{"id":"https://openalex.org/W2146716210","doi":"https://doi.org/10.1109/iros.2003.1249671","title":"Sensorless planning for medical needle insertion procedures","display_name":"Sensorless planning for medical needle insertion procedures","publication_year":2004,"publication_date":"2004-04-23","ids":{"openalex":"https://openalex.org/W2146716210","doi":"https://doi.org/10.1109/iros.2003.1249671","mag":"2146716210"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1249671","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249671","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5054402635","display_name":"Ron Alterovitz","orcid":"https://orcid.org/0000-0002-4492-1384"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Alterovitz","raw_affiliation_strings":["IEOR & EECS Departments, University of California Berkeley, Berkeley, CA, USA","Dept. of Electr. Eng. & Comput.Sci., California Univ., Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IEOR & EECS Departments, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput.Sci., California Univ., Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010019244","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0001-6747-9499"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Goldberg","raw_affiliation_strings":["IEOR & EECS Departments, University of California Berkeley, Berkeley, CA, USA","Dept. of Electr. Eng. & Comput.Sci., California Univ., Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IEOR & EECS Departments, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput.Sci., California Univ., Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113617016","display_name":"Jean Pouliot","orcid":null},"institutions":[{"id":"https://openalex.org/I180670191","display_name":"University of California, San Francisco","ror":"https://ror.org/043mz5j54","country_code":"US","type":"education","lineage":["https://openalex.org/I180670191"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Pouliot","raw_affiliation_strings":["Department of Radiation Oncology, University of California, San Francisco, San Francisco, CA, USA","University of California at San Francisco,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Radiation Oncology, University of California, San Francisco, San Francisco, CA, USA","institution_ids":["https://openalex.org/I180670191"]},{"raw_affiliation_string":"University of California at San Francisco,","institution_ids":["https://openalex.org/I180670191"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009578349","display_name":"Richard Taschereau","orcid":"https://orcid.org/0000-0002-1035-0421"},"institutions":[{"id":"https://openalex.org/I180670191","display_name":"University of California, San Francisco","ror":"https://ror.org/043mz5j54","country_code":"US","type":"education","lineage":["https://openalex.org/I180670191"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Taschereau","raw_affiliation_strings":["Department of Radiation Oncology, University of California, San Francisco, San Francisco, CA, USA","University of California at San Francisco,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Radiation Oncology, University of California, San Francisco, San Francisco, CA, USA","institution_ids":["https://openalex.org/I180670191"]},{"raw_affiliation_string":"University of California at San Francisco,","institution_ids":["https://openalex.org/I180670191"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042728664","display_name":"I\u2010Chow Hsu","orcid":"https://orcid.org/0000-0002-3113-121X"},"institutions":[{"id":"https://openalex.org/I180670191","display_name":"University of California, San Francisco","ror":"https://ror.org/043mz5j54","country_code":"US","type":"education","lineage":["https://openalex.org/I180670191"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"I-Chow Hsu","raw_affiliation_strings":["Department of Radiation Oncology, University of California, San Francisco, San Francisco, CA, USA","University of California at San Francisco,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Radiation Oncology, University of California, San Francisco, San Francisco, CA, USA","institution_ids":["https://openalex.org/I180670191"]},{"raw_affiliation_string":"University of California at San Francisco,","institution_ids":["https://openalex.org/I180670191"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":77,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"3337","last_page":"3343"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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":0.9991000294685364,"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/T10630","display_name":"Orthopedic Surgery and Rehabilitation","score":0.9979000091552734,"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"}},{"id":"https://openalex.org/T10280","display_name":"Shoulder Injury and Treatment","score":0.9968000054359436,"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/brachytherapy","display_name":"Brachytherapy","score":0.6193084716796875},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.5676044821739197},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5577824711799622},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4690951108932495},{"id":"https://openalex.org/keywords/surgical-planning","display_name":"Surgical planning","score":0.46301859617233276},{"id":"https://openalex.org/keywords/radiation-treatment-planning","display_name":"Radiation treatment planning","score":0.45865297317504883},{"id":"https://openalex.org/keywords/soft-tissue","display_name":"Soft tissue","score":0.43505939841270447},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3228534460067749},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19053831696510315},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.17728129029273987},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.15178442001342773},{"id":"https://openalex.org/keywords/radiation-therapy","display_name":"Radiation