{"id":"https://openalex.org/W4205727792","doi":"https://doi.org/10.1109/ismr48346.2021.9661571","title":"Development of a 6 Degrees of Freedom Prostate Brachytherapy Robot with Integrated Gravity Compensation System","display_name":"Development of a 6 Degrees of Freedom Prostate Brachytherapy Robot with Integrated Gravity Compensation System","publication_year":2021,"publication_date":"2021-11-17","ids":{"openalex":"https://openalex.org/W4205727792","doi":"https://doi.org/10.1109/ismr48346.2021.9661571"},"language":"en","primary_location":{"id":"doi:10.1109/ismr48346.2021.9661571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48346.2021.9661571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Symposium on Medical Robotics (ISMR)","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/A5055758664","display_name":"Aziza Ben Halima","orcid":"https://orcid.org/0000-0002-6781-8662"},"institutions":[{"id":"https://openalex.org/I161929037","display_name":"Universit\u00e9 de Bretagne Occidentale","ror":"https://ror.org/01b8h3982","country_code":"FR","type":"education","lineage":["https://openalex.org/I161929037"]},{"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":"Aziza Ben Halima","raw_affiliation_strings":["Laboratory of Medical Image Processing (LaTIM), IN-SERM UMR 1101. University of Western Brittany (UBO), Brest, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Medical Image Processing (LaTIM), IN-SERM UMR 1101. University of Western Brittany (UBO), Brest, France","institution_ids":["https://openalex.org/I161929037","https://openalex.org/I4210161065"]}]},{"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/I161929037","display_name":"Universit\u00e9 de Bretagne Occidentale","ror":"https://ror.org/01b8h3982","country_code":"FR","type":"education","lineage":["https://openalex.org/I161929037"]},{"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 Image Processing (LaTIM), IN-SERM UMR 1101. University of Western Brittany (UBO), Brest, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Medical Image Processing (LaTIM), IN-SERM UMR 1101. University of Western Brittany (UBO), Brest, France","institution_ids":["https://openalex.org/I161929037","https://openalex.org/I4210161065"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102809262","display_name":"Jean\u2010Fran\u00e7ois Cl\u00e9ment","orcid":"https://orcid.org/0000-0002-8354-0971"},"institutions":[{"id":"https://openalex.org/I161929037","display_name":"Universit\u00e9 de Bretagne Occidentale","ror":"https://ror.org/01b8h3982","country_code":"FR","type":"education","lineage":["https://openalex.org/I161929037"]},{"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":"Jean-Francois Clement","raw_affiliation_strings":["Laboratory of Medical Image Processing (LaTIM), IN-SERM UMR 1101. University of Western Brittany (UBO), Brest, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Medical Image Processing (LaTIM), IN-SERM UMR 1101. University of Western Brittany (UBO), Brest, France","institution_ids":["https://openalex.org/I161929037","https://openalex.org/I4210161065"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017138072","display_name":"Dimitris Visvikis","orcid":"https://orcid.org/0000-0003-0831-3637"},"institutions":[{"id":"https://openalex.org/I161929037","display_name":"Universit\u00e9 de Bretagne Occidentale","ror":"https://ror.org/01b8h3982","country_code":"FR","type":"education","lineage":["https://openalex.org/I161929037"]},{"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":"Dimitris Visvikis","raw_affiliation_strings":["Laboratory of Medical Image Processing (LaTIM), IN-SERM UMR 1101. University of Western Brittany (UBO), Brest, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Medical Image Processing (LaTIM), IN-SERM UMR 1101. University of Western Brittany (UBO), Brest, France","institution_ids":["https://openalex.org/I161929037","https://openalex.org/I4210161065"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4165,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.89911254,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9979000091552734,"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":0.9979000091552734,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9968000054359436,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9887999892234802,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/brachytherapy","display_name":"Brachytherapy","score":0.7471874356269836},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5393741726875305},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5254197120666504},{"id":"https://openalex.org/keywords/dosimetry","display_name":"Dosimetry","score":0.5140119791030884},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48328521847724915},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4703880548477173},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4535480737686157},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35293060541152954},{"id":"https://openalex.org/keywords/radiation-therapy","display_name":"Radiation