{"id":"https://openalex.org/W2146708804","doi":"https://doi.org/10.1109/iros.2009.5353920","title":"Force-based needle insertion for medical applications","display_name":"Force-based needle insertion for medical applications","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2146708804","doi":"https://doi.org/10.1109/iros.2009.5353920","mag":"2146708804"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5353920","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5353920","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5027533975","display_name":"Lonnie Love","orcid":"https://orcid.org/0000-0002-5934-7135"},"institutions":[{"id":"https://openalex.org/I1289243028","display_name":"Oak Ridge National Laboratory","ror":"https://ror.org/01qz5mb56","country_code":"US","type":"facility","lineage":["https://openalex.org/I1289243028","https://openalex.org/I1330989302","https://openalex.org/I39565521","https://openalex.org/I4210159294"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lonnie J. Love","raw_affiliation_strings":["Oak Ridge National Laboratory, Oak Ridge, TN, USA","Oak Ridge National Laboratory (ORNL), TN 37831-6305, USA"],"affiliations":[{"raw_affiliation_string":"Oak Ridge National Laboratory, Oak Ridge, TN, USA","institution_ids":["https://openalex.org/I1289243028"]},{"raw_affiliation_string":"Oak Ridge National Laboratory (ORNL), TN 37831-6305, USA","institution_ids":["https://openalex.org/I1289243028"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109230417","display_name":"J.F. Jansen","orcid":null},"institutions":[{"id":"https://openalex.org/I1289243028","display_name":"Oak Ridge National Laboratory","ror":"https://ror.org/01qz5mb56","country_code":"US","type":"facility","lineage":["https://openalex.org/I1289243028","https://openalex.org/I1330989302","https://openalex.org/I39565521","https://openalex.org/I4210159294"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John F. Jansen","raw_affiliation_strings":["Oak Ridge National Laboratory, Oak Ridge, TN, USA","Oak Ridge National Laboratory, TN, 37831-6305, USA"],"affiliations":[{"raw_affiliation_string":"Oak Ridge National Laboratory, Oak Ridge, TN, USA","institution_ids":["https://openalex.org/I1289243028"]},{"raw_affiliation_string":"Oak Ridge National Laboratory, TN, 37831-6305, USA","institution_ids":["https://openalex.org/I1289243028"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052019154","display_name":"Peter Lloyd","orcid":"https://orcid.org/0000-0003-4807-1361"},"institutions":[{"id":"https://openalex.org/I1289243028","display_name":"Oak Ridge National Laboratory","ror":"https://ror.org/01qz5mb56","country_code":"US","type":"facility","lineage":["https://openalex.org/I1289243028","https://openalex.org/I1330989302","https://openalex.org/I39565521","https://openalex.org/I4210159294"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter D. Lloyd","raw_affiliation_strings":["Oak Ridge National Laboratory, Oak Ridge, TN, USA","Oak Ridge National Laboratory, TN, 37831-6305, USA"],"affiliations":[{"raw_affiliation_string":"Oak Ridge National Laboratory, Oak Ridge, TN, USA","institution_ids":["https://openalex.org/I1289243028"]},{"raw_affiliation_string":"Oak Ridge National Laboratory, TN, 37831-6305, USA","institution_ids":["https://openalex.org/I1289243028"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5027533975"],"corresponding_institution_ids":["https://openalex.org/I1289243028"],"apc_list":null,"apc_paid":null,"fwci":0.2223,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.61743153,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"149","issue":null,"first_page":"2592","last_page":"2597"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14189","display_name":"Intravenous Infusion Technology and Safety","score":0.9965999722480774,"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/T14189","display_name":"Intravenous Infusion Technology and Safety","score":0.9965999722480774,"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/T10641","display_name":"Central Venous Catheters and Hemodialysis","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/3604","display_name":"Emergency Medical Services"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9833999872207642,"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/puncturing","display_name":"Puncturing","score":0.8459306955337524},{"id":"https://openalex.org/keywords/insertion-loss","display_name":"Insertion loss","score":0.6867396235466003},{"id":"https://openalex.org/keywords/palpation","display_name":"Palpation","score":0.5988548398017883},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.5631874799728394},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5606868267059326},{"id":"https://openalex.org/keywords/insertion-time","display_name":"Insertion