{"id":"https://openalex.org/W4402148199","doi":"https://doi.org/10.1109/iros58592.2024.10802810","title":"Real-time Robotic Flexible Needle Insertion In Deformable Living Organs Using Isolated Objective Constraint","display_name":"Real-time Robotic Flexible Needle Insertion In Deformable Living Organs Using Isolated Objective Constraint","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4402148199","doi":"https://doi.org/10.1109/iros58592.2024.10802810"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802810","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-04681176/file/IROS_2024_FinalSubmission.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031418682","display_name":"Thuc Long Ha","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Thuc Long Ha","raw_affiliation_strings":["University of Strasbourg,ICube Laboratory, UMR 7357, CNRS,France","ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)","MIMESIS - Computational Anatomy and Simulation for Medicine (1, Place de l'h\u00f4pital\r\n67091 Strasbourg - France)","UNISTRA - Universit\u00e9 de Strasbourg (4 rue Blaise Pascal - CS 90032 - 67081 Strasbourg cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Strasbourg,ICube Laboratory, UMR 7357, CNRS,France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I68947357"]},{"raw_affiliation_string":"ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)","institution_ids":["https://openalex.org/I4210100283"]},{"raw_affiliation_string":"MIMESIS - Computational Anatomy and Simulation for Medicine (1, Place de l'h\u00f4pital\r\n67091 Strasbourg - France)","institution_ids":[]},{"raw_affiliation_string":"UNISTRA - Universit\u00e9 de Strasbourg (4 rue Blaise Pascal - CS 90032 - 67081 Strasbourg cedex - France)","institution_ids":["https://openalex.org/I68947357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105822185","display_name":"Julien Bert","orcid":"https://orcid.org/0000-0002-2756-942X"},"institutions":[{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I4210161065","display_name":"Laboratoire de Traitement de l'Information M\u00e9dicale","ror":"https://ror.org/05mqemx33","country_code":"FR","type":"facility","lineage":["https://openalex.org/I154526488","https://openalex.org/I4210105774","https://openalex.org/I4210161065"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Julien Bert","raw_affiliation_strings":["Laboratory of Medical Information Processing - Latim INSERM,UMR,Brest,France,1101","LaTIM - Laboratoire de Traitement de l'Information Medicale (CHRU Morvan, B\u00e2timent 1, 1er \u00e9tage, bureau 1056, 2 avenue Foch, 29609 Brest, France - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Medical Information Processing - Latim INSERM,UMR,Brest,France,1101","institution_ids":["https://openalex.org/I154526488","https://openalex.org/I4210161065"]},{"raw_affiliation_string":"LaTIM - Laboratoire de Traitement de l'Information Medicale (CHRU Morvan, B\u00e2timent 1, 1er \u00e9tage, bureau 1056, 2 avenue Foch, 29609 Brest, France - France)","institution_ids":["https://openalex.org/I4210161065"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033652495","display_name":"Hadrien Courtecuisse","orcid":"https://orcid.org/0000-0001-6342-2284"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Hadrien Courtecuisse","raw_affiliation_strings":["University of Strasbourg,ICube Laboratory, UMR 7357, CNRS,France","ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)","MIMESIS - Computational Anatomy and Simulation for Medicine (1, Place de l'h\u00f4pital\r\n67091 Strasbourg - France)","UNISTRA - Universit\u00e9 de Strasbourg (4 rue Blaise Pascal - CS 90032 - 67081 Strasbourg cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Strasbourg,ICube Laboratory, UMR 7357, CNRS,France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I68947357"]},{"raw_affiliation_string":"ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)","institution_ids":["https://openalex.org/I4210100283"]},{"raw_affiliation_string":"MIMESIS - Computational Anatomy and Simulation for Medicine (1, Place de l'h\u00f4pital\r\n67091 Strasbourg - France)","institution_ids":[]},{"raw_affiliation_string":"UNISTRA - Universit\u00e9 de Strasbourg (4 rue Blaise Pascal - CS 90032 - 67081 Strasbourg cedex - France)","institution_ids":["https://openalex.org/I68947357"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4747,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.66854078,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"10998","last_page":"11003"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.933899998664856,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.933899998664856,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9307000041007996,"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/T10888","display_name":"Augmented Reality