{"id":"https://openalex.org/W2084452455","doi":"https://doi.org/10.1109/iros.2013.6696942","title":"Teleoperation system with hybrid pneumatic-piezoelectric actuation for MRI-guided needle insertion with haptic feedback","display_name":"Teleoperation system with hybrid pneumatic-piezoelectric actuation for MRI-guided needle insertion with haptic feedback","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2084452455","doi":"https://doi.org/10.1109/iros.2013.6696942","mag":"2084452455","pmid":"https://pubmed.ncbi.nlm.nih.gov/25126446"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696942","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696942","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4128939","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112273397","display_name":"Weijian Shang","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Weijian Shang","raw_affiliation_strings":["Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA","Dept. of Mech. Eng., Worcester Polytech. Inst., Worcester, MA, USA"],"affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA","institution_ids":[]},{"raw_affiliation_string":"Dept. of Mech. Eng., Worcester Polytech. Inst., Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010637524","display_name":"Hao Su","orcid":"https://orcid.org/0000-0003-3299-7418"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Su","raw_affiliation_strings":["Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA","Dept. of Mech. Eng., Worcester Polytech. Inst., Worcester, MA, USA"],"affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA","institution_ids":[]},{"raw_affiliation_string":"Dept. of Mech. Eng., Worcester Polytech. Inst., Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100438703","display_name":"Gang Li","orcid":"https://orcid.org/0000-0002-4991-1265"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gang Li","raw_affiliation_strings":["Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA","Dept. of Mech. Eng., Worcester Polytech. Inst., Worcester, MA, USA"],"affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA","institution_ids":[]},{"raw_affiliation_string":"Dept. of Mech. Eng., Worcester Polytech. Inst., Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057001205","display_name":"Gregory S. Fischer","orcid":"https://orcid.org/0000-0001-6723-6614"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory S. Fischer","raw_affiliation_strings":["Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA","Dept. of Mech. Eng., Worcester Polytech. Inst., Worcester, MA, USA"],"affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA","institution_ids":[]},{"raw_affiliation_string":"Dept. of Mech. Eng., Worcester Polytech. Inst., Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5112273397"],"corresponding_institution_ids":["https://openalex.org/I107077323"],"apc_list":null,"apc_paid":null,"fwci":2.0531,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.8625813,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"2013","issue":null,"first_page":"4092","last_page":"4098"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10916","display_name":"Surgical Simulation and Training","score":0.987500011920929,"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/teleoperation","display_name":"Teleoperation","score":0.7733737230300903},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7206194400787354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6148959398269653},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.49994850158691406},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.46112769842147827},{"id":"https://openalex.org/keywords/position-sensor","display_name":"Position sensor","score":0.4359918236732483},{"id":"https://openalex.org/keywords/scanner","display_name":"Scanner","score":0.4349881410598755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41722649335861206},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4135500192642212},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.413273423910141},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41149210929870605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22833356261253357},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13767549395561218}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7733737230300903},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7206194400787354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6148959398269653},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.49994850158691406},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.46112769842147827},{"id":"https://openalex.org/C29258643","wikidata":"https://www.wikidata.org/wiki/Q2937669","display_name":"Position