisbon, Portugal","Department de Fisica, Faculdade de Ciencias da Universidade de Lisboa, Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"LIP,Lisbon,Portugal","institution_ids":["https://openalex.org/I4210117229"]},{"raw_affiliation_string":"LIP, Lisbon, Portugal","institution_ids":["https://openalex.org/I2800204708"]},{"raw_affiliation_string":"Department de Fisica, Faculdade de Ciencias da Universidade de Lisboa, Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015159230","display_name":"Jo\u00e3o Paulo Silva Cunha","orcid":"https://orcid.org/0000-0003-4131-9045"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Joao Paulo Silva Cunha","raw_affiliation_strings":["INESC TEC,Porto,Portugal","INESC TEC, Porto, Portugal","Electrical and Computer Engineering Department, Faculty of Engineering, University of Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"INESC TEC,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"INESC TEC, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"Electrical and Computer Engineering Department, Faculty of Engineering, University of Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5085429057"],"corresponding_institution_ids":["https://openalex.org/I141596103","https://openalex.org/I4210166615"],"apc_list":null,"apc_paid":null,"fwci":0.7762,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73705179,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"20","issue":null,"first_page":"4830","last_page":"4833"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10919","display_name":"Neurological disorders and treatments","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10919","display_name":"Neurological disorders and treatments","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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/T10085","display_name":"Parkinson's Disease Mechanisms and Treatments","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/deep-brain-stimulation","display_name":"Deep brain stimulation","score":0.6798020005226135},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6193590760231018},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5177708864212036},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.4972863495349884},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4752086102962494},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.4620250165462494},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.42837655544281006},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4226493835449219},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1419169008731842},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13162794709205627},{"id":"https://openalex.org/keywords/parkinsons-disease","display_name":"Parkinson's disease","score":0.09571093320846558},{"id":"https://openalex.org/keywords/nuclear-medicine","display_name":"Nuclear medicine","score":0.07996776700019836}],"concepts":[{"id":"https://openalex.org/C2778542668","wikidata":"https://www.wikidata.org/wiki/Q618076","display_name":"Deep brain stimulation","level":4,"score":0.6798020005226135},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6193590760231018},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5177708864212036},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.4972863495349884},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4752086102962494},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.4620250165462494},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.42837655544281006},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4226493835449219},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1419169008731842},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13162794709205627},{"id":"https://openalex.org/C2779734285","wikidata":"https://www.wikidata.org/wiki/Q11085","display_name":"Parkinson's disease","level":3,"score":0.09571093320846558},{"id":"https://openalex.org/C2989005","wikidata":"https://www.wikidata.org/wiki/Q214963","display_name":"Nuclear medicine","level":1,"score":0.07996776700019836},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2779134260","wikidata":"https://www.wikidata.org/wiki/Q12136","display_name":"Disease","level":2,"score":0.0}],"mesh":[{"descriptor_ui":"D004567","descriptor_name":"Electrodes, Implanted","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004567","descriptor_name":"Electrodes, Implanted","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004567","descriptor_name":"Electrodes, Implanted","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":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013238","descriptor_name":"Stereotaxic Techniques","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013238","descriptor_name":"Stereotaxic Techniques","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013238","descriptor_name":"Stereotaxic