{"id":"https://openalex.org/W2132431375","doi":"https://doi.org/10.1109/icra.2011.5979539","title":"Real-time MRI-guided needle placement robot with integrated fiber optic force sensing","display_name":"Real-time MRI-guided needle placement robot with integrated fiber optic force sensing","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2132431375","doi":"https://doi.org/10.1109/icra.2011.5979539","mag":"2132431375"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979539","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5010637524","display_name":"Hao Su","orcid":"https://orcid.org/0000-0003-3299-7418"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Su","raw_affiliation_strings":["Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA","Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, MA 01609, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080425779","display_name":"Michalis N. Zervas","orcid":"https://orcid.org/0000-0002-0651-4059"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Zervas","raw_affiliation_strings":["Center of Holographic Studies and Laser micro-mechaTronics (CHSLT) and NanoEngineering, Science and Technology (NEST), Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA","Center for Holographic Studies and Laser micro-mechaTronics (CHSLT) and NanoEngineering, Science and Technology (NEST), Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, MA 01609, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Holographic Studies and Laser micro-mechaTronics (CHSLT) and NanoEngineering, Science and Technology (NEST), Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Center for Holographic Studies and Laser micro-mechaTronics (CHSLT) and NanoEngineering, Science and Technology (NEST), Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023080139","display_name":"Gregory A. Cole","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory A. Cole","raw_affiliation_strings":["Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA","Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, MA 01609, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013246871","display_name":"Cosme Furlong","orcid":"https://orcid.org/0009-0001-0653-9168"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cosme Furlong","raw_affiliation_strings":["Center of Holographic Studies and Laser micro-mechaTronics (CHSLT) and NanoEngineering, Science and Technology (NEST), Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA","Center for Holographic Studies and Laser micro-mechaTronics (CHSLT) and NanoEngineering, Science and Technology (NEST), Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, MA 01609, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Holographic Studies and Laser micro-mechaTronics (CHSLT) and NanoEngineering, Science and Technology (NEST), Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Center for Holographic Studies and Laser micro-mechaTronics (CHSLT) and NanoEngineering, Science and Technology (NEST), Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057001205","display_name":"Gregory S. Fischer","orcid":"https://orcid.org/0000-0001-6723-6614"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory S. Fischer","raw_affiliation_strings":["Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA","Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, MA 01609, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I107077323"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":93,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1583","last_page":"1588"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9768999814987183,"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/T11377","display_name":"Retinal and Macular Surgery","score":0.9735000133514404,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5292348861694336},{"id":"https://openalex.org/keywords/prostate-brachytherapy","display_name":"Prostate brachytherapy","score":0.48261937499046326},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4623355567455292},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4425398111343384},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3972645699977875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3763737678527832},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34374111890792847},{"id":"https://openalex.org/keywords/brachytherapy","display_name":"Brachytherapy","score":0.1366756558418274}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5292348861694336},{"id":"https://openalex.org/C2778648096","wikidata":"https://www.wikidata.org/wiki/Q17009878","display_name":"Prostate