{"id":"https://openalex.org/W4317383433","doi":"https://doi.org/10.1109/robio55434.2022.10011759","title":"A Modular and Extended Positioning Robotic System for Percutaneous Puncture Surgery","display_name":"A Modular and Extended Positioning Robotic System for Percutaneous Puncture Surgery","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383433","doi":"https://doi.org/10.1109/robio55434.2022.10011759"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011759","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5070356786","display_name":"Haiyuan Li","orcid":"https://orcid.org/0000-0002-7822-742X"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haiyuan Li","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecomunications,Beijing,China,100876"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecomunications,Beijing,China,100876","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073942475","display_name":"Linlin Cui","orcid":null},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linlin Cui","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecomunications,Beijing,China,100876"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecomunications,Beijing,China,100876","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100321500","display_name":"Yuhang Zhang","orcid":"https://orcid.org/0000-0002-4101-6207"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhang Zhang","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecomunications,Beijing,China,100876"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecomunications,Beijing,China,100876","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087701956","display_name":"Qinjian Zhang","orcid":"https://orcid.org/0000-0001-9156-6453"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinjian Zhang","raw_affiliation_strings":["School of Mechanical Electrical Engineering, Beijing Information Science and Technology University,Beijing,China,100101"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Electrical Engineering, Beijing Information Science and Technology University,Beijing,China,100101","institution_ids":["https://openalex.org/I78675632"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100427209","display_name":"Haoyu Wang","orcid":"https://orcid.org/0000-0003-4478-0363"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyu Wang","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecomunications,Beijing,China,100876"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecomunications,Beijing,China,100876","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5070356786"],"corresponding_institution_ids":["https://openalex.org/I139759216"],"apc_list":null,"apc_paid":null,"fwci":0.3206,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.54646952,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1953","last_page":"1957"},"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/T11669","display_name":"Head and Neck Surgical Oncology","score":0.9901000261306763,"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/T11377","display_name":"Retinal and Macular Surgery","score":0.983299970626831,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/percutaneous","display_name":"Percutaneous","score":0.7752329707145691},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.716089129447937},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7014764547348022},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6416352987289429},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.5365635752677917},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.51319819688797},{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.45419058203697205},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4103909432888031},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3863860070705414},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3593367338180542},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23448574542999268}],"concepts":[{"id":"https://openalex.org/C2780813298","wikidata":"https://www.wikidata.org/wiki/Q2071287","display_name":"Percutaneous","level":2,"score":0.7752329707145691},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.716089129447937},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7014764547348022},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6416352987289429},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.5365635752677917},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.51319819688797},{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.45419058203697205},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4103909432888031},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3863860070705414},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3593367338180542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23448574542999268},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011759","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2529268397","display_name":null,"funder_award_id":"2019YFC0119203","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G4801258432","display_name":null,"funder_award_id":"62003048","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"}],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1969455527","https://openalex.org/W1974511309","https://openalex.org/W2105311301","https://openalex.org/W2110508378","https://openalex.org/W2129310538","https://openalex.org/W2464919189","https://openalex.org/W2552681404","https://openalex.org/W2773101728","https://openalex.org/W2966306432","https://openalex.org/W2966587880","https://openalex.org/W2981879505","https://openalex.org/W2994233928","https://openalex.org/W3095140545","https://openalex.org/W3123159783"],"related_works":["https://openalex.org/W2042931452","https://openalex.org/W2052890916","https://openalex.org/W2121740409","https://openalex.org/W1560856716","https://openalex.org/W2561338268","https://openalex.org/W1992272106","https://openalex.org/W3206562583","https://openalex.org/W2113311578","https://openalex.org/W2252542483","https://openalex.org/W4295113638"],"abstract_inverted_index":{"Percutaneous":[0],"puncture":[1,41,48,80,113,157],"is":[2,8,123,160],"a":[3,115,127,135,140],"minimally":[4],"invasive":[5],"surgery":[6,81],"that":[7],"widely":[9],"used":[10],"in":[11,51],"surgical":[12,151,169],"fields":[13],"such":[14],"as":[15],"biopsy":[16],"and":[17,31,55,63,72,86,98,143,153,171],"interventional":[18],"therapy.":[19],"Through":[20],"biopsy,":[21],"cancer":[22,36],"can":[23,82],"be":[24],"detected":[25],"earlier,":[26],"which":[27,125],"facilitates":[28],"radical":[29],"treatment":[30],"improves":[32],"the":[33,39,43,47,58,69,93,100,112,147,150,154,164,167,172,175],"prognosis":[34],"of":[35,96,102,146,149,156,166,174],"patients.":[37],"During":[38],"traditional":[40],"operation,":[42,49],"doctor":[44],"manually":[45],"performs":[46],"especially":[50],"some":[52],"special":[53,56],"locations":[54],"circum-stances,":[57],"operation":[59],"become":[60],"more":[61],"difficult,":[62],"there":[64],"are":[65,177],"higher":[66],"requirements":[67],"for":[68,78,90,105],"doctor's":[70],"experience":[71],"skills.":[73],"The":[74],"targeted":[75,119],"positioning":[76,85,120,128],"robot":[77,121,152,170],"percutaneous":[79,118],"provide":[83],"precise":[84],"stable":[87],"needle":[88,158],"guidance":[89],"surgery,":[91,97],"improve":[92],"success":[94],"rate":[95],"reduce":[99],"risk":[101],"radiation":[103],"exposure":[104],"doctors.":[106],"In":[107],"this":[108],"paper,":[109],"by":[110,179],"decom-posing":[111],"action,":[114],"bed-based":[116],"modular":[117],"system":[122],"designed,":[124],"includes":[126],"mechanism,":[129,139,142],"an":[130],"posture-adjusting":[131],"mechanism":[132],"based":[133],"on":[134],"remote":[136],"center-of-motion":[137],"(RCM)":[138],"depth-feed":[141],"simulation":[144,180],"analysis":[145],"workspace":[148],"angle":[155],"insertion":[159],"carried":[161],"out.":[162],"Finally,":[163],"rationality":[165],"designed":[168],"feasibility":[173],"scheme":[176],"verified":[178],"experiments.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}