{"id":"https://openalex.org/W4401415722","doi":"https://doi.org/10.1109/icra57147.2024.10611222","title":"Hybrid Robot for Percutaneous Needle Intervention Procedures: Mechanism Design and Experiment Verification","display_name":"Hybrid Robot for Percutaneous Needle Intervention Procedures: Mechanism Design and Experiment Verification","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415722","doi":"https://doi.org/10.1109/icra57147.2024.10611222"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611222","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","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/A5041985945","display_name":"Hanyi Zhang","orcid":"https://orcid.org/0000-0003-0109-6481"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanyi Zhang","raw_affiliation_strings":["Tsinghua University,Department of Computer Science and Technology,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Computer Science and Technology,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042904440","display_name":"Guocai Yao","orcid":"https://orcid.org/0000-0002-0673-0229"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guocai Yao","raw_affiliation_strings":["Tsinghua University,Department of Computer Science and Technology,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Computer Science and Technology,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065025841","display_name":"Feifan Zhang","orcid":"https://orcid.org/0000-0002-1992-089X"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Feifan Zhang","raw_affiliation_strings":["University College London,Department of Computer Science,London,UK,WC1E 6BT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University College London,Department of Computer Science,London,UK,WC1E 6BT","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Fanchuan Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fanchuan Lin","raw_affiliation_strings":["Beihang University,Department of School of Instrumentation and Optoelectronic Engineering,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,Department of School of Instrumentation and Optoelectronic Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055546056","display_name":"Fuchun Sun","orcid":"https://orcid.org/0000-0003-3546-6305"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuchun Sun","raw_affiliation_strings":["Tsinghua University,Department of Computer Science and Technology,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Computer Science and Technology,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"83","issue":null,"first_page":"8195","last_page":"8201"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9929999709129333,"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/T12906","display_name":"Surgical Sutures and Adhesives","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"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/mechanism","display_name":"Mechanism (biology)","score":0.7026163339614868},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.673309326171875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.606570839881897},{"id":"https://openalex.org/keywords/percutaneous","display_name":"Percutaneous","score":0.46166425943374634},{"id":"https://openalex.org/keywords/mechanism-design","display_name":"Mechanism design","score":0.4374202787876129},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38312482833862305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21981748938560486},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.21564289927482605},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.11847469210624695},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08483386039733887}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7026163339614868},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.673309326171875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.606570839881897},{"id":"https://openalex.org/C2780813298","wikidata":"https://www.wikidata.org/wiki/Q2071287","display_name":"Percutaneous","level":2,"score":0.46166425943374634},{"id":"https://openalex.org/C153517567","wikidata":"https://www.wikidata.org/wiki/Q26090","display_name":"Mechanism design","level":2,"score":0.4374202787876129},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38312482833862305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21981748938560486},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.21564289927482605},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.11847469210624695},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08483386039733887},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C175444787","wikidata":"https://www.wikidata.org/wiki/Q39072","display_name":"Microeconomics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611222","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W59317912","https://openalex.org/W1547510481","https://openalex.org/W1948403275","https://openalex.org/W1982130191","https://openalex.org/W2002780491","https://openalex.org/W2017756316","https://openalex.org/W2026769304","https://openalex.org/W2033481362","https://openalex.org/W2048978336","https://openalex.org/W2070990785","https://openalex.org/W2103212028","https://openalex.org/W2113019860","https://openalex.org/W2114243578","https://openalex.org/W2114962705","https://openalex.org/W2117561269","https://openalex.org/W2487875306","https://openalex.org/W2536076454","https://openalex.org/W2593756471","https://openalex.org/W2610856246","https://openalex.org/W2789079847","https://openalex.org/W2888730209","https://openalex.org/W2910798220","https://openalex.org/W2966587880","https://openalex.org/W2982076750","https://openalex.org/W3110623009","https://openalex.org/W3124048816","https://openalex.org/W3125506911","https://openalex.org/W3126295864","https://openalex.org/W3133668161","https://openalex.org/W3180054258","https://openalex.org/W4283652987","https://openalex.org/W4383108354","https://openalex.org/W4383108428","https://openalex.org/W4383109123","https://openalex.org/W6677207505"],"related_works":["https://openalex.org/W2382997850","https://openalex.org/W2390968135","https://openalex.org/W2582969095","https://openalex.org/W4235983279","https://openalex.org/W3123416035","https://openalex.org/W2947640074","https://openalex.org/W2366934955","https://openalex.org/W2390712896","https://openalex.org/W2182763921","https://openalex.org/W2908644825"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"6-DOF":[4],"hybrid":[5],"robot":[6,14,77,91,126],"for":[7],"percutaneous":[8],"needle":[9],"intervention":[10],"procedures.":[11],"The":[12,101,129],"new":[13],"combines":[15],"the":[16,34,37,44,56,59,61,66,73,76,85,87,90,95,105,112,118,121,125],"advantages":[17],"of":[18,36,40,50,58,75,89,124,132],"both":[19],"serial":[20,41],"robots":[21,42],"and":[22,29,43,47,69,98,115,120],"parallel":[23,51],"robots,":[24],"featuring":[25],"compactness,":[26],"high":[27,38],"accuracy,":[28],"small":[30,45],"footprint":[31],"while":[32],"overcoming":[33],"problems":[35],"cost":[39],"workspace":[46,57,70,114],"singularity":[48],"issue":[49],"robots.":[52],"Besides,":[53],"by":[54],"analyzing":[55],"robot,":[60],"equation":[62],"is":[63,92,107,127],"derived":[64],"between":[65],"structure":[67],"parameter":[68],"to":[71,78,84,94],"adjust":[72],"parameters":[74],"satisfy":[79],"different":[80],"working":[81,110],"scenes.":[82],"According":[83],"experiment,":[86],"accuracy":[88],"related":[93],"position,":[96],"distance,":[97],"insertion":[99],"angle.":[100],"result":[102],"shows":[103],"that":[104],"performance":[106],"better":[108],"when":[109],"near":[111],"center":[113],"away":[116],"from":[117],"servos":[119],"average":[122],"error":[123],"1.39mm.":[128],"phantom":[130],"experiment":[131],"lumbar":[133],"puncture":[134],"validates":[135],"its":[136],"feasibility.":[137]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}