{"id":"https://openalex.org/W2132356138","doi":"https://doi.org/10.1109/iros.2007.4399286","title":"Deformation simulation using a viscoelastic and nonlinear Organ model for control of a needle insertion manipulator","display_name":"Deformation simulation using a viscoelastic and nonlinear Organ model for control of a needle insertion manipulator","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2132356138","doi":"https://doi.org/10.1109/iros.2007.4399286","mag":"2132356138"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5070277351","display_name":"Yo Kobayashi","orcid":"https://orcid.org/0000-0003-4358-6294"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yo Kobayashi","raw_affiliation_strings":["Graduate School of Science and Engineering, Waseda University, Shinjuku, Japan","Waseda Univ., Ohkubo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, Shinjuku, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Waseda Univ., Ohkubo","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066725834","display_name":"Akinori Onishi","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akinori Onishi","raw_affiliation_strings":["Graduate School of Science and Engineering, Waseda University, Shinjuku, Japan","Waseda Univ., Ohkubo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, Shinjuku, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Waseda Univ., Ohkubo","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108428487","display_name":"Takeharu Hoshi","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takeharu Hoshi","raw_affiliation_strings":["Graduate School of Science and Engineering, Waseda University, Shinjuku, Japan","Waseda Univ., Ohkubo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, Shinjuku, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Waseda Univ., Ohkubo","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014322597","display_name":"Kazuya Kawamura","orcid":"https://orcid.org/0000-0002-2736-1311"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Kawamura","raw_affiliation_strings":["Graduate School of Science and Engineering, Waseda University, Shinjuku, Japan","Waseda Univ., Ohkubo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, Shinjuku, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Waseda Univ., Ohkubo","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111640158","display_name":"Masakatsu G. Fujie","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masakatsu G. Fujie","raw_affiliation_strings":["Graduate School of Science and Engineering, Faculty of Science and Engineering, Waseda University, Japan","Graduate School of Science and Engineering, Waseda University, and Faculty of Science and Engineering, Waseda University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Faculty of Science and Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, and Faculty of Science and Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2355,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.9174518,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1801","last_page":"1808"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987000226974487,"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":0.9987000226974487,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9890000224113464,"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/T10322","display_name":"Respiratory Support and Mechanisms","score":0.9663000106811523,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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/viscoelasticity","display_name":"Viscoelasticity","score":0.8511910438537598},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.7415115237236023},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6861891150474548},{"id":"https://openalex.org/keywords/fractional-calculus","display_name":"Fractional calculus","score":0.5242372155189514},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.3958868384361267},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3639640808105469},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.36259686946868896},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32813531160354614},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3178828954696655},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.29811906814575195},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22221601009368896},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.1173856258392334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06802859902381897},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06468740105628967}],"concepts":[{"id":"https://openalex.org/C186541917","wikidata":"https://www.wikidata.org/wiki/Q910483","display_name":"Viscoelasticity","level":2,"score":0.8511910438537598},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.7415115237236023},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6861891150474548},{"id":"https://openalex.org/C154249771","wikidata":"https://www.wikidata.org/wiki/Q1339058","display_name":"Fractional calculus","level":2,"score":0.5242372155189514},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.3958868384361267},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3639640808105469},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.36259686946868896},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32813531160354614},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3178828954696655},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.29811906814575195},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22221601009368896},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.1173856258392334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06802859902381897},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06468740105628967},{"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/iros.2007.4399286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1480663610","https://openalex.org/W1945096518","https://openalex.org/W1965474366","https://openalex.org/W1969521796","https://openalex.org/W1978027905","https://openalex.org/W2007924064","https://openalex.org/W2036471941","https://openalex.org/W2040181266","https://openalex.org/W2052732460","https://openalex.org/W2070927739","https://openalex.org/W2102729693","https://openalex.org/W2104870442","https://openalex.org/W2109121052","https://openalex.org/W2110747649","https://openalex.org/W2118346296","https://openalex.org/W2123504862","https://openalex.org/W2126153312","https://openalex.org/W2127654519","https://openalex.org/W2128057665","https://openalex.org/W2129494071","https://openalex.org/W2133823800","https://openalex.org/W2153136299","https://openalex.org/W2169281661","https://openalex.org/W2170354816","https://openalex.org/W2182456695","https://openalex.org/W2735415175","https://openalex.org/W2754300823","https://openalex.org/W3120842161","https://openalex.org/W4285719527","https://openalex.org/W6685877834","https://openalex.org/W6688786227"],"related_works":["https://openalex.org/W4221057967","https://openalex.org/W4243019676","https://openalex.org/W2517352629","https://openalex.org/W2783562378","https://openalex.org/W4293192718","https://openalex.org/W2045876794","https://openalex.org/W2255703620","https://openalex.org/W807319463","https://openalex.org/W2040929039","https://openalex.org/W2531131539"],"abstract_inverted_index":{"This":[0],"paper":[1],"shows":[2],"the":[3,19,28,50,56,60,65,78,81,88,96,121,124,134,142,146,157,163],"viscoelastic":[4,70,125],"and":[5,27,68,93,156,160],"nonlinear":[6,131],"organ":[7,11,23,33,39,143,154],"deformation":[8,20,34,159],"model":[9,40,107,155],"for":[10,123,129],"model-based":[12],"control":[13,51],"of":[14,21,59,80,87,99,104,162],"needle":[15,29,147],"insertion,":[16],"in":[17,53,85,167],"which":[18],"an":[22,105,153],"is":[24,30,46,112,138,148,150,165],"calculated":[25],"intraoperatively":[26],"manipulated":[31],"with":[32],"taken":[35],"into":[36],"consideration.":[37],"An":[38],"including":[41,77],"such":[42,109],"detailed":[43],"material":[44,57,110],"characteristics":[45,71],"important":[47],"to":[48],"achieve":[49],"method":[52,137],"question.":[54],"Firstly,":[55],"properties":[58,111],"liver":[61],"are":[62,72],"modeled":[63,94],"from":[64],"measured":[66],"data":[67],"its":[69],"represented":[73],"by":[74],"differential":[75],"equations,":[76],"term":[79],"fractional":[82,89],"derivative.":[83],"Nonlinearity":[84],"terms":[86],"derivative":[90],"was":[91],"measured,":[92],"using":[95,108,133,152],"quadratic":[97],"function":[98],"strain.":[100],"Next,":[101],"a":[102,130],"solution":[103,122,128],"FE":[106],"shown.":[113,140],"We":[114],"use":[115],"sampling":[116],"time":[117],"scaling":[118],"property":[119],"as":[120],"system.":[126],"The":[127],"system":[132],"Modified":[135],"Newton-Raphson":[136],"also":[139],"Finally,":[141],"deformation,":[144],"assuming":[145],"inserted,":[149],"simulated":[151],"overall":[158],"distribution":[161],"strain":[164],"computed":[166],"these":[168],"simulations.":[169]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}