{"id":"https://openalex.org/W2082612346","doi":"https://doi.org/10.1109/isr.2013.6695726","title":"Development of a needle insertion end-effector for interventional radiology","display_name":"Development of a needle insertion end-effector for interventional radiology","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2082612346","doi":"https://doi.org/10.1109/isr.2013.6695726","mag":"2082612346"},"language":"en","primary_location":{"id":"doi:10.1109/isr.2013.6695726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695726","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","raw_type":"proceedings-article"},"type":"article","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/A5102175664","display_name":"Hoseok Song","orcid":null},"institutions":[{"id":"https://openalex.org/I186506485","display_name":"Hyundai Heavy Industries (South Korea)","ror":"https://ror.org/0433haa75","country_code":"KR","type":"company","lineage":["https://openalex.org/I186506485"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hoseok Song","raw_affiliation_strings":["Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd., Giheung-gu, Yongin-si, Gyeonggi-do, Korea","Electro-Mech. Res. Inst., Hyundai Heavy Ind. Co., Ltd., Yongin, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd., Giheung-gu, Yongin-si, Gyeonggi-do, Korea","institution_ids":["https://openalex.org/I186506485"]},{"raw_affiliation_string":"Electro-Mech. Res. Inst., Hyundai Heavy Ind. Co., Ltd., Yongin, South Korea","institution_ids":["https://openalex.org/I186506485"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075254528","display_name":"Il\u2010Hwa Hong","orcid":"https://orcid.org/0000-0002-2991-2690"},"institutions":[{"id":"https://openalex.org/I186506485","display_name":"Hyundai Heavy Industries (South Korea)","ror":"https://ror.org/0433haa75","country_code":"KR","type":"company","lineage":["https://openalex.org/I186506485"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ilhwa Hong","raw_affiliation_strings":["Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd., Giheung-gu, Yongin-si, Gyeonggi-do, Korea","Electro-Mech. Res. Inst., Hyundai Heavy Ind. Co., Ltd., Yongin, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd., Giheung-gu, Yongin-si, Gyeonggi-do, Korea","institution_ids":["https://openalex.org/I186506485"]},{"raw_affiliation_string":"Electro-Mech. Res. Inst., Hyundai Heavy Ind. Co., Ltd., Yongin, South Korea","institution_ids":["https://openalex.org/I186506485"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109576903","display_name":"Minkyo Cho","orcid":null},"institutions":[{"id":"https://openalex.org/I186506485","display_name":"Hyundai Heavy Industries (South Korea)","ror":"https://ror.org/0433haa75","country_code":"KR","type":"company","lineage":["https://openalex.org/I186506485"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minkyo Cho","raw_affiliation_strings":["Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd., Giheung-gu, Yongin-si, Gyeonggi-do, Korea","Electro-Mech. Res. Inst., Hyundai Heavy Ind. Co., Ltd., Yongin, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd., Giheung-gu, Yongin-si, Gyeonggi-do, Korea","institution_ids":["https://openalex.org/I186506485"]},{"raw_affiliation_string":"Electro-Mech. Res. Inst., Hyundai Heavy Ind. Co., Ltd., Yongin, South Korea","institution_ids":["https://openalex.org/I186506485"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111840738","display_name":"Heungsoon Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I186506485","display_name":"Hyundai Heavy Industries (South Korea)","ror":"https://ror.org/0433haa75","country_code":"KR","type":"company","lineage":["https://openalex.org/I186506485"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Heungsoon Lim","raw_affiliation_strings":["Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd., Giheung-gu, Yongin-si, Gyeonggi-do, Korea","Electro-Mech. Res. Inst., Hyundai Heavy Ind. Co., Ltd., Yongin, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd., Giheung-gu, Yongin-si, Gyeonggi-do, Korea","institution_ids":["https://openalex.org/I186506485"]},{"raw_affiliation_string":"Electro-Mech. Res. Inst., Hyundai Heavy Ind. Co., Ltd., Yongin, South Korea","institution_ids":["https://openalex.org/I186506485"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086775535","display_name":"Sung-Hyun Jung","orcid":null},"institutions":[{"id":"https://openalex.org/I186506485","display_name":"Hyundai Heavy Industries (South Korea)","ror":"https://ror.org/0433haa75","country_code":"KR","type":"company","lineage":["https://openalex.org/I186506485"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-Hyun Jung","raw_affiliation_strings":["Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd., Giheung-gu, Yongin-si, Gyeonggi-do, Korea","Electro-Mech. Res. Inst., Hyundai Heavy