{"id":"https://openalex.org/W2083234398","doi":"https://doi.org/10.1109/icra.2013.6630796","title":"Robot-assisted lung motion compensation during needle insertion","display_name":"Robot-assisted lung motion compensation during needle insertion","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2083234398","doi":"https://doi.org/10.1109/icra.2013.6630796","mag":"2083234398"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630796","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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/A5057991229","display_name":"S. Farokh Atashzar","orcid":"https://orcid.org/0000-0001-8495-8440"},"institutions":[{"id":"https://openalex.org/I131944076","display_name":"Lawson Health Research Institute","ror":"https://ror.org/051gsh239","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I131944076"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S. Farokh Atashzar","raw_affiliation_strings":["Lawson Health Research Institute, London, ON, CA","Canadian Surg. Technol. & Adv. Robot. (CSTAR), Lawson Health Res. Inst., London, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lawson Health Research Institute, London, ON, CA","institution_ids":[]},{"raw_affiliation_string":"Canadian Surg. Technol. & Adv. Robot. (CSTAR), Lawson Health Res. Inst., London, ON, Canada","institution_ids":["https://openalex.org/I131944076"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014986943","display_name":"Iman Khalaji","orcid":null},"institutions":[{"id":"https://openalex.org/I131944076","display_name":"Lawson Health Research Institute","ror":"https://ror.org/051gsh239","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I131944076"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Iman Khalaji","raw_affiliation_strings":["Lawson Health Research Institute, Canadian Surgical Technologies and Advanced Robotics, Canada","Canadian Surg. Technol. & Adv. Robot. (CSTAR), Lawson Health Res. Inst., London, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lawson Health Research Institute, Canadian Surgical Technologies and Advanced Robotics, Canada","institution_ids":["https://openalex.org/I131944076"]},{"raw_affiliation_string":"Canadian Surg. Technol. & Adv. Robot. (CSTAR), Lawson Health Res. Inst., London, ON, Canada","institution_ids":["https://openalex.org/I131944076"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052293187","display_name":"Mahya Shahbazi","orcid":"https://orcid.org/0000-0002-9630-8434"},"institutions":[{"id":"https://openalex.org/I131944076","display_name":"Lawson Health Research Institute","ror":"https://ror.org/051gsh239","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I131944076"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mahya Shahbazi","raw_affiliation_strings":["Lawson Health Research Institute, Canadian Surgical Technologies and Advanced Robotics, Canada","Canadian Surg. Technol. & Adv. Robot. (CSTAR), Lawson Health Res. Inst., London, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lawson Health Research Institute, Canadian Surgical Technologies and Advanced Robotics, Canada","institution_ids":["https://openalex.org/I131944076"]},{"raw_affiliation_string":"Canadian Surg. Technol. & Adv. Robot. (CSTAR), Lawson Health Res. Inst., London, ON, Canada","institution_ids":["https://openalex.org/I131944076"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042435998","display_name":"Ali Talasaz","orcid":null},"institutions":[{"id":"https://openalex.org/I131944076","display_name":"Lawson Health Research Institute","ror":"https://ror.org/051gsh239","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I131944076"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ali Talasaz","raw_affiliation_strings":["Lawson Health Research Institute, Canadian Surgical Technologies and Advanced Robotics, Canada","Canadian Surg. Technol. & Adv. Robot. (CSTAR), Lawson Health Res. Inst., London, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lawson Health Research Institute, Canadian Surgical Technologies and Advanced Robotics, Canada","institution_ids":["https://openalex.org/I131944076"]},{"raw_affiliation_string":"Canadian Surg. Technol. & Adv. Robot. (CSTAR), Lawson Health Res. Inst., London, ON, Canada","institution_ids":["https://openalex.org/I131944076"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032056508","display_name":"Rajni V. Patel","orcid":"https://orcid.org/0000-0003-3431-4617"},"institutions":[{"id":"https://openalex.org/I131944076","display_name":"Lawson Health Research Institute","ror":"https://ror.org/051gsh239","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I131944076"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Rajni V. Patel","raw_affiliation_strings":["Lawson Health Research Institute, London, ON, CA","Canadian Surg. Technol. & Adv. Robot. (CSTAR), Lawson Health Res. Inst., London, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lawson Health Research Institute, London, ON, CA","institution_ids":[]},{"raw_affiliation_string":"Canadian Surg. Technol. & Adv. Robot. (CSTAR), Lawson Health Res. Inst., London, ON, Canada","institution_ids":["https://openalex.org/I131944076"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039782206","display_name":"Michael D. Naish","orcid":"https://orcid.org/0000-0001-7603-7182"},"institutions":[{"id":"https://openalex.org/I131944076","display_name":"Lawson Health Research Institute","ror":"https://ror.org/051gsh239","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I131944076"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michael D. Naish","raw_affiliation_strings":["Lawson Health Research Institute, London, ON, CA","Canadian Surg. Technol. & Adv. Robot. (CSTAR), Lawson Health Res. Inst., London, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lawson Health Research Institute, London, ON, CA","institution_ids":[]},{"raw_affiliation_string":"Canadian Surg. Technol. & Adv. Robot. (CSTAR), Lawson Health Res. Inst., London, ON, Canada","institution_ids":["https://openalex.org/I131944076"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.1333658,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1682","last_page":"1687"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9934999942779541,"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/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/macro","display_name":"Macro","score":0.6305367350578308},{"id":"https://openalex.org/keywords/heartbeat","display_name":"Heartbeat","score":0.6264558434486389},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6031057238578796},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5651747584342957},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5364255309104919},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5304526686668396},{"id":"https://openalex.org/keywords/motion-controller","display_name":"Motion