time","score":0.4735015034675598},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.4546819031238556},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4095512330532074},{"id":"https://openalex.org/keywords/medical-physics","display_name":"Medical physics","score":0.32669734954833984},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.3112491965293884},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23410743474960327},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2300328016281128},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.16460993885993958},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.15070000290870667},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11259579658508301}],"concepts":[{"id":"https://openalex.org/C2778808095","wikidata":"https://www.wikidata.org/wiki/Q3899825","display_name":"Puncturing","level":2,"score":0.8459306955337524},{"id":"https://openalex.org/C90327742","wikidata":"https://www.wikidata.org/wiki/Q947396","display_name":"Insertion loss","level":2,"score":0.6867396235466003},{"id":"https://openalex.org/C2781167935","wikidata":"https://www.wikidata.org/wiki/Q795090","display_name":"Palpation","level":2,"score":0.5988548398017883},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.5631874799728394},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5606868267059326},{"id":"https://openalex.org/C2777355271","wikidata":"https://www.wikidata.org/wiki/Q6037400","display_name":"Insertion time","level":3,"score":0.4735015034675598},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.4546819031238556},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4095512330532074},{"id":"https://openalex.org/C19527891","wikidata":"https://www.wikidata.org/wiki/Q1120908","display_name":"Medical physics","level":1,"score":0.32669734954833984},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3112491965293884},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23410743474960327},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2300328016281128},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.16460993885993958},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.15070000290870667},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11259579658508301},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105922876","wikidata":"https://www.wikidata.org/wiki/Q1423981","display_name":"Airway","level":2,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5353920","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5353920","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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":7,"referenced_works":["https://openalex.org/W1603834827","https://openalex.org/W2006214093","https://openalex.org/W2008731016","https://openalex.org/W2021038320","https://openalex.org/W2064993342","https://openalex.org/W2114488762","https://openalex.org/W2170354816"],"related_works":["https://openalex.org/W3045553430","https://openalex.org/W2023742978","https://openalex.org/W298790751","https://openalex.org/W2044497204","https://openalex.org/W2151271150","https://openalex.org/W2124806598","https://openalex.org/W2950166624","https://openalex.org/W3155849738","https://openalex.org/W2897883026","https://openalex.org/W3173101997"],"abstract_inverted_index":{"Needle":[0],"insertion":[1,18,80,95,103,110],"is":[2,70],"pervasive":[3],"in":[4,61],"almost":[5,62],"all":[6,63],"medical":[7],"activities.":[8],"The":[9,65,121],"development":[10],"of":[11,22,55,57,67],"compact,":[12],"lightweight":[13],"automated":[14],"tools":[15,39],"for":[16,48,126],"needle":[17,79,94,102],"with":[19,136],"the":[20,30,42,58,78,87,92,117,127],"reliability":[21],"an":[23,53],"expert":[24],"needle-inserting":[25],"nurse":[26,88],"could":[27,40],"significantly":[28],"reduce":[29],"risk":[31],"to":[32,44,71,90,111],"both":[33],"civilian":[34],"and":[35,100,123,139,144],"military":[36],"patients.":[37],"Such":[38],"open":[41],"door":[43],"many":[45],"advanced":[46],"concepts":[47],"future":[49],"medicine":[50],"by":[51],"being":[52],"\u00bfenabler\u00bf":[54],"one":[56],"first":[59],"actions":[60],"procedures.":[64],"purpose":[66],"this":[68],"paper":[69],"discuss":[72],"two":[73,128],"force-based":[74,107],"devices":[75],"that":[76,85,105],"address":[77],"problem:":[81],"a":[82,98,101],"compliance-sensing":[83],"system":[84],"mimics":[86],"palpation":[89],"determine":[91],"best":[93],"point":[96],"across":[97],"vein,":[99],"device":[104],"uses":[106],"profiles":[108],"during":[109],"achieve":[112],"successful":[113],"catheterization":[114],"without":[115],"puncturing":[116],"vein":[118],"back":[119],"wall.":[120],"methodologies":[122],"implementation":[124],"approaches":[125],"enabling":[129],"systems":[130],"are":[131,142],"described.":[132],"Experimental":[133],"data":[134],"obtained":[135],"training":[137],"pads":[138],"phantom":[140],"arms":[141],"presented":[143],"discussed.":[145]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}