{"id":"https://openalex.org/W2766503163","doi":"https://doi.org/10.1109/lra.2017.2768122","title":"Surgeon-in-the-Loop 3-D Needle Steering Through Ultrasound-Guided Feedback Control","display_name":"Surgeon-in-the-Loop 3-D Needle Steering Through Ultrasound-Guided Feedback Control","publication_year":2017,"publication_date":"2017-11-02","ids":{"openalex":"https://openalex.org/W2766503163","doi":"https://doi.org/10.1109/lra.2017.2768122","mag":"2766503163"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2768122","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2768122","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5029594819","display_name":"Jay Carriere","orcid":"https://orcid.org/0000-0003-4686-4704"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Jay Carriere","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada"],"raw_orcid":"https://orcid.org/0000-0003-4686-4704","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057363853","display_name":"Mohsen Khadem","orcid":"https://orcid.org/0000-0002-6873-273X"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mohsen Khadem","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada"],"raw_orcid":"https://orcid.org/0000-0002-6873-273X","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076465575","display_name":"Carlos Rossa","orcid":"https://orcid.org/0000-0002-5879-1752"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Carlos Rossa","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada"],"raw_orcid":"https://orcid.org/0000-0002-5879-1752","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007616360","display_name":"Nawaid Usmani","orcid":"https://orcid.org/0000-0003-1298-4636"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nawaid Usmani","raw_affiliation_strings":["Department of Oncology, Cross Cancer Institute, Edmonton, AB, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Oncology, Cross Cancer Institute, Edmonton, AB, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069784123","display_name":"Ron S. Sloboda","orcid":"https://orcid.org/0000-0001-7701-8805"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ronald Sloboda","raw_affiliation_strings":["Department of Oncology, Cross Cancer Institute, Edmonton, AB, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7701-8805","affiliations":[{"raw_affiliation_string":"Department of Oncology, Cross Cancer Institute, Edmonton, AB, Canada","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018636421","display_name":"Mahdi Tavakoli","orcid":"https://orcid.org/0000-0002-7427-6961"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mahdi Tavakoli","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada"],"raw_orcid":"https://orcid.org/0000-0002-7427-6961","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5029594819"],"corresponding_institution_ids":["https://openalex.org/I154425047"],"apc_list":null,"apc_paid":null,"fwci":0.2625,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.57077691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"3","issue":"1","first_page":"469","last_page":"476"},"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/T10916","display_name":"Surgical Simulation and Training","score":0.9865999817848206,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9847999811172485,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.5452020168304443},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.5404272079467773},{"id":"https://openalex.org/keywords/feedback-loop","display_name":"Feedback loop","score":0.47987547516822815},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44462576508522034},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3773459196090698},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34476804733276367},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.3332177400588989},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.32849788665771484},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.297783762216568},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2697088122367859},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13625088334083557},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10286632180213928},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06551787257194519}],"concepts":[{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.5452020168304443},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.5404272079467773},{"id":"https://openalex.org/C186886427","wikidata":"https://www.wikidata.org/wiki/Q5441213","display_name":"Feedback