controller","score":0.47017282247543335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46229714155197144},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.4593070447444916},{"id":"https://openalex.org/keywords/motion-compensation","display_name":"Motion compensation","score":0.45695000886917114},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.44794559478759766},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4444934129714966},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4260373115539551},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38702088594436646},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3784893751144409},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29436254501342773},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09271365404129028}],"concepts":[{"id":"https://openalex.org/C166955791","wikidata":"https://www.wikidata.org/wiki/Q629579","display_name":"Macro","level":2,"score":0.6305367350578308},{"id":"https://openalex.org/C13852961","wikidata":"https://www.wikidata.org/wiki/Q17021880","display_name":"Heartbeat","level":2,"score":0.6264558434486389},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6031057238578796},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5651747584342957},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5364255309104919},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5304526686668396},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.47017282247543335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46229714155197144},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.4593070447444916},{"id":"https://openalex.org/C128840427","wikidata":"https://www.wikidata.org/wiki/Q1302174","display_name":"Motion compensation","level":2,"score":0.45695000886917114},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.44794559478759766},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4444934129714966},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4260373115539551},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38702088594436646},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3784893751144409},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29436254501342773},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09271365404129028},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6630796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630796","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W42301466","https://openalex.org/W1495693799","https://openalex.org/W2008718474","https://openalex.org/W2041673364","https://openalex.org/W2080778070","https://openalex.org/W2100552848","https://openalex.org/W2105853760","https://openalex.org/W2120315429","https://openalex.org/W2127480863","https://openalex.org/W2128702400","https://openalex.org/W2131533646","https://openalex.org/W2140418035","https://openalex.org/W2142717270","https://openalex.org/W2149297660","https://openalex.org/W2151698754","https://openalex.org/W2167094466","https://openalex.org/W2170394522","https://openalex.org/W2171468874","https://openalex.org/W6629790715","https://openalex.org/W6661008162","https://openalex.org/W6679235733"],"related_works":["https://openalex.org/W2354203711","https://openalex.org/W2376683934","https://openalex.org/W2370564582","https://openalex.org/W2369744211","https://openalex.org/W3152555282","https://openalex.org/W2360747016","https://openalex.org/W2157511525","https://openalex.org/W2350319669","https://openalex.org/W2312251062","https://openalex.org/W2356311069"],"abstract_inverted_index":{"In":[0],"this":[1,22,53],"paper,":[2],"a":[3,24,203],"robotic":[4,26],"solution":[5],"is":[6,28,55,128,140],"proposed":[7,170],"to":[8,30,130,167,196],"deal":[9],"with":[10,45,82],"the":[11,36,41,46,62,76,83,95,98,106,109,113,116,132,136,145,160,169,181,185,198,214,217],"challenges":[12],"caused":[13],"by":[14],"lung":[15,58],"motion":[16,34,218],"during":[17],"needle":[18,42,114],"insertion.":[19],"To":[20],"accomplish":[21],"goal,":[23],"macro-micro":[25],"tool":[27],"designed":[29],"compensate":[31],"for":[32,56,179,187,208],"tissue":[33,86,127,189],"using":[35,87],"macro":[37,77,99,110,182],"part,":[38,103,200],"while":[39],"performing":[40],"insertion":[43],"independently":[44],"micro":[47,102,199],"part.":[48],"The":[49,101,138,148],"main":[50],"application":[51],"of":[52,65,97,108,123,135,150,216],"work":[54],"robotics-assisted":[57],"tumor":[59],"biopsy,":[60],"where":[61],"combined":[63],"motions":[64],"respiration":[66],"and":[67,153,184,201],"heartbeat":[68],"may":[69],"compromise":[70],"success.":[71],"An":[72],"impedance-based":[73],"controller":[74,139],"keeps":[75],"reference":[78,118],"coordinate":[79,119],"in":[80,115,159],"contact":[81],"moving":[84],"soft":[85,126],"measurements":[88],"from":[89],"small":[90],"pressure":[91],"sensors":[92],"mounted":[93,104],"at":[94,105],"tip":[96],"shaft.":[100],"end":[107],"robot,":[111],"manipulates":[112],"harmonized":[117],"system.":[120,220],"Preoperative":[121],"identification":[122,151],"ex":[124],"vivo":[125],"performed":[129],"estimate":[131],"dynamic":[133],"behavior":[134],"tissue.":[137],"then":[141],"synthesized":[142],"based":[143],"on":[144],"identified":[146],"model.":[147],"effects":[149],"error":[152],"high":[154],"frequency":[155],"uncertainty":[156],"are":[157],"addressed":[158],"control":[161],"design.":[162],"A":[163],"prototype":[164],"was":[165],"built":[166],"evaluate":[168],"approach":[171],"using:":[172],"1)":[173],"two":[174],"Mitsubishi":[175],"PA-10":[176],"robots,":[177],"one":[178,192],"manipulating":[180],"part":[183],"other":[186],"mimicking":[188],"motion,":[190],"2)":[191],"motorized":[193],"linear":[194],"stage":[195],"handle":[197],"3)":[202],"Phantom":[204],"Omni":[205],"haptic":[206],"device":[207],"remote":[209],"manipulation.":[210],"Experimental":[211],"results":[212],"demonstrate":[213],"performance":[215],"compensation":[219]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
