{"id":"https://openalex.org/W2058051508","doi":"https://doi.org/10.1109/iros.2012.6385756","title":"Modeling and simulation of friction forces during needle insertion using Local Constraint Method","display_name":"Modeling and simulation of friction forces during needle insertion using Local Constraint Method","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2058051508","doi":"https://doi.org/10.1109/iros.2012.6385756","mag":"2058051508"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385756","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385756","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5111443055","display_name":"Lijuan Wang","orcid":"https://orcid.org/0009-0005-8725-6061"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Lijuan Wang","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, Japan","Department of Robotics, Ritsumeikan University, Noji-higashi 1-1-1 Kusatsu Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Noji-higashi 1-1-1 Kusatsu Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067013129","display_name":"Zhongkui Wang","orcid":"https://orcid.org/0000-0003-4037-3306"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhongkui Wang","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, Japan","Department of Robotics, Ritsumeikan University, Noji-higashi 1-1-1 Kusatsu Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Noji-higashi 1-1-1 Kusatsu Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035821807","display_name":"Shinichi Hirai","orcid":"https://orcid.org/0000-0001-6076-0237"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinichi Hirai","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, Japan","Department of Robotics, Ritsumeikan University, Noji-higashi 1-1-1 Kusatsu Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Noji-higashi 1-1-1 Kusatsu Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"5762","issue":null,"first_page":"4926","last_page":"4932"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9846000075340271,"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/constraint","display_name":"Constraint (computer-aided design)","score":0.7831183075904846},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.7481819987297058},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.6481603980064392},{"id":"https://openalex.org/keywords/soft-tissue","display_name":"Soft tissue","score":0.4717726707458496},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47124582529067993},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4562278389930725},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4420239329338074},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4304690361022949},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3893009424209595},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.3810209631919861},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.36408549547195435},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3566381335258484},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22665488719940186},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.21560466289520264},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17902684211730957},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15674051642417908},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.1360083818435669},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1262395679950714}],"concepts":[{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.7831183075904846},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.7481819987297058},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.6481603980064392},{"id":"https://openalex.org/C136948725","wikidata":"https://www.wikidata.org/wiki/Q1458306","display_name":"Soft tissue","level":2,"score":0.4717726707458496},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47124582529067993},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4562278389930725},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4420239329338074},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4304690361022949},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3893009424209595},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.3810209631919861},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.36408549547195435},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3566381335258484},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22665488719940186},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.21560466289520264},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17902684211730957},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15674051642417908},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.1360083818435669},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1262395679950714},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385756","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385756","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":28,"referenced_works":["https://openalex.org/W111160664","https://openalex.org/W628194246","https://openalex.org/W1595879989","https://openalex.org/W1857056254","https://openalex.org/W1956769800","https://openalex.org/W1974952341","https://openalex.org/W2007924064","https://openalex.org/W2014450203","https://openalex.org/W2063004206","https://openalex.org/W2067391325","https://openalex.org/W2090415875","https://openalex.org/W2106415158","https://openalex.org/W2107550832","https://openalex.org/W2109121052","https://openalex.org/W2110255056","https://openalex.org/W2121272278","https://openalex.org/W2128339709","https://openalex.org/W2128851696","https://openalex.org/W2133812769","https://openalex.org/W2133823800","https://openalex.org/W2166326269","https://openalex.org/W2180065899","https://openalex.org/W2754300823","https://openalex.org/W6604486413","https://openalex.org/W6620067082","https://openalex.org/W6639194199","https://openalex.org/W6641123697","https://openalex.org/W6676841111"],"related_works":["https://openalex.org/W1898928116","https://openalex.org/W3043253825","https://openalex.org/W3104381152","https://openalex.org/W2404572959","https://openalex.org/W4290319348","https://openalex.org/W4225131691","https://openalex.org/W2033413151","https://openalex.org/W2018806320","https://openalex.org/W2041648304","https://openalex.org/W2440457067"],"abstract_inverted_index":{"In":[0,34,108],"modern":[1],"clinical":[2],"practices,":[3],"accurate":[4],"orientation":[5],"for":[6,73,105,144],"needle-like":[7],"tools":[8],"inserting":[9],"into":[10],"soft":[11],"tissues":[12],"is":[13,89],"cumbersome,":[14],"mainly":[15],"due":[16],"to":[17,91,101,127,135],"the":[18,23,29,32,37,50,57,93,98,102,137],"tissue's":[19],"non-linear":[20],"deformation":[21,41,95],"and":[22,31,42,53,96,116],"complicated":[24],"combination":[25],"of":[26,60,113],"forces":[27,44,100,117],"between":[28,39],"tissue":[30,40,64,94,103],"tool.":[33],"this":[35,133],"paper,":[36],"interaction":[38],"friction":[43,61,68,99],"has":[45,70],"been":[46,71,142],"discussed.":[47],"We":[48],"consider":[49],"relative":[51],"velocity":[52],"contact":[54],"length":[55],"as":[56],"main":[58],"factors":[59],"force":[62],"during":[63],"deforming.":[65],"An":[66],"available":[67],"model":[69],"built":[72],"dynamic":[74,138],"needle":[75,139],"insertion":[76,140],"simulation":[77],"based":[78,131],"on":[79,132],"Finite":[80],"Element":[81],"(FE)":[82],"framework.":[83],"A":[84],"Local":[85,124],"Constraint":[86],"Method":[87],"(LCM)":[88],"proposed":[90],"calculate":[92],"apply":[97],"frame":[104],"avoiding":[106],"remeshing.":[107],"our":[109],"approach":[110],"a":[111],"series":[112],"equivalent":[114],"constraints":[115],"are":[118],"generated":[119],"by":[120],"decomposing":[121],"them":[122],"inside":[123],"Regions":[125],"(LRs)":[126],"nodal":[128],"points.":[129],"Simulations":[130],"method":[134],"realize":[136],"have":[141],"conducted":[143],"validation.":[145]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}