therapy","score":0.25116151571273804},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2124631702899933},{"id":"https://openalex.org/keywords/nuclear-medicine","display_name":"Nuclear medicine","score":0.19940069317817688},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.16536253690719604},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14319810271263123}],"concepts":[{"id":"https://openalex.org/C2777416452","wikidata":"https://www.wikidata.org/wiki/Q896687","display_name":"Brachytherapy","level":3,"score":0.7471874356269836},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5393741726875305},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5254197120666504},{"id":"https://openalex.org/C75088862","wikidata":"https://www.wikidata.org/wiki/Q2291081","display_name":"Dosimetry","level":2,"score":0.5140119791030884},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48328521847724915},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4703880548477173},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4535480737686157},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35293060541152954},{"id":"https://openalex.org/C509974204","wikidata":"https://www.wikidata.org/wiki/Q180507","display_name":"Radiation therapy","level":2,"score":0.25116151571273804},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2124631702899933},{"id":"https://openalex.org/C2989005","wikidata":"https://www.wikidata.org/wiki/Q214963","display_name":"Nuclear medicine","level":1,"score":0.19940069317817688},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.16536253690719604},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14319810271263123},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr48346.2021.9661571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48346.2021.9661571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1517299430","https://openalex.org/W1981094173","https://openalex.org/W2028236386","https://openalex.org/W2039446760","https://openalex.org/W2086206161","https://openalex.org/W2091450978","https://openalex.org/W2334685939","https://openalex.org/W2470162158","https://openalex.org/W2996114691","https://openalex.org/W3054123979","https://openalex.org/W3127245685"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2326117494","https://openalex.org/W2102645302"],"abstract_inverted_index":{"Low-dose":[0],"rate":[1,204],"prostate":[2,38,100,191],"brachytherapy":[3,101],"is":[4,48,133],"one":[5],"of":[6,64,69,92,121,138,178,205],"the":[7,37,40,62,106,119,125,139,146,161,166,183,190],"most":[8,68],"widely":[9],"used":[10],"radiotherapy":[11],"techniques":[12],"for":[13,75,99],"early":[14],"stage":[15],"cancer":[16],"treatment":[17],"due":[18],"to":[19,52,60,103,110,144,153,182,185,197],"its":[20,111],"high":[21],"benefits":[22],"and":[23,81,95,164],"low":[24],"side":[25],"effects.":[26],"This":[27,46],"method":[28],"consists":[29],"in":[30,84,105,142,175,192],"manually":[31],"inserting":[32],"small":[33],"radioactive":[34],"seeds":[35,65,122],"within":[36,189],"through":[39],"perineum":[41],"under":[42],"ultrasound":[43],"image":[44],"guidance.":[45],"implantation":[47],"often":[49],"inaccurate":[50],"leading":[51],"mis-distributed":[53],"dosimetry.":[54],"Different":[55],"robotic":[56,116,140],"devices":[57],"were":[58],"proposed":[59,115],"improve":[61],"accuracy":[63,120],"implantation.":[66],"However,":[67],"them":[70],"are":[71],"not":[72],"well":[73],"suitable":[74],"clinical":[76],"conditions,":[77],"especially":[78],"considering":[79],"bulk":[80],"size.":[82],"Thus,":[83],"this":[85],"paper":[86],"we":[87],"developed":[88],"a":[89,129,176,193],"6":[90],"degrees":[91],"freedom":[93],"compact":[94],"lightweight":[96],"co-manipulated":[97],"robot":[98,173],"easy":[102],"install":[104],"operating":[107],"room":[108],"thanks":[109],"parallel":[112],"design.":[113],"The":[114,149,171],"architecture":[117],"impacts":[118],"placement":[123],"along":[124],"gravity":[126,155],"axis.":[127],"Therefore,":[128],"gear":[130],"spring":[131,150],"mechanism":[132],"added":[134],"into":[135],"each":[136],"leg":[137],"system":[141],"order":[143],"minimize":[145],"gravitational":[147],"torques.":[148],"stiffness":[151],"required":[152],"compensate":[154],"forces":[156],"was":[157],"calculated":[158],"by":[159],"determining":[160],"kinematic":[162],"model":[163],"establishing":[165],"approximate":[167],"perfect":[168],"balancing":[169],"condition.":[170],"final":[172],"fits":[174],"cube":[177],"300\u00d7300\u00d7300":[179],"mm3and":[180],"permits":[181],"needle":[184],"reach":[186],"any":[187],"point":[188],"singularity-free":[194],"workspace":[195],"superior":[196],"55\u00d755\u00d7150":[198],"mm3with":[199],"an":[200],"average":[201],"torque":[202],"reduction":[203],"82%.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}