Applications","score":0.9261999726295471,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.7175634503364563},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.615350604057312},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47222068905830383},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.44361573457717896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34931790828704834},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33734017610549927},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33393052220344543},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1665177047252655},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10537421703338623}],"concepts":[{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.7175634503364563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.615350604057312},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47222068905830383},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.44361573457717896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34931790828704834},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33734017610549927},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33393052220344543},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1665177047252655},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10537421703338623}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros58592.2024.10802810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802810","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04681176v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-04681176","pdf_url":"https://inria.hal.science/hal-04681176/file/IROS_2024_FinalSubmission.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04681176v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-04681176","pdf_url":"https://inria.hal.science/hal-04681176/file/IROS_2024_FinalSubmission.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1801824165","display_name":"Gestes M\u00e9dico-Chirurgicaux Assist\u00e9s par Ordinateur","funder_award_id":"ANR-11-LABX-0004","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320322364","display_name":"Labex","ror":"https://ror.org/01cvsyf94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4402148199.pdf","grobid_xml":"https://content.openalex.org/works/W4402148199.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1567856268","https://openalex.org/W1971077292","https://openalex.org/W1979987057","https://openalex.org/W1999736004","https://openalex.org/W2023216632","https://openalex.org/W2098984677","https://openalex.org/W2106415158","https://openalex.org/W2109121052","https://openalex.org/W2132929497","https://openalex.org/W2140246545","https://openalex.org/W2146990154","https://openalex.org/W2165061586","https://openalex.org/W2608547410","https://openalex.org/W2771294310","https://openalex.org/W2788264179","https://openalex.org/W2804580687","https://openalex.org/W2921522777","https://openalex.org/W3012819682","https://openalex.org/W4281660948","https://openalex.org/W4387747219","https://openalex.org/W6757444600"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W2807251790","https://openalex.org/W2799406489","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"innovative":[4],"approach":[5],"for":[6,107,126],"executing":[7],"robotic":[8],"needle":[9,48,67,73],"insertion":[10,21,74],"within":[11],"deformable":[12],"living":[13],"organs.":[14,141],"The":[15,52,72],"objective":[16,58,101],"is":[17],"to":[18,41,60,82,91,139],"maintain":[19],"the":[20,25,31,34,62,66,84,88,93,100,104,112,116,140],"pivot":[22],"point":[23],"on":[24,56],"skin,":[26],"which":[27],"remains":[28],"stationary.":[29],"At":[30],"same":[32],"time,":[33],"organs":[35],"undergo":[36],"displacement":[37],"and":[38,46,86,135],"deformation":[39],"due":[40],"respiration.":[42],"Therefore,":[43],"real-time":[44],"control":[45],"precise":[47],"steering":[49,65],"are":[50],"crucial.":[51],"proposed":[53],"method":[54],"relies":[55],"isolated":[57],"constraints":[59],"ensure":[61],"objectives":[63],"while":[64],"along":[68],"a":[69,123],"predefined":[70],"trajectory.":[71],"process":[75],"benefits":[76],"from":[77],"Finite":[78],"Element":[79],"(FE)":[80],"models":[81],"simulate":[83],"environment":[85],"address":[87],"inverse":[89],"problem":[90],"drive":[92],"robot\u2019s":[94,117],"end":[95],"effector":[96],"(EE)":[97],"by":[98],"re-evaluating":[99],"functions":[102,128],"in":[103,129,132],"constraint":[105],"space":[106],"each":[108],"time":[109],"step.":[110],"So,":[111],"desired":[113],"motion":[114],"of":[115],"EE":[118],"could":[119],"be":[120],"calculated":[121],"at":[122],"small":[124],"cost":[125],"non-linear":[127],"real-time,":[130],"resulting":[131],"better":[133],"precision":[134],"reducing":[136],"stress":[137],"caused":[138]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}