{"id":"https://openalex.org/W2593835302","doi":"https://doi.org/10.1109/robio.2016.7866376","title":"A novel palm-shape breast deformation robot for MRI-guided biopsy","display_name":"A novel palm-shape breast deformation robot for MRI-guided biopsy","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2593835302","doi":"https://doi.org/10.1109/robio.2016.7866376","mag":"2593835302"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2016.7866376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866376","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5032537313","display_name":"Tianxue Zhang","orcid":"https://orcid.org/0000-0002-5444-231X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tianxue Zhang","raw_affiliation_strings":["Mechanical and Automation Department, The Chinese University of Hong Kong, Shatin, NT, HKSAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Automation Department, The Chinese University of Hong Kong, Shatin, NT, HKSAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056734737","display_name":"David Navarro-Alarc\u00f3n","orcid":"https://orcid.org/0000-0002-3426-6638"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"David Navarro-Alarcon","raw_affiliation_strings":["Mechanical and Automation Department, The Chinese University of Hong Kong, Shatin, NT, HKSAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Automation Department, The Chinese University of Hong Kong, Shatin, NT, HKSAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081491264","display_name":"Kwun Wang Ng","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kwun Wang Ng","raw_affiliation_strings":["Mechanical and Automation Department, The Chinese University of Hong Kong, Shatin, NT, HKSAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Automation Department, The Chinese University of Hong Kong, Shatin, NT, HKSAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018669128","display_name":"Man Kiu Chow","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Man Kiu Chow","raw_affiliation_strings":["Mechanical and Automation Department, The Chinese University of Hong Kong, Shatin, NT, HKSAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Automation Department, The Chinese University of Hong Kong, Shatin, NT, HKSAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yun-hui Liu","raw_affiliation_strings":["Mechanical and Automation Department, The Chinese University of Hong Kong, Shatin, NT, HKSAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Automation Department, The Chinese University of Hong Kong, Shatin, NT, HKSAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065711423","display_name":"Hayley Louise Chung","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hayley Louise Chung","raw_affiliation_strings":["Time Medical Limited, Shatin, NT, HKSAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Time Medical Limited, Shatin, NT, HKSAR","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4563,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.83278683,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2016","issue":null,"first_page":"527","last_page":"532"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11885","display_name":"MRI in cancer diagnosis","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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/T11885","display_name":"MRI in cancer diagnosis","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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/T12552","display_name":"Fetal and Pediatric Neurological Disorders","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2735","display_name":"Pediatrics, Perinatology and Child Health"},"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/T11134","display_name":"Breast Lesions and Carcinomas","score":0.9919000267982483,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/magnetic-resonance-imaging","display_name":"Magnetic resonance imaging","score":0.6905778050422668},{"id":"https://openalex.org/keywords/breast-biopsy","display_name":"Breast biopsy","score":0.5890322923660278},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.532585859298706},{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.5138552188873291},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.5082828402519226},{"id":"https://openalex.org/keywords/compression","display_name":"Compression (physics)","score":0.49874258041381836},{"id":"https://openalex.org/keywords/biopsy","display_name":"Biopsy","score":0.49419310688972473},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.46024152636528015},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.45439696311950684},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.42356863617897034},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.3645036220550537},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.358211874961853},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.30857038497924805},{"id":"https://openalex.org/keywords/mammography","display_name":"Mammography","score":0.24986812472343445},{"id":"https://openalex.org/keywords/breast-cancer","display_name":"Breast cancer","score":0.19504249095916748},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.11024323105812073},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07627388834953308}],"concepts":[{"id":"https://openalex.org/C143409427","wikidata":"https://www.wikidata.org/wiki/Q161238","display_name":"Magnetic