{"id":"https://openalex.org/W2771434468","doi":"https://doi.org/10.1109/iros.2017.8205979","title":"Mechanical validation of an MRI compatible stereotactic neurosurgery robot in preparation for pre-clinical trials","display_name":"Mechanical validation of an MRI compatible stereotactic neurosurgery robot in preparation for pre-clinical trials","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2771434468","doi":"https://doi.org/10.1109/iros.2017.8205979","mag":"2771434468","pmid":"https://pubmed.ncbi.nlm.nih.gov/29696097"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8205979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8205979","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5912942","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047781573","display_name":"Christopher J. Nycz","orcid":"https://orcid.org/0000-0002-3753-786X"},"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":"Christopher J. Nycz","raw_affiliation_strings":["Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, 100 Institute Rd, Worcester, MA, USA","Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, 100 Institute Rd, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043307456","display_name":"Radian Gondokaryono","orcid":"https://orcid.org/0009-0005-2455-7326"},"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":"Radian Gondokaryono","raw_affiliation_strings":["Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, 100 Institute Rd, Worcester, MA, USA","Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, 100 Institute Rd, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045004491","display_name":"Paulo Carvalho","orcid":"https://orcid.org/0000-0002-1616-2739"},"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":"Paulo Carvalho","raw_affiliation_strings":["Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, 100 Institute Rd, Worcester, MA, USA","Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, 100 Institute Rd, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046099375","display_name":"Niravkumar Patel","orcid":"https://orcid.org/0000-0002-8113-6078"},"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":"Nirav Patel","raw_affiliation_strings":["Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, 100 Institute Rd, Worcester, MA, USA","Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, 100 Institute Rd, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036607671","display_name":"Marek Wartenberg","orcid":"https://orcid.org/0000-0003-1084-4242"},"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":"Marek Wartenberg","raw_affiliation_strings":["Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, 100 Institute Rd, Worcester, MA, USA","Worcester Polytechnic Institute, Worcester, MA, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, 100 Institute Rd, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Worcester Polytechnic Institute, Worcester, MA, US","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029140435","display_name":"Julie G. Pilitsis","orcid":"https://orcid.org/0000-0002-6488-9692"},"institutions":[{"id":"https://openalex.org/I77920804","display_name":"Albany Medical Center Hospital","ror":"https://ror.org/0307crw42","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4405259726","https://openalex.org/I77920804"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Julie G Pilitsis","raw_affiliation_strings":["Department of Neurosurgery at Albany Medical Center, 43 New Scotland Avenue Albany, NY, USA","Department of Neurosurgery at Albany Medical Center, Albany, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Neurosurgery at Albany Medical Center, 43 New Scotland Avenue Albany, NY, USA","institution_ids":["https://openalex.org/I77920804"]},{"raw_affiliation_string":"Department of Neurosurgery at Albany Medical Center, Albany, NY, USA","institution_ids":["https://openalex.org/I77920804"]}]},{"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) Lab, Worcester Polytechnic Institute, 100 Institute Rd, Worcester, MA, USA","Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, 100 Institute Rd, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Automation and Interventional Medicine (AIM) Lab, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]}],"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":46,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2017","issue":null,"first_page":"1677","last_page":"1684"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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":0.9984999895095825,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9894999861717224,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9617999792098999,"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/neurosurgery","display_name":"Neurosurgery","score":0.573323130607605},{"id":"https://openalex.org/keywords/medical-physics","display_name":"Medical physics","score":0.5533216595649719},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4989604949951172},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48243531584739685},{"id":"https://openalex.org/keywords/clinical-trial","display_name":"Clinical trial","score":0.44803380966186523},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.3315790891647339},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3041934669017792},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.2267577052116394},{"id":"https://openalex.org/keywords/pathology","display_name":"Pathology","score":0.08714756369590759}],"concepts":[{"id":"https://openalex.org/C12770488","wikidata":"https://www.wikidata.org/wiki/Q188449","display_name":"Neurosurgery","level":2,"score":0.573323130607605},{"id":"https://openalex.org/C19527891","wikidata":"https://www.wikidata.org/wiki/Q1120908","display_name":"Medical