{"id":"https://openalex.org/W1555731158","doi":"https://doi.org/10.1109/icra.2015.7139346","title":"A virtual sensor for needle deflection estimation during soft-tissue needle insertion","display_name":"A virtual sensor for needle deflection estimation during soft-tissue needle insertion","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1555731158","doi":"https://doi.org/10.1109/icra.2015.7139346","mag":"1555731158"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139346","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5070793109","display_name":"Thomas Lehmann","orcid":"https://orcid.org/0000-0001-7688-3514"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Thomas Lehmann","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, AB, Canada","Department of Electrical and Computer Engineering. University of Alberta, Canada, T6G 2V4"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, AB, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering. University of Alberta, Canada, T6G 2V4","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076465575","display_name":"Carlos Rossa","orcid":"https://orcid.org/0000-0002-5879-1752"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Carlos Rossa","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, AB, Canada","Department of Electrical and Computer Engineering. University of Alberta, Canada, T6G 2V4"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, AB, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering. University of Alberta, Canada, T6G 2V4","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007616360","display_name":"Nawaid Usmani","orcid":"https://orcid.org/0000-0003-1298-4636"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Nawaid Usmani","raw_affiliation_strings":["Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, AB, Canada","Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, Canada T6G 1Z2"],"affiliations":[{"raw_affiliation_string":"Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, Canada T6G 1Z2","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069784123","display_name":"Ron S. Sloboda","orcid":"https://orcid.org/0000-0001-7701-8805"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ronald Sloboda","raw_affiliation_strings":["Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, AB, Canada","Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, Canada T6G 1Z2"],"affiliations":[{"raw_affiliation_string":"Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, Canada T6G 1Z2","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018636421","display_name":"Mahdi Tavakoli","orcid":"https://orcid.org/0000-0002-7427-6961"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mahdi Tavakoli","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, AB, Canada","Department of Electrical and Computer Engineering. University of Alberta, Canada, T6G 2V4"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, AB, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering. University of Alberta, Canada, T6G 2V4","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5070793109"],"corresponding_institution_ids":["https://openalex.org/I154425047"],"apc_list":null,"apc_paid":null,"fwci":1.6366,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.82249368,"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":"1217","last_page":"1222"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9724000096321106,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.8292639255523682},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.7199569940567017},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.687465488910675},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.5388498306274414},{"id":"https://openalex.org/keywords/virtual-work","display_name":"Virtual work","score":0.4396503269672394},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.42410194873809814},{"id":"https://openalex.org/keywords/soft-tissue","display_name":"Soft tissue","score":0.4185497760772705},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.40069738030433655},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3430764675140381},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3391221761703491},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.314281702041626},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.3064289689064026},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.2710251808166504},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25355422496795654},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19426342844963074},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12513455748558044},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.12417680025100708}],"concepts":[{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.8292639255523682},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.7199569940567017},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.687465488910675},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.5388498306274414},{"id":"https://openalex.org/C136560751","wikidata":"https://www.wikidata.org/wiki/Q1144923","display_name":"Virtual work","level":3,"score":0.4396503269672394},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.42410194873809814},{"id":"https://openalex.org/C136948725","wikidata":"https://www.wikidata.org/wiki/Q1458306","display_name":"Soft tissue","level":2,"score":0.4185497760772705},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.40069738030433655},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3430764675140381},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3391221761703491},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.314281702041626},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.3064289689064026},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.2710251808166504},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25355422496795654},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19426342844963074},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12513455748558044},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.12417680025100708},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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":2,"locations":[{"id":"doi:10.1109/icra.2015.7139346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139346","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.699.4395","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.699.4395","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ece.ualberta.ca/%7Etbs/pmwiki/pdf/ICRA-2015-Lehmann.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320319946","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W147723833","https://openalex.org/W1491111105","https://openalex.org/W2028465208","https://openalex.org/W2085261163","https://openalex.org/W2109121052","https://openalex.org/W2109606373","https://openalex.org/W2111362408","https://openalex.org/W2115650576","https://openalex.org/W2118152376","https://openalex.org/W2128339709","https://openalex.org/W2132929497","https://openalex.org/W2165061586","https://openalex.org/W4256068510"],"related_works":["https://openalex.org/W2417440389","https://openalex.org/W4385556839","https://openalex.org/W2734382758","https://openalex.org/W4378746257","https://openalex.org/W2109481748","https://openalex.org/W154213733","https://openalex.org/W4252851206","https://openalex.org/W2381719890","https://openalex.org/W2391508618","https://openalex.org/W2008618521"],"abstract_inverted_index":{"A":[0,17,39],"tissue-independent":[1],"model":[2,83,150],"to":[3,22,28,36],"estimate":[4,116],"needle":[5,24,37,62,72,118,163,176],"deflection":[6,74,120],"during":[7,33],"insertion":[8,34,105],"in":[9,14,26,127],"soft":[10],"tissue":[11,59],"is":[12,20,44,97,138],"presented":[13],"this":[15,128,134],"paper.":[16],"force/torque":[18,144],"sensor":[19,125,136,145,170],"connected":[21],"the":[23,47,52,58,61,81,143,147,153,168],"base":[25],"order":[27],"measure":[29],"forces":[30,55],"and":[31,51,66,99],"moments":[32],"due":[35],"deflection.":[38,178],"static":[40],"mechanical":[41],"model,":[42],"which":[43],"based":[45,79],"on":[46,80,158],"Euler-Bernoulli":[48],"beam":[49,82],"equation":[50],"balance":[53],"of":[54,117,133,175],"applied":[56],"by":[57,102],"onto":[60],"takes":[63],"these":[64,85],"force":[65],"moment":[67],"measurements":[68,140],"as":[69],"input.":[70],"The":[71,110,130],"tip":[73,119,177],"can":[75],"then":[76],"be":[77],"calculated":[78],"undergoing":[84],"forces.":[86],"Three":[87],"different":[88],"needle-tissue":[89],"interaction":[90],"models":[91],"are":[92,146],"presented.":[93],"Their":[94],"estimation":[95],"performance":[96],"evaluated":[98],"experimentally":[100],"compared":[101],"carrying":[103],"out":[104],"experiments":[106],"into":[107],"phantom":[108],"tissue.":[109],"experimental":[111],"results":[112],"show":[113],"a":[114,122],"precise":[115],"for":[121,172],"novel":[123],"virtual":[124,135,169],"introduced":[126],"work.":[129],"main":[131],"advantage":[132],"approach":[137,154],"that":[139],"obtained":[141],"from":[142],"only":[148],"necessary":[149],"inputs.":[151],"Furthermore,":[152],"does":[155],"not":[156],"rely":[157],"ultrasound":[159],"or":[160],"other":[161],"image-based":[162],"observation":[164],"techniques.":[165],"This":[166],"makes":[167],"suitable":[171],"real-time":[173],"feedback":[174]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}