loop","level":2,"score":0.47987547516822815},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44462576508522034},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3773459196090698},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34476804733276367},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.3332177400588989},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.32849788665771484},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.297783762216568},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2697088122367859},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13625088334083557},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10286632180213928},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06551787257194519},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2017.2768122","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2768122","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1987276752","display_name":null,"funder_award_id":"CRIO 201201232","funder_id":"https://openalex.org/F4320319927","funder_display_name":"Alberta Innovates - Health Solutions"},{"id":"https://openalex.org/G3258182903","display_name":null,"funder_award_id":"CHRP 446520","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G5949840312","display_name":null,"funder_award_id":"CPG 127768","funder_id":"https://openalex.org/F4320334506","funder_display_name":"Canadian Institutes of Health Research"}],"funders":[{"id":"https://openalex.org/F4320319927","display_name":"Alberta Innovates - Health Solutions","ror":"https://ror.org/00ynafe15"},{"id":"https://openalex.org/F4320334506","display_name":"Canadian Institutes of Health Research","ror":"https://ror.org/01gavpb45"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1534254032","https://openalex.org/W1552094772","https://openalex.org/W2024001365","https://openalex.org/W2038132330","https://openalex.org/W2040709641","https://openalex.org/W2081984806","https://openalex.org/W2093664976","https://openalex.org/W2097202674","https://openalex.org/W2101817128","https://openalex.org/W2107550832","https://openalex.org/W2121055154","https://openalex.org/W2128339709","https://openalex.org/W2146761577","https://openalex.org/W2168278516","https://openalex.org/W2180065899","https://openalex.org/W2320728951","https://openalex.org/W2408215011","https://openalex.org/W2527580702","https://openalex.org/W2546479081","https://openalex.org/W2601771264","https://openalex.org/W2604443115","https://openalex.org/W2734348320","https://openalex.org/W6684910095"],"related_works":["https://openalex.org/W1545173471","https://openalex.org/W2274888114","https://openalex.org/W2010804067","https://openalex.org/W2034469607","https://openalex.org/W1978666577","https://openalex.org/W2170890363","https://openalex.org/W2381125525","https://openalex.org/W2105065825","https://openalex.org/W2131152418","https://openalex.org/W2123214107"],"abstract_inverted_index":{"Needle":[0],"deflection":[1,44,88,168,182,202],"during":[2,125],"certain":[3],"minimally":[4],"invasive":[5],"percutaneous":[6],"procedures,":[7],"such":[8,119],"as":[9,120],"prostate":[10],"biopsy":[11],"or":[12],"brachytherapy,":[13],"is":[14,55,65,77,92,106,114,149],"undesired":[15],"and":[16,61,91,127,197],"can":[17],"be":[18],"reduced":[19],"through":[20],"the":[21,53,62,69,99,102,110,135,188,208,213],"use":[22],"of":[23,36,58,101,109,132,134,160,183,194,203],"feedback":[24,63],"control.":[25],"This":[26],"letter":[27],"uses":[28],"a":[29,42,49,80,130,158,192],"depth-dependent":[30],"reduced-order":[31],"three-dimensional":[32],"(3-D)":[33],"nonholonomic":[34],"model":[35],"needle":[37,43,59,70,87,103,111,162,167,180,200],"tip":[38,181,201],"motion":[39],"to":[40,89,94,116,121,128],"propose":[41],"controller":[45,64,76,136,148],"that":[46,84],"works":[47],"in":[48,56,151,157],"surgeon-in-the-loop":[50],"fashion,":[51],"where":[52],"surgeon":[54],"charge":[57],"insertion,":[60],"responsible":[66],"for":[67],"keeping":[68],"on":[71,79],"its":[72],"desired":[73,209],"trajectory.":[74],"The":[75,146,173],"based":[78],"continuous-time":[81],"control":[82],"law":[83],"asymptotically":[85],"brings":[86],"zero":[90],"shown":[93],"remain":[95],"effective":[96],"even":[97],"when":[98,137],"magnitude":[100],"rotation":[104],"velocity":[105,113],"limited.":[107],"Limiting":[108],"rotational":[112],"due":[115],"practical":[117],"considerations":[118],"reduce":[122],"tissue":[123,155],"damage":[124],"insertion":[126,139,163,215],"show":[129,176],"measure":[131],"velocity-independence":[133],"high":[138],"speeds":[140],"would":[141],"require":[142],"unfeasibly":[143],"fast":[144],"rotations.":[145],"velocity-limited":[147],"evaluated":[150],"three":[152],"different":[153],"exvivo":[154,174],"samples":[156],"total":[159],"30":[161],"trials":[164],"using":[165],"real-time":[166],"measurements":[169],"from":[170,187,207],"ultrasound":[171],"images.":[172],"results":[175],"an":[177,198],"average":[178,199],"absolute":[179],"0.54":[184],"mm":[185,205],"away":[186,206],"target":[189,210],"location":[190],"at":[191],"depth":[193],"120":[195],"mm,":[196],"0.36":[204],"axis":[211],"throughout":[212],"entire":[214],"length.":[216]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