Ind. Co., Ltd., Yongin, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd., Giheung-gu, Yongin-si, Gyeonggi-do, Korea","institution_ids":["https://openalex.org/I186506485"]},{"raw_affiliation_string":"Electro-Mech. Res. Inst., Hyundai Heavy Ind. Co., Ltd., Yongin, South Korea","institution_ids":["https://openalex.org/I186506485"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2052,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.59070371,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"5744","issue":null,"first_page":"1","last_page":"3"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9954000115394592,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9641000032424927,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/interventional-radiology","display_name":"Interventional radiology","score":0.7300143837928772},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.6390765905380249},{"id":"https://openalex.org/keywords/needle-biopsy","display_name":"Needle biopsy","score":0.5410474538803101},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.5317012071609497},{"id":"https://openalex.org/keywords/biopsy","display_name":"Biopsy","score":0.518217146396637},{"id":"https://openalex.org/keywords/minimally-invasive-procedures","display_name":"Minimally invasive procedures","score":0.4656888246536255},{"id":"https://openalex.org/keywords/medical-physics","display_name":"Medical physics","score":0.4303783178329468},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2899513840675354}],"concepts":[{"id":"https://openalex.org/C513090587","wikidata":"https://www.wikidata.org/wiki/Q426449","display_name":"Interventional radiology","level":2,"score":0.7300143837928772},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.6390765905380249},{"id":"https://openalex.org/C2992613538","wikidata":"https://www.wikidata.org/wiki/Q180071","display_name":"Needle biopsy","level":3,"score":0.5410474538803101},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.5317012071609497},{"id":"https://openalex.org/C2775934546","wikidata":"https://www.wikidata.org/wiki/Q179991","display_name":"Biopsy","level":2,"score":0.518217146396637},{"id":"https://openalex.org/C2778643591","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Minimally invasive procedures","level":2,"score":0.4656888246536255},{"id":"https://openalex.org/C19527891","wikidata":"https://www.wikidata.org/wiki/Q1120908","display_name":"Medical physics","level":1,"score":0.4303783178329468},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2899513840675354}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isr.2013.6695726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695726","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.5}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2089399694","https://openalex.org/W2094151870","https://openalex.org/W2141772798","https://openalex.org/W2168258005","https://openalex.org/W2170245125","https://openalex.org/W6674153661"],"related_works":["https://openalex.org/W2092820169","https://openalex.org/W2081545967","https://openalex.org/W2102984496","https://openalex.org/W3146344619","https://openalex.org/W2986315147","https://openalex.org/W2586697405","https://openalex.org/W110326197","https://openalex.org/W2041255953","https://openalex.org/W2034720634","https://openalex.org/W2427532180"],"abstract_inverted_index":{"Interventional":[0,19],"radiology":[1,7],"is":[2,22,29,47,86,93,121],"a":[3,23,32,52,76,80,125,128,132],"medical":[4],"sub-specialty":[5],"of":[6,39,109],"which":[8,85,120],"utilizes":[9],"minimally-invasive":[10],"image":[11],"guided":[12],"procedures":[13],"to":[14,36,51,72,105,123],"diagnose":[15],"and":[16,44,66,112,130],"treat":[17],"diseases.":[18],"Needle":[20],"Biopsy":[21],"most":[24],"common":[25],"interventional":[26],"Radiology.":[27],"It":[28,46,115],"performed":[30,87],"with":[31,88],"biopsy":[33,65],"needle":[34,64,82,100,129],"according":[35],"the":[37,61,67,110,113],"guide":[38],"fluoroscopic":[40],"apparatus":[41],"including":[42],"CT":[43],"C-arm.":[45],"getting":[48],"popular":[49],"due":[50],"great":[53],"advantage":[54],"induced":[55],"from":[56],"minimally":[57],"invasive":[58],"procedure.":[59],"However,":[60],"surgeon":[62],"performing":[63],"patient":[68,111],"are":[69],"repeatedly":[70],"exposed":[71],"radiation":[73,107],"environment.":[74],"Therefore,":[75],"need":[77],"for":[78],"developing":[79],"robotic":[81,99],"insertion":[83,101],"system":[84],"remote":[89],"control":[90],"master":[91],"device":[92],"recognized.":[94],"This":[95],"paper":[96],"explains":[97],"about":[98],"end-effector":[102],"in":[103],"order":[104],"reduce":[106],"exposure":[108],"surgeon.":[114],"has":[116],"3":[117],"DoF":[118],"motion":[119],"designed":[122],"insert":[124],"needle,":[126],"rotate":[127],"release/hold":[131],"needle.":[133]},"counts_by_year":[{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}