{"id":"https://openalex.org/W4411272458","doi":"https://doi.org/10.1109/ismr67322.2025.11025983","title":"Design and Evaluation of a Needle Manipulation System with EM Tracking for CT-Guided Spinal Injections","display_name":"Design and Evaluation of a Needle Manipulation System with EM Tracking for CT-Guided Spinal Injections","publication_year":2025,"publication_date":"2025-05-14","ids":{"openalex":"https://openalex.org/W4411272458","doi":"https://doi.org/10.1109/ismr67322.2025.11025983","pmid":"https://pubmed.ncbi.nlm.nih.gov/40809187"},"language":"en","primary_location":{"id":"doi:10.1109/ismr67322.2025.11025983","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr67322.2025.11025983","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Symposium on Medical Robotics (ISMR)","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/12344882","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028120468","display_name":"Chang Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chang Chang","raw_affiliation_strings":["Johns Hopkins University,Laboratory of Computational Sensing and Robotics,Department of Mechanical Engineering,Baltimore,MD,USA"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory of Computational Sensing and Robotics,Department of Mechanical Engineering,Baltimore,MD,USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111150801","display_name":"Junling Mei","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junling Mei","raw_affiliation_strings":["Johns Hopkins University,Laboratory of Computational Sensing and Robotics,Baltimore,MD,USA"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory of Computational Sensing and Robotics,Baltimore,MD,USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035755306","display_name":"Yanzhou Wang","orcid":"https://orcid.org/0000-0002-4347-4551"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yanzhou Wang","raw_affiliation_strings":["Johns Hopkins University,Laboratory of Computational Sensing and Robotics,Department of Mechanical Engineering,Baltimore,MD,USA"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory of Computational Sensing and Robotics,Department of Mechanical Engineering,Baltimore,MD,USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070717488","display_name":"Lidia Al-Zogbi","orcid":"https://orcid.org/0000-0001-9905-9325"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lidia Al-Zogbi","raw_affiliation_strings":["Johns Hopkins University,Laboratory of Computational Sensing and Robotics,Department of Mechanical Engineering,Baltimore,MD,USA"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory of Computational Sensing and Robotics,Department of Mechanical Engineering,Baltimore,MD,USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080451681","display_name":"Simon L\u00e9onard","orcid":"https://orcid.org/0000-0001-6429-4755"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Simon Leonard","raw_affiliation_strings":["Johns Hopkins University,Laboratory of Computational Sensing and Robotics,Department of Computer Science,Baltimore,MD,USA"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory of Computational Sensing and Robotics,Department of Computer Science,Baltimore,MD,USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023378687","display_name":"Amit Jain","orcid":"https://orcid.org/0000-0002-9983-3365"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amit Jain","raw_affiliation_strings":["Johns Hopkins University School of Medicine,Department of Orthopaedic Surgery,Baltimore,MD,USA"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University School of Medicine,Department of Orthopaedic Surgery,Baltimore,MD,USA","institution_ids":["https://openalex.org/I2799853436","https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063913520","display_name":"Iulian Iordachita","orcid":"https://orcid.org/0000-0002-2510-9008"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Iulian Iordachita","raw_affiliation_strings":["Johns Hopkins University,Laboratory of Computational Sensing and Robotics,Department of Mechanical Engineering,Baltimore,MD,USA"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory of Computational Sensing and Robotics,Department of Mechanical Engineering,Baltimore,MD,USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5028120468"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18372408,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2025","issue":null,"first_page":"51","last_page":"57"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10084","display_name":"Musculoskeletal pain and rehabilitation","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2736","display_name":"Pharmacology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10084","display_name":"Musculoskeletal pain and rehabilitation","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2736","display_name":"Pharmacology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10238","display_name":"Spine and Intervertebral Disc Pathology","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10280","display_name":"Shoulder