{"id":"https://openalex.org/W4409494041","doi":"https://doi.org/10.1109/lra.2025.3562010","title":"Path Planning for Robot Assisted Steerable Bevel-Tip Needle in 3D Dynamic Environment","display_name":"Path Planning for Robot Assisted Steerable Bevel-Tip Needle in 3D Dynamic Environment","publication_year":2025,"publication_date":"2025-04-16","ids":{"openalex":"https://openalex.org/W4409494041","doi":"https://doi.org/10.1109/lra.2025.3562010"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3562010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3562010","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/A5010171329","display_name":"Kaushik Halder","orcid":"https://orcid.org/0000-0002-4184-9698"},"institutions":[{"id":"https://openalex.org/I154851008","display_name":"Indian Institute of Technology Roorkee","ror":"https://ror.org/00582g326","country_code":"IN","type":"education","lineage":["https://openalex.org/I154851008"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Kaushik Halder","raw_affiliation_strings":["Advanced Robotics Laboratory, Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee, India","Advanced Robotics Laboratory, Department of Electrical Engineering, Indian Institute of Technology, Roorkee, Roorkee, India"],"raw_orcid":"https://orcid.org/0000-0002-4184-9698","affiliations":[{"raw_affiliation_string":"Advanced Robotics Laboratory, Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee, India","institution_ids":["https://openalex.org/I154851008"]},{"raw_affiliation_string":"Advanced Robotics Laboratory, Department of Electrical Engineering, Indian Institute of Technology, Roorkee, Roorkee, India","institution_ids":["https://openalex.org/I154851008"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086780457","display_name":"M. Felix Orlando","orcid":"https://orcid.org/0000-0003-1089-4098"},"institutions":[{"id":"https://openalex.org/I154851008","display_name":"Indian Institute of Technology Roorkee","ror":"https://ror.org/00582g326","country_code":"IN","type":"education","lineage":["https://openalex.org/I154851008"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"M. Felix Orlando","raw_affiliation_strings":["Advanced Robotics Laboratory, Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee, India","Advanced Robotics Laboratory, Department of Electrical Engineering, Indian Institute of Technology, Roorkee, Roorkee, India"],"raw_orcid":"https://orcid.org/0000-0003-1089-4098","affiliations":[{"raw_affiliation_string":"Advanced Robotics Laboratory, Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee, India","institution_ids":["https://openalex.org/I154851008"]},{"raw_affiliation_string":"Advanced Robotics Laboratory, Department of Electrical Engineering, Indian Institute of Technology, Roorkee, Roorkee, India","institution_ids":["https://openalex.org/I154851008"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.8048,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.9006901,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"10","issue":"6","first_page":"5887","last_page":"5894"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9916999936103821,"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":0.9916999936103821,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9620000123977661,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9251999855041504,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/bevel","display_name":"Bevel","score":0.770646333694458},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.589880645275116},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5820714235305786},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5418558716773987},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5068204998970032},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44212931394577026},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3822042644023895},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3262884020805359},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28088444471359253},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.20027080178260803}],"concepts":[{"id":"https://openalex.org/C116017498","wikidata":"https://www.wikidata.org/wiki/Q1903785","display_name":"Bevel","level":2,"score":0.770646333694458},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.589880645275116},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5820714235305786},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5418558716773987},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