sensor","level":3,"score":0.4359918236732483},{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.4349881410598755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41722649335861206},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4135500192642212},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.413273423910141},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41149210929870605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22833356261253357},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13767549395561218},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2013.6696942","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696942","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmid:25126446","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/25126446","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:4128939","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4128939","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rep U S","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:4128939","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4128939","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rep U S","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320308319","display_name":"Link Foundation","ror":"https://ror.org/02agp0d04"},{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320338273","display_name":"Congressionally Directed Medical Research Programs","ror":"https://ror.org/03g2zjp07"},{"id":"https://openalex.org/F4320338485","display_name":"DOD Prostate Cancer Research Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W9395034","https://openalex.org/W82634471","https://openalex.org/W145266174","https://openalex.org/W198587296","https://openalex.org/W1935837759","https://openalex.org/W1966854752","https://openalex.org/W1969093871","https://openalex.org/W1975379801","https://openalex.org/W1981822312","https://openalex.org/W1987780882","https://openalex.org/W1997340617","https://openalex.org/W2020275220","https://openalex.org/W2067309401","https://openalex.org/W2085262961","https://openalex.org/W2099745446","https://openalex.org/W2102948618","https://openalex.org/W2104821212","https://openalex.org/W2111854603","https://openalex.org/W2113019860","https://openalex.org/W2116144804","https://openalex.org/W2118403003","https://openalex.org/W2123742371","https://openalex.org/W2123980006","https://openalex.org/W2125245130","https://openalex.org/W2127662599","https://openalex.org/W2129503982","https://openalex.org/W2132431375","https://openalex.org/W2132587319","https://openalex.org/W2142332302","https://openalex.org/W2143473260","https://openalex.org/W2144310621","https://openalex.org/W2144400376","https://openalex.org/W2150569243","https://openalex.org/W2152860137","https://openalex.org/W2155672172","https://openalex.org/W2164126001","https://openalex.org/W6600380183","https://openalex.org/W6603323757","https://openalex.org/W6605961964","https://openalex.org/W6676926063"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W157833000","https://openalex.org/W2999597854","https://openalex.org/W2147381805","https://openalex.org/W2292211093","https://openalex.org/W67105602","https://openalex.org/W2097347938","https://openalex.org/W1911355635"],"abstract_inverted_index":{"This":[0,19],"paper":[1],"presents":[2],"a":[3,23,84,186],"surgical":[4],"master-slave":[5,171],"tele-operation":[6],"system":[7,20],"for":[8,28,54],"percutaneous":[9],"interventional":[10],"procedures":[11],"under":[12,139],"continuous":[13],"magnetic":[14],"resonance":[15],"imaging":[16],"(MRI)":[17],"guidance.":[18],"consists":[21],"of":[22,79,118,169,180,190,198],"piezoelectrically":[24],"actuated":[25,86,132],"slave":[26,52,145],"robot":[27,53,71,89,146,172],"needle":[29,56,98,135],"placement":[30,99],"with":[31,97],"integrated":[32,67,182],"fiber":[33],"optic":[34],"force":[35,95,195],"sensor":[36,44,64],"utilizing":[37],"Fabry-Perot":[38],"interferometry":[39],"(FPI)":[40],"sensing":[41],"principle.":[42],"The":[43],"flexure":[45],"is":[46,66,90,108,126,137],"optimized":[47],"and":[48,81,110,152,165,192],"embedded":[49],"to":[50,93,101,112,128,175],"the":[51,76,102,114,119,130,144,149,153,156,159,162,170,177,181],"measuring":[55],"insertion":[57,136],"force.":[58],"A":[59,122],"novel,":[60],"compact":[61],"opto-mechanical":[62],"FPI":[63],"interface":[65],"into":[68],"an":[69],"MRI":[70],"control":[72,116,124,129],"system.":[73,133,183],"By":[74],"leveraging":[75],"complementary":[77],"features":[78],"pneumatic":[80],"piezoelectric":[82],"actuation,":[83],"pneumatically":[85],"haptic":[87],"master":[88,120,157],"also":[91],"developed":[92,127],"render":[94],"associated":[96],"interventions":[100],"clinician.":[103],"An":[104],"aluminum":[105],"load":[106],"cell":[107],"implemented":[109],"calibrated":[111],"close":[113],"impedance":[115],"loop":[117],"robot.":[121],"force-position":[123],"algorithm":[125],"hybrid":[131],"Teleoperated":[134],"demonstrated":[138,174],"live":[140],"MR":[141],"imaging,":[142],"where":[143],"resides":[147],"in":[148],"scanner":[150],"bore":[151],"user":[154],"manipulates":[155],"beside":[158],"patient":[160],"outside":[161],"bore.":[163],"Force":[164],"position":[166,187],"tracking":[167,178,188,196],"results":[168],"are":[173],"validate":[176],"performance":[179],"It":[184],"has":[185],"error":[189,197],"0.318mm":[191],"sine":[193],"wave":[194],"2.227N.":[199]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
