{"id":"https://openalex.org/W4413925988","doi":"https://doi.org/10.1109/icra55743.2025.11128596","title":"Ultrasound-Guided Robotic Blood Drawing and In Vivo Studies on Submillimetre Vessels of Rats","display_name":"Ultrasound-Guided Robotic Blood Drawing and In Vivo Studies on Submillimetre Vessels of Rats","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925988","doi":"https://doi.org/10.1109/icra55743.2025.11128596"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128596","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5014477636","display_name":"Shuaiqi Jing","orcid":"https://orcid.org/0000-0001-6797-4238"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuaiqi Jing","raw_affiliation_strings":["College of Electronics and Information Engineering, and Shanghai Institute of Intelligent Science and Technology, Tongji University,Department of Control Science and Engineering,Shanghai,China,200092"],"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, and Shanghai Institute of Intelligent Science and Technology, Tongji University,Department of Control Science and Engineering,Shanghai,China,200092","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111315459","display_name":"Tianliang Yao","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianliang Yao","raw_affiliation_strings":["College of Electronics and Information Engineering, and Shanghai Institute of Intelligent Science and Technology, Tongji University,Department of Control Science and Engineering,Shanghai,China,200092"],"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, and Shanghai Institute of Intelligent Science and Technology, Tongji University,Department of Control Science and Engineering,Shanghai,China,200092","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365720","display_name":"Ke Zhang","orcid":"https://orcid.org/0000-0002-4562-5405"},"institutions":[{"id":"https://openalex.org/I207528943","display_name":"Chengdu Medical College","ror":"https://ror.org/01c4jmp52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I207528943"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Zhang","raw_affiliation_strings":["Chengdu Aixam Medical Technology Co., Ltd.,Chengdu,Sichuan Province,China,610200"],"affiliations":[{"raw_affiliation_string":"Chengdu Aixam Medical Technology Co., Ltd.,Chengdu,Sichuan Province,China,610200","institution_ids":["https://openalex.org/I207528943"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101427356","display_name":"Di Wu","orcid":"https://orcid.org/0000-0002-0390-2750"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Di Wu","raw_affiliation_strings":["Katholieke Universiteit Leuven,Leuven,Belgium,3000"],"affiliations":[{"raw_affiliation_string":"Katholieke Universiteit Leuven,Leuven,Belgium,3000","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101733514","display_name":"Qiulin Wang","orcid":"https://orcid.org/0000-0003-0568-7115"},"institutions":[{"id":"https://openalex.org/I207528943","display_name":"Chengdu Medical College","ror":"https://ror.org/01c4jmp52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I207528943"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiulin Wang","raw_affiliation_strings":["Chengdu Aixam Medical Technology Co., Ltd.,Chengdu,Sichuan Province,China,610200"],"affiliations":[{"raw_affiliation_string":"Chengdu Aixam Medical Technology Co., Ltd.,Chengdu,Sichuan Province,China,610200","institution_ids":["https://openalex.org/I207528943"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036232035","display_name":"Zixi Chen","orcid":"https://orcid.org/0000-0002-2839-924X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Zixi Chen","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant&#x2019; Anna,Pontedera,Italy,56025"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant&#x2019; Anna,Pontedera,Italy,56025","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451981","display_name":"Ke Chen","orcid":"https://orcid.org/0000-0001-8930-0541"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Chen","raw_affiliation_strings":["College of Electronics and Information Engineering, and Shanghai Institute of Intelligent Science and Technology, Tongji University,Department of Control Science and Engineering,Shanghai,China,200092"],"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, and Shanghai Institute of Intelligent Science and Technology, Tongji University,Department of Control Science and Engineering,Shanghai,China,200092","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025104684","display_name":"Peng Qi","orcid":"https://orcid.org/0000-0003-0514-9464"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Qi","raw_affiliation_strings":["College of Electronics and Information Engineering, and Shanghai Institute of Intelligent Science and Technology, Tongji University,Department of Control Science and Engineering,Shanghai,China,200092"],"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, and Shanghai Institute of Intelligent Science and Technology, Tongji University,Department of Control Science and Engineering,Shanghai,China,200092","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5014477636"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":0.7302,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.74491002,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"10481","last_page":"10486"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11190","display_name":"3D Printing in Biomedical Research","score":0.7633000016212463,"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/T11190","display_name":"3D Printing in Biomedical Research","score":0.7633000016212463,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/in-vivo","display_name":"In