brachytherapy","level":4,"score":0.48261937499046326},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4623355567455292},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4425398111343384},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3972645699977875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3763737678527832},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34374111890792847},{"id":"https://openalex.org/C2777416452","wikidata":"https://www.wikidata.org/wiki/Q896687","display_name":"Brachytherapy","level":3,"score":0.1366756558418274},{"id":"https://openalex.org/C509974204","wikidata":"https://www.wikidata.org/wiki/Q180507","display_name":"Radiation therapy","level":2,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5979539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979539","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320338273","display_name":"Congressionally Directed Medical Research Programs","ror":"https://ror.org/03g2zjp07"},{"id":"https://openalex.org/F4320338485","display_name":"DOD Prostate Cancer Research Program","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W128678390","https://openalex.org/W142999565","https://openalex.org/W145266174","https://openalex.org/W198587296","https://openalex.org/W1490766191","https://openalex.org/W1496911279","https://openalex.org/W1975379801","https://openalex.org/W1981822312","https://openalex.org/W1987780882","https://openalex.org/W1998874726","https://openalex.org/W2009813001","https://openalex.org/W2084046440","https://openalex.org/W2090415875","https://openalex.org/W2098110745","https://openalex.org/W2104170781","https://openalex.org/W2112900015","https://openalex.org/W2138735009","https://openalex.org/W2140102789","https://openalex.org/W2142332302","https://openalex.org/W2148876857","https://openalex.org/W2153029808","https://openalex.org/W2159144495","https://openalex.org/W6605178529","https://openalex.org/W6605810503","https://openalex.org/W6605961964","https://openalex.org/W6629215596","https://openalex.org/W6645725200"],"related_works":["https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W785766289","https://openalex.org/W2185997459","https://openalex.org/W2967125373","https://openalex.org/W2063875960"],"abstract_inverted_index":{"This":[0],"paper":[1,118],"presents":[2],"the":[3,74,120,131,137,196],"first":[4],"prototype":[5],"of":[6,41,114,130,136],"a":[7,18,42,52,89],"magnetic":[8],"resonance":[9],"imaging":[10,147],"(MRI)":[11],"compatible":[12],"piezoelectric":[13],"actuated":[14,54],"robot":[15,39,121,138,189],"integrated":[16],"with":[17,26,47,86,183,199],"high-resolution":[19,102],"fiber":[20,94],"optic":[21,95,192],"sensor":[22,97,193],"for":[23,205],"prostate":[24,87,146,206],"brachytherapy":[25],"real-time":[27,179],"in":[28,33],"situ":[29],"needle":[30,45,58,61,104,165,172],"steering":[31,173],"capability":[32,174],"3T":[34,142],"MRI.":[35],"The":[36,57,71,117],"6-degrees-of-freedom":[37],"(DOF)":[38],"consists":[40],"modular":[43],"3-DOF":[44,53],"driver":[46,59,72],"fiducial":[48],"tracking":[49],"frame":[50],"and":[51,64,67,108,127,149,169,203],"Cartesian":[55],"stage.":[56],"provides":[60],"cannula":[62],"rotation":[63],"translation":[65,69],"(2-DOF)":[66],"stylet":[68],"(1-DOF).":[70],"mimics":[73],"manual":[75],"physician":[76],"gesture":[77],"by":[78],"two":[79],"point":[80],"grasping.":[81],"To":[82],"render":[83],"proprioception":[84],"associated":[85],"interventions,":[88],"Fabry":[90],"Perot":[91],"interferometer":[92],"based":[93],"strain":[96],"is":[98,109,139,156,167,175],"designed":[99],"to":[100,111,158],"provide":[101],"axial":[103],"insertion":[105,166],"force":[106,132],"measurement":[107],"robust":[110],"large":[112],"range":[113,202],"temperature":[115],"variation.":[116],"explains":[119],"mechanism,":[122],"controller":[123],"design,":[124],"optical":[125],"modeling":[126,198],"opto-mechanical":[128],"design":[129],"sensor.":[133],"MRI":[134,143,180],"compatibility":[135],"evaluated":[140],"under":[141,177],"using":[144],"standard":[145],"sequences":[148],"average":[150],"signal":[151],"noise":[152],"ratio":[153],"(SNR)":[154],"loss":[155],"limited":[157],"2%":[159],"during":[160,188],"actuator":[161],"motion.":[162,190],"A":[163],"dynamic":[164],"performed":[168],"bevel":[170],"tip":[171],"demonstrated":[176],"continuous":[178],"guidance,":[181],"both":[182],"no":[184],"visually":[185],"identifiable":[186],"interference":[187],"Fiber":[191],"calibration":[194],"validates":[195],"theoretical":[197],"satisfactory":[200],"sensing":[201],"resolution":[204],"intervention.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":14},{"year":2012,"cited_by_count":11}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}