therapy","score":0.11451995372772217},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09834671020507812}],"concepts":[{"id":"https://openalex.org/C2777416452","wikidata":"https://www.wikidata.org/wiki/Q896687","display_name":"Brachytherapy","level":3,"score":0.6193084716796875},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.5676044821739197},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5577824711799622},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4690951108932495},{"id":"https://openalex.org/C2779370443","wikidata":"https://www.wikidata.org/wiki/Q1776627","display_name":"Surgical planning","level":2,"score":0.46301859617233276},{"id":"https://openalex.org/C201645570","wikidata":"https://www.wikidata.org/wiki/Q830637","display_name":"Radiation treatment planning","level":3,"score":0.45865297317504883},{"id":"https://openalex.org/C136948725","wikidata":"https://www.wikidata.org/wiki/Q1458306","display_name":"Soft tissue","level":2,"score":0.43505939841270447},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3228534460067749},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19053831696510315},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.17728129029273987},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.15178442001342773},{"id":"https://openalex.org/C509974204","wikidata":"https://www.wikidata.org/wiki/Q180507","display_name":"Radiation therapy","level":2,"score":0.11451995372772217},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09834671020507812}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2003.1249671","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249671","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.65.7041","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.65.7041","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ieor.berkeley.edu/~goldberg/pubs/ron-iros2003.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.69.9695","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.69.9695","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ieor.berkeley.edu/~ron/research/papers/Alterovitz2003_IROS.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306078","display_name":"U.S. Department of Defense","ror":"https://ror.org/0447fe631"},{"id":"https://openalex.org/F4320333566","display_name":"National Defense Science and Engineering Graduate","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W111160664","https://openalex.org/W126461263","https://openalex.org/W1494671974","https://openalex.org/W1498611312","https://openalex.org/W1596475617","https://openalex.org/W1600774691","https://openalex.org/W1989871863","https://openalex.org/W2038132330","https://openalex.org/W2046505621","https://openalex.org/W2060506423","https://openalex.org/W2063127926","https://openalex.org/W2071027495","https://openalex.org/W2098572589","https://openalex.org/W2103004156","https://openalex.org/W2104388499","https://openalex.org/W2106329176","https://openalex.org/W2109911863","https://openalex.org/W2111267573","https://openalex.org/W2114727354","https://openalex.org/W2127218100","https://openalex.org/W2127831907","https://openalex.org/W2130527101","https://openalex.org/W2133812769","https://openalex.org/W2145400474","https://openalex.org/W2145804351","https://openalex.org/W2151485462","https://openalex.org/W2160581192","https://openalex.org/W2164888711","https://openalex.org/W2291179345","https://openalex.org/W2291583031","https://openalex.org/W2754300823","https://openalex.org/W2787523326","https://openalex.org/W4285719527","https://openalex.org/W6604486413","https://openalex.org/W6605123748","https://openalex.org/W6635557512","https://openalex.org/W6675757284","https://openalex.org/W6676589310","https://openalex.org/W6696655580","https://openalex.org/W6696865610","https://openalex.org/W6744131263","https://openalex.org/W7058398353"],"related_works":["https://openalex.org/W2415632822","https://openalex.org/W2086196749","https://openalex.org/W2807885017","https://openalex.org/W328240141","https://openalex.org/W2106662487","https://openalex.org/W2460936463","https://openalex.org/W92931116","https://openalex.org/W2400699660","https://openalex.org/W4237576296","https://openalex.org/W2132086612"],"abstract_inverted_index":{"Medical":[0],"procedures":[1],"such":[2],"as":[3],"seed":[4,103,120,124,129],"implantation,":[5],"biopsies,":[6],"and":[7,36,38,85],"treatment":[8],"injections":[9],"require":[10],"inserting":[11],"a":[12,16,56,68,74,89,97],"needle":[13,29,61,83,107],"tip":[14,84],"to":[15,34,46,119,127],"specific":[17],"target":[18],"location":[19],"inside":[20],"the":[21,80,117],"human":[22],"body.":[23],"This":[24],"is":[25,41],"difficult":[26,43],"because":[27],"(1)":[28],"insertion":[30,62,108],"causes":[31],"soft":[32,69],"tissues":[33],"displace":[35],"deform,":[37],"(2)":[39],"it":[40],"often":[42],"or":[44],"impossible":[45],"obtain":[47],"precise":[48],"imaging":[49],"data":[50],"during":[51,122],"insertion.":[52],"We":[53,115],"are":[54],"developing":[55],"sensorless":[57,98],"planning":[58,99],"system":[59],"for":[60,101,112],"that":[63,78,105,110],"incorporates":[64],"numerical":[65],"optimization":[66],"with":[67],"tissue":[70,113],"simulation":[71,133],"based":[72],"on":[73,136],"dynamic":[75],"FEM":[76],"formulation":[77],"models":[79],"effects":[81],"of":[82],"frictional":[86],"forces":[87],"using":[88],"2D":[90],"mesh.":[91],"In":[92],"this":[93],"paper":[94],"we":[95],"describe":[96],"algorithm":[100],"radioactive":[102],"implantation":[104,121],"computes":[106],"offsets":[109],"compensate":[111],"deformations.":[114],"apply":[116],"method":[118],"permanent":[123],"prostate":[125],"brachytherapy":[126],"minimize":[128],"placement":[130],"error":[131],"in":[132],"without":[134],"relying":[135],"real-time":[137],"imaging.":[138]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