physics","level":1,"score":0.5533216595649719},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4989604949951172},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48243531584739685},{"id":"https://openalex.org/C535046627","wikidata":"https://www.wikidata.org/wiki/Q30612","display_name":"Clinical trial","level":2,"score":0.44803380966186523},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3315790891647339},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3041934669017792},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.2267577052116394},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.08714756369590759}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2017.8205979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8205979","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmid:29696097","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29696097","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:europepmc.org:4837971","is_oa":false,"landing_page_url":"http://europepmc.org/pmc/articles/PMC5912942","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:5912942","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5912942","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:5912942","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5912942","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8199999928474426}],"awards":[{"id":"https://openalex.org/G2928060756","display_name":null,"funder_award_id":"R01 CA166379","funder_id":"https://openalex.org/F4320337351","funder_display_name":"National Cancer Institute"}],"funders":[{"id":"https://openalex.org/F4320337351","display_name":"National Cancer Institute","ror":"https://ror.org/040gcmg81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W267652256","https://openalex.org/W1490766191","https://openalex.org/W1995104587","https://openalex.org/W1996666143","https://openalex.org/W2009417631","https://openalex.org/W2019079759","https://openalex.org/W2033481362","https://openalex.org/W2045450395","https://openalex.org/W2049113059","https://openalex.org/W2070990785","https://openalex.org/W2087106839","https://openalex.org/W2098816456","https://openalex.org/W2114678653","https://openalex.org/W2120770278","https://openalex.org/W2162175246","https://openalex.org/W2164018716","https://openalex.org/W2608547410","https://openalex.org/W6684259985","https://openalex.org/W6737019795"],"related_works":["https://openalex.org/W2443919745","https://openalex.org/W4246973704","https://openalex.org/W2418798809","https://openalex.org/W2014425043","https://openalex.org/W3003903932","https://openalex.org/W4252010996","https://openalex.org/W2024895637","https://openalex.org/W4232411315","https://openalex.org/W1978226483","https://openalex.org/W4231512119"],"abstract_inverted_index":{"The":[0,122],"use":[1,94],"of":[2,36,65,88,112,124,133,144,160,173],"magnetic":[3],"resonance":[4],"imaging":[5],"(MRI)":[6],"for":[7,16,55,68,93],"guiding":[8],"robotic":[9],"surgical":[10],"devices":[11,28],"has":[12],"shown":[13],"great":[14],"potential":[15],"performing":[17],"precisely":[18],"targeted":[19],"and":[20,63,71,106,108,116,138,148,164,208],"controlled":[21],"interventions.":[22],"To":[23],"fully":[24],"realize":[25],"these":[26],"benefits,":[27],"must":[29],"work":[30,50,81,126],"safely":[31],"within":[32],"the":[33,37,60,96,100,113,188,192,202],"tight":[34],"confines":[35],"MRI":[38,52,130,193],"bore":[39],"without":[40],"negatively":[41],"impacting":[42],"image":[43,120],"quality.":[44,121],"Here":[45],"we":[46,82],"expand":[47],"on":[48,118],"previous":[49,80],"exploring":[51],"guided":[53],"robots":[54],"neural":[56],"interventions":[57],"by":[58,187],"presenting":[59],"mechanical":[61,101],"design":[62,102],"assessment":[64],"a":[66,85,128,135,206],"device":[67],"positioning,":[69],"orienting,":[70],"inserting":[72,152],"an":[73,110,158,171],"interstitial":[74],"ultrasound-based":[75],"ablation":[76],"probe.":[77],"From":[78],"our":[79],"have":[83],"added":[84],"2":[86],"degree":[87],"freedom":[89],"(DOF)":[90],"needle":[91,136],"driver":[92],"with":[95,142,157,180],"aforementioned":[97],"probe,":[98],"revised":[99],"to":[103,170],"improve":[104],"strength":[105],"function,":[107],"performed":[109],"evaluation":[111],"mechanism's":[114],"accuracy":[115,143,159,172],"effect":[117],"MR":[119],"result":[123],"this":[125],"is":[127],"7-DOF":[129],"robot":[131],"capable":[132],"positioning":[134],"tip":[137],"orienting":[139],"it's":[140,155,168],"axis":[141,156,169],"1.37":[145],"\u00b1":[146,150,162,175],"0.06mm":[147],"0.79\u00b0":[149],"0.41\u00b0,":[151],"it":[153,166],"along":[154],"0.06":[161],"0.07mm,":[163],"rotating":[165],"about":[167],"0.77\u00b0":[174],"1.31\u00b0.":[176],"This":[177],"was":[178],"accomplished":[179],"no":[181,209],"significant":[182],"reduction":[183,197],"in":[184,191,198],"SNR":[185,199],"caused":[186],"robot's":[189,203],"presence":[190],"bore,":[194],"<;":[195],"10.3%":[196],"from":[200],"running":[201],"motors":[204],"during":[205],"scan,":[207],"visible":[210],"paramagnetic":[211],"artifacts.":[212]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":9}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}