Techniques","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014953","descriptor_name":"Wrist","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014953","descriptor_name":"Wrist","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014953","descriptor_name":"Wrist","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D046690","descriptor_name":"Deep Brain Stimulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D046690","descriptor_name":"Deep Brain Stimulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D046690","descriptor_name":"Deep Brain Stimulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc48229.2022.9871792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc48229.2022.9871792","pdf_url":null,"source":{"id":"https://openalex.org/S4363607706","display_name":"2022 44th Annual International Conference of the IEEE Engineering in Medicine &amp; Biology Society (EMBC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 44th Annual International Conference of the IEEE Engineering in Medicine &amp; Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:36086618","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36086618","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":[{"score":0.4300000071525574,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1547020971","https://openalex.org/W1964382166","https://openalex.org/W1974898145","https://openalex.org/W1978179655","https://openalex.org/W1983965289","https://openalex.org/W1988874269","https://openalex.org/W1993408885","https://openalex.org/W2001777135","https://openalex.org/W2023819204","https://openalex.org/W2057244098","https://openalex.org/W2077712601","https://openalex.org/W2141158844","https://openalex.org/W2155512611","https://openalex.org/W2325142862","https://openalex.org/W2610532680","https://openalex.org/W2899088492","https://openalex.org/W2999251631","https://openalex.org/W4244696924","https://openalex.org/W6772552694"],"related_works":["https://openalex.org/W622158969","https://openalex.org/W2518873333","https://openalex.org/W2114827170","https://openalex.org/W2991111293","https://openalex.org/W3031817477","https://openalex.org/W2806936602","https://openalex.org/W4226043135","https://openalex.org/W3028822299","https://openalex.org/W2887458996","https://openalex.org/W2149121888"],"abstract_inverted_index":{"The":[0,53,100,177],"iHandU":[1,77],"system":[2,66,70,92,102,138,153,199],"is":[3,33,44,59,159],"a":[4,68,82,86,97,166,217],"wearable":[5],"device":[6],"that":[7,27],"quantitatively":[8],"evaluates":[9],"changes":[10],"in":[11,37,67,118,193,216],"wrist":[12],"rigidity":[13],"during":[14],"Deep":[15],"Brain":[16],"Stimulation":[17],"(DBS)":[18],"surgery,":[19,39],"allowing":[20],"clinicians":[21],"to":[22,46,60,146,161,188],"find":[23],"optimal":[24],"stimulation":[25,184],"settings":[26],"reduce":[28,50],"patient":[29],"symptoms.":[30],"Robotic":[31],"accuracy":[32,119,158,178],"also":[34],"especially":[35],"relevant":[36],"DBS":[38,180,214],"as":[40],"accurate":[41],"electrode":[42,181,215],"placement":[43],"required":[45],"increase":[47],"effectiveness":[48],"and":[49,75,90,140,183,209],"side":[51],"effects.":[52],"main":[54],"goal":[55],"of":[56,64,85,105,149,168,179,204,212],"this":[57,80],"work":[58],"integrate":[61],"the":[62,76,108,132,136,141,144,147,150,174,205,213],"advantages":[63],"each":[65],"closed-loop":[69],"between":[71,121,135],"an":[72],"industrial":[73],"robot":[74],"system.":[78],"For":[79],"purpose,":[81],"comparative":[83],"analysis":[84],"Leksell":[87,151],"stereotactic":[88,109],"frame":[89,110],"neuro-robotic":[91,101,137,163,198],"accuracies":[93],"was":[94],"performed":[95],"using":[96],"lab-made":[98],"phantom.":[99],"reached":[103,111],"90%":[104],"trajectories,":[106],"while":[107],"all":[112],"trajectories.":[113],"There":[114],"are":[115],"significant":[116],"differences":[117],"errors":[120,139],"these":[122],"trajectories":[123],"(p":[124],"<":[125],"0.0001),":[126],"which":[127],"can":[128],"be":[129],"explained":[130],"by":[131],"high":[133],"correlation":[134],"distance":[142],"from":[143],"trajectory":[145],"origin":[148],"coordinate":[152],"(\u03c1":[154],"=":[155],"0.72).":[156],"Overall":[157],"comparable":[160],"existing":[162],"systems,":[164],"achieving":[165],"deviation":[167],"(1.0":[169],"\u00b1":[170],"0.5)":[171],"mm":[172],"at":[173],"target":[175],"point.":[176],"positioning":[182,211],"parameters":[185],"choice":[186],"leads":[187],"better":[189],"long-term":[190],"clinical":[191],"outcomes":[192],"Parkinson's":[194],"disease":[195],"patients.":[196],"Our":[197],"combines":[200],"real-time":[201],"feedback":[202],"assessment":[203],"patient's":[206],"symptomatic":[207],"response":[208],"automatic":[210],"specific":[218],"brain":[219],"area.":[220]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}