resonance imaging","level":2,"score":0.6905778050422668},{"id":"https://openalex.org/C2777517664","wikidata":"https://www.wikidata.org/wiki/Q4959785","display_name":"Breast biopsy","level":5,"score":0.5890322923660278},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.532585859298706},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.5138552188873291},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.5082828402519226},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.49874258041381836},{"id":"https://openalex.org/C2775934546","wikidata":"https://www.wikidata.org/wiki/Q179991","display_name":"Biopsy","level":2,"score":0.49419310688972473},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.46024152636528015},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.45439696311950684},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.42356863617897034},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.3645036220550537},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.358211874961853},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.30857038497924805},{"id":"https://openalex.org/C2780472235","wikidata":"https://www.wikidata.org/wiki/Q324634","display_name":"Mammography","level":4,"score":0.24986812472343445},{"id":"https://openalex.org/C530470458","wikidata":"https://www.wikidata.org/wiki/Q128581","display_name":"Breast cancer","level":3,"score":0.19504249095916748},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.11024323105812073},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07627388834953308},{"id":"https://openalex.org/C121608353","wikidata":"https://www.wikidata.org/wiki/Q12078","display_name":"Cancer","level":2,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.0},{"id":"https://openalex.org/C46362747","wikidata":"https://www.wikidata.org/wiki/Q173431","display_name":"CMOS","level":2,"score":0.0},{"id":"https://openalex.org/C194257627","wikidata":"https://www.wikidata.org/wiki/Q211554","display_name":"Amplifier","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2016.7866376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866376","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"mag:2748661369","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/201702229132917721","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W123015160","https://openalex.org/W145266174","https://openalex.org/W1757407923","https://openalex.org/W1891203256","https://openalex.org/W1902892164","https://openalex.org/W1977601949","https://openalex.org/W1983599776","https://openalex.org/W1989709157","https://openalex.org/W2026277000","https://openalex.org/W2033481362","https://openalex.org/W2037111349","https://openalex.org/W2038309048","https://openalex.org/W2051374013","https://openalex.org/W2106039119","https://openalex.org/W2113628073","https://openalex.org/W2124742691","https://openalex.org/W2128642190","https://openalex.org/W2132136262","https://openalex.org/W2136025022","https://openalex.org/W2140671053","https://openalex.org/W2144350475","https://openalex.org/W2155672172","https://openalex.org/W2156246631","https://openalex.org/W2156307413","https://openalex.org/W6605961964"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W4306849910","https://openalex.org/W3170934895","https://openalex.org/W2363784292","https://openalex.org/W2113909686","https://openalex.org/W4224210998","https://openalex.org/W2367210770","https://openalex.org/W2068160949","https://openalex.org/W2219774581","https://openalex.org/W2123080892"],"abstract_inverted_index":{"Magnetic":[0],"Resonance":[1],"Imaging":[2],"(MRI)":[3],"presents":[4],"better":[5],"performance":[6,153],"in":[7],"breast":[8,26,68,86,91,98],"imaging":[9],"compared":[10],"to":[11,58,63,70,150],"computed":[12],"tomography":[13],"or":[14],"ultrasound,":[15],"however,":[16,42],"its":[17],"image":[18],"quality":[19],"critically":[20],"depends":[21],"on":[22],"the":[23,60,67,97,104,136,140,152,155],"stabilization":[24],"of":[25,66,83,142,154],"tissues":[27],"during":[28],"interventions.":[29],"Conventionally,":[30],"2D":[31],"compression":[32],"plates":[33,47],"for":[34,89],"immobilization":[35],"have":[36],"been":[37],"used":[38,132],"by":[39,116],"various":[40],"researchers,":[41],"not":[43],"only":[44],"do":[45],"these":[46],"cause":[48],"anatomical":[49],"distortion":[50],"and":[51,80,120,133],"patient":[52],"discomfort,":[53],"but":[54],"it":[55],"is":[56,128],"difficult":[57],"advance":[59],"biopsy":[61],"gun":[62],"certain":[64],"area":[65],"due":[69],"rigid":[71],"immobilization.":[72],"In":[73],"this":[74],"paper,":[75],"we":[76],"present":[77],"a":[78,84,107,117],"mechanism":[79,94,111],"initial":[81],"result":[82],"new":[85],"deformation":[87],"device":[88],"MRI-guided":[90],"biopsy.":[92],"This":[93],"can":[95,130],"immobilize":[96],"as":[99,101],"well":[100],"actively":[102],"deform":[103],"tissue":[105],"into":[106],"desired":[108],"configuration.":[109],"The":[110,124],"has":[112],"multiple":[113,121],"degrees-of-freedom":[114],"actuated":[115,134],"piezoelectric":[118],"motor":[119],"pneumatic":[122],"bladders.":[123],"developed":[125],"system,":[126],"which":[127],"MRI-compatible,":[129],"be":[131],"inside":[135],"magnetic":[137],"bore":[138],"with":[139],"help":[141],"MR":[143],"images.":[144],"Preliminary":[145],"experimental":[146],"results":[147],"are":[148],"presented":[149],"verify":[151],"device.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}