vivo","score":0.7817609310150146},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.6605502963066101},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.5645087957382202},{"id":"https://openalex.org/keywords/ultrasonic-imaging","display_name":"Ultrasonic imaging","score":0.45511937141418457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45072391629219055},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3831590712070465},{"id":"https://openalex.org/keywords/medical-physics","display_name":"Medical physics","score":0.3455720841884613},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.2650637626647949},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24062538146972656},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.24048009514808655},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.11282795667648315},{"id":"https://openalex.org/keywords/biotechnology","display_name":"Biotechnology","score":0.07250699400901794}],"concepts":[{"id":"https://openalex.org/C207001950","wikidata":"https://www.wikidata.org/wiki/Q141124","display_name":"In vivo","level":2,"score":0.7817609310150146},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.6605502963066101},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.5645087957382202},{"id":"https://openalex.org/C2989478337","wikidata":"https://www.wikidata.org/wiki/Q234904","display_name":"Ultrasonic imaging","level":3,"score":0.45511937141418457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45072391629219055},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3831590712070465},{"id":"https://openalex.org/C19527891","wikidata":"https://www.wikidata.org/wiki/Q1120908","display_name":"Medical physics","level":1,"score":0.3455720841884613},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.2650637626647949},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24062538146972656},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.24048009514808655},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.11282795667648315},{"id":"https://openalex.org/C150903083","wikidata":"https://www.wikidata.org/wiki/Q7108","display_name":"Biotechnology","level":1,"score":0.07250699400901794}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128596","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G147961471","display_name":null,"funder_award_id":"2023YFB4705200","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5544691572","display_name":null,"funder_award_id":"62273257","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1499227246","https://openalex.org/W1689251781","https://openalex.org/W2007780287","https://openalex.org/W2153577625","https://openalex.org/W2161323619","https://openalex.org/W2598070036","https://openalex.org/W3006293443","https://openalex.org/W3125513342","https://openalex.org/W3212616490","https://openalex.org/W4200434697","https://openalex.org/W4200470358","https://openalex.org/W4290774342","https://openalex.org/W4296148337","https://openalex.org/W4321003436","https://openalex.org/W4387392566","https://openalex.org/W4393226472"],"related_works":["https://openalex.org/W2157355069","https://openalex.org/W2069460318","https://openalex.org/W2333960626","https://openalex.org/W2021792849","https://openalex.org/W2015391491","https://openalex.org/W1968701816","https://openalex.org/W2418264232","https://openalex.org/W2345263070","https://openalex.org/W303802408","https://openalex.org/W2350538445"],"abstract_inverted_index":{"Billions":[0],"of":[1,65,76,140,145,159,188],"vascular":[2,47,67,122,168],"access":[3,48,68,123],"procedures":[4],"are":[5,29],"performed":[6],"annually":[7],"worldwide,":[8],"serving":[9],"as":[10],"a":[11,73,81,138,155],"crucial":[12],"first":[13],"step":[14],"in":[15,31,38,45,115,120,124,166,179],"various":[16],"clinical":[17,196],"diagnostic":[18],"and":[19,42,87,92,105,194],"therapeutic":[20],"procedures.":[21,69,182],"For":[22],"pediatric":[23],"or":[24],"elderly":[25],"individuals,":[26],"whose":[27],"vessels":[28],"small":[30,172],"size":[32],"(typically":[33],"2":[34],"to":[35,98],"3":[36],"mm":[37,44],"diameter":[39,139],"for":[40],"adults":[41],"<1":[43],"children),":[46],"can":[49],"be":[50],"highly":[51],"challenging.":[52],"This":[53,183],"study":[54],"presents":[55],"an":[56],"image-guided":[57],"robotic":[58,78,130],"system":[59,71,153],"aimed":[60],"at":[61],"enhancing":[62],"the":[63,100,134,152,176,186],"accuracy":[64],"difficult":[66],"The":[70,148,161],"integrates":[72],"6-DoF":[74],"(Degrees":[75],"Freedom)":[77],"arm":[79],"with":[80,103,171],"3-DoF":[82],"end-effector,":[83],"ensuring":[84],"precise":[85],"navigation":[86],"needle":[88],"insertion.":[89],"Multi-modal":[90],"imaging":[91,110],"sensing":[93],"technologies":[94],"have":[95],"been":[96],"utilized":[97],"endow":[99],"medical":[101],"robot":[102],"precision":[104],"safety,":[106],"while":[107],"ultrasound":[108],"(US)":[109],"guidance":[111],"is":[112],"specifically":[113],"evaluated":[114],"this":[116],"study.":[117],"To":[118],"evaluate":[119],"vivo":[121],"submillimeter":[125],"vessels,":[126,174],"we":[127],"conducted":[128],"ultrasound-guided":[129],"blood":[131,173],"drawing":[132],"on":[133],"tail":[135],"veins":[136],"(with":[137],"0.7":[141],"\u00b1":[142],"0.2":[143],"mm)":[144],"40":[146],"rats.":[147],"results":[149],"demonstrate":[150],"that":[151],"achieved":[154],"first-attempt":[156,163],"success":[157,164],"rate":[158,165],"95%.":[160],"high":[162],"intravenous":[167],"access,":[169],"even":[170],"demonstrates":[175],"system's":[177],"effectiveness":[178],"performing":[180],"these":[181],"capability":[184],"reduces":[185],"risk":[187],"failed":[189],"attempts,":[190],"minimizes":[191],"patient":[192],"discomfort,":[193],"enhances":[195],"efficiency.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}