Injury and Treatment","score":0.9976000189781189,"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/tracking","display_name":"Tracking (education)","score":0.6335577368736267},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5532785654067993},{"id":"https://openalex.org/keywords/computed-tomography","display_name":"Computed tomography","score":0.4250912368297577},{"id":"https://openalex.org/keywords/medical-physics","display_name":"Medical physics","score":0.356588214635849},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.35160714387893677},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3429586887359619},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.30826812982559204},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.28745558857917786},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08558133244514465}],"concepts":[{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6335577368736267},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5532785654067993},{"id":"https://openalex.org/C544519230","wikidata":"https://www.wikidata.org/wiki/Q32566","display_name":"Computed tomography","level":2,"score":0.4250912368297577},{"id":"https://openalex.org/C19527891","wikidata":"https://www.wikidata.org/wiki/Q1120908","display_name":"Medical physics","level":1,"score":0.356588214635849},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.35160714387893677},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3429586887359619},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.30826812982559204},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.28745558857917786},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08558133244514465},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ismr67322.2025.11025983","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr67322.2025.11025983","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"},{"id":"pmid:40809187","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40809187","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":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:12344882","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12344882","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Int Symp Med Robot","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:12344882","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12344882","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Int Symp Med Robot","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W597636442","https://openalex.org/W1009947233","https://openalex.org/W1515369941","https://openalex.org/W1917274646","https://openalex.org/W1981456453","https://openalex.org/W1985852944","https://openalex.org/W1986462373","https://openalex.org/W2004393745","https://openalex.org/W2028188480","https://openalex.org/W2064673484","https://openalex.org/W2080058731","https://openalex.org/W2093458706","https://openalex.org/W2118847068","https://openalex.org/W2124564463","https://openalex.org/W2125539729","https://openalex.org/W2170734918","https://openalex.org/W2234972526","https://openalex.org/W2249676356","https://openalex.org/W2271989218","https://openalex.org/W2315866037","https://openalex.org/W2316268835","https://openalex.org/W2522393237","https://openalex.org/W2607221196","https://openalex.org/W2770179368","https://openalex.org/W2921522777","https://openalex.org/W3010721913","https://openalex.org/W3043470179","https://openalex.org/W3123159783","https://openalex.org/W3206235622","https://openalex.org/W4386883235","https://openalex.org/W4400228563","https://openalex.org/W4401413910","https://openalex.org/W4404390388"],"related_works":["https://openalex.org/W2084086966","https://openalex.org/W2023861399","https://openalex.org/W2730915376","https://openalex.org/W2626306547","https://openalex.org/W2021396365","https://openalex.org/W2394134009","https://openalex.org/W2119515433","https://openalex.org/W2009561238","https://openalex.org/W1340065","https://openalex.org/W2158788032"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,24,72],"flexible":[4],"needle":[5,55,61],"guidance":[6],"system":[7,70],"and":[8,18,39,44,63],"its":[9],"workflow":[10],"that":[11],"enables":[12],"registration":[13],"of":[14,67,82],"computed":[15],"tomography":[16],"(CT)":[17],"electromagnetic":[19],"(EM)":[20],"tracking":[21,48],"systems":[22],"with":[23,52],"finite":[25],"element":[26],"(FE)":[27],"simulator":[28],"for":[29,41],"needle-based":[30],"percutaneous":[31],"spinal":[32],"injections.":[33],"CT":[34],"is":[35,49],"used":[36],"only":[37],"pre-":[38],"postoperatively":[40],"surgical":[42],"planning":[43],"confirmation,":[45],"while":[46],"EM":[47],"combined":[50],"intraoperatively":[51],"an":[53,78],"FE-based":[54],"controller":[56],"to":[57],"track":[58],"the":[59,68],"planned":[60],"trajectory":[62],"avoid":[64],"obstacles.":[65],"Evaluation":[66],"proposed":[69],"using":[71],"multi-layer":[73],"soft":[74],"tissue":[75],"phantom":[76],"shows":[77],"average":[79],"targeting":[80],"accuracy":[81],"0.4mm.":[83]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}