5068204998970032},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44212931394577026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3822042644023895},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3262884020805359},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28088444471359253},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.20027080178260803},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3562010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3562010","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5299999713897705}],"awards":[{"id":"https://openalex.org/G3542319987","display_name":null,"funder_award_id":"ECR/2017/001035","funder_id":"https://openalex.org/F4320334771","funder_display_name":"Science and Engineering Research Board"}],"funders":[{"id":"https://openalex.org/F4320334771","display_name":"Science and Engineering Research Board","ror":"https://ror.org/03ffdsr55"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1985036816","https://openalex.org/W2009396276","https://openalex.org/W2040709641","https://openalex.org/W2098306053","https://openalex.org/W2101817128","https://openalex.org/W2104367785","https://openalex.org/W2146761577","https://openalex.org/W2801002069","https://openalex.org/W2888685646","https://openalex.org/W3011646207","https://openalex.org/W3014176788","https://openalex.org/W3023603755","https://openalex.org/W3118738650","https://openalex.org/W3137532763","https://openalex.org/W3202649297","https://openalex.org/W3208212194","https://openalex.org/W3217142009","https://openalex.org/W4200068496","https://openalex.org/W4205362845","https://openalex.org/W4206322160","https://openalex.org/W4229492201","https://openalex.org/W4293243487","https://openalex.org/W4385453581","https://openalex.org/W4386883235","https://openalex.org/W4387093627","https://openalex.org/W4392405436","https://openalex.org/W4398188165","https://openalex.org/W4400187746"],"related_works":["https://openalex.org/W2426053110","https://openalex.org/W3124627721","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W3217172860","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"In":[0,45,94],"Minimally":[1],"Invasive":[2],"Surgery":[3],"(MIS),":[4],"achieving":[5],"target-reaching":[6],"accuracy":[7],"without":[8],"colliding":[9],"with":[10,91,141,167],"anatomical":[11],"obstacles":[12,90],"is":[13,76,118],"the":[14,21,25,29,49,66,95,106,111,136,161,164,177,195,198],"most":[15],"crucial":[16],"aspect.":[17],"However,":[18],"due":[19,120],"to":[20,47,79,121,145,159],"non-holonomic":[22],"constraints":[23],"within":[24,65,105],"tissue":[26,67,107],"environment":[27],"and":[28,42,89,126,153,194],"dynamic":[30,82,148],"behavior":[31],"during":[32],"needle":[33,64],"insertion,":[34],"planning":[35,102],"an":[36],"appropriate":[37],"path":[38,74,115,179],"presents":[39],"a":[40,55,60,81,142,168],"significant":[41],"complex":[43],"challenge.":[44],"order":[46],"address":[48],"above-mentioned":[50],"challenges,":[51],"this":[52,73],"study":[53],"introduces":[54],"novel":[56],"path-planning":[57],"approach":[58],"for":[59,101,128,190],"robot-assisted":[61],"flexible":[62],"bevel-tip":[63],"region.":[68,108],"The":[69,131],"primary":[70],"contribution":[71],"of":[72,163,176,197],"planner":[75,116,180],"its":[77,122],"ability":[78],"incorporate":[80],"3D":[83],"environment,":[84],"which":[85],"includes":[86],"multiple":[87,147],"targets":[88],"varying":[92],"locations.":[93],"literature,":[96],"there":[97],"are":[98],"several":[99],"methods":[100],"obstacle-free":[103],"paths":[104,193],"Among":[109],"them,":[110],"Rapidly-Exploring-Random-Trees":[112],"(RRT)":[113],"based":[114],"methodology":[117,181],"advantageous":[119],"reduced":[123],"computational":[124,188],"time":[125,189],"suitability":[127],"high-dimensional":[129],"spaces.":[130],"proposed":[132,165,178],"algorithm":[133],"builds":[134],"upon":[135],"RRT":[137],"technique,":[138],"enhancing":[139],"it":[140],"greediness":[143],"concept":[144],"handle":[146],"targets.":[149],"Additionally,":[150],"extensive":[151],"simulations":[152],"experimental":[154],"studies":[155],"have":[156],"been":[157,184],"conducted":[158],"demonstrate":[160],"efficacy":[162],"method,":[166],"view":[169],"toward":[170],"future":[171],"clinical":[172],"tests.":[173],"Statistical":[174],"analysis":[175],"has":[182],"also":[183],"performed,":[185],"focusing":[186],"on":[187],"finding":[191],"feasible":[192],"length":[196],"planned":[199],"trajectory.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}