{"id":"https://openalex.org/W2109859106","doi":"https://doi.org/10.1109/robot.2009.5152794","title":"Developing a planning method for straight needle insertion using probability-based condition where a puncture occurs","display_name":"Developing a planning method for straight needle insertion using probability-based condition where a puncture occurs","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2109859106","doi":"https://doi.org/10.1109/robot.2009.5152794","mag":"2109859106"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152794","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5070277351","display_name":"Yo Kobayashi","orcid":"https://orcid.org/0000-0003-4358-6294"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yo Kobayashi","raw_affiliation_strings":["Consolidated Research Institute for Advanced Science and Medical Care, Waseda University, Japan","[Consolidated Research Institute for Advanced Science and Medical Care, Waseda University, Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Consolidated Research Institute for Advanced Science and Medical Care, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"[Consolidated Research Institute for Advanced Science and Medical Care, Waseda University, Japan]","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066725834","display_name":"Akinori Onishi","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akinori Onishi","raw_affiliation_strings":["Graduate School of Science and Engineering, Waseda University, Japan","Graduate School of Science and Engineering; Waseda University; Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Graduate School of Science and Engineering; Waseda University; Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051569420","display_name":"H. Watanabe","orcid":"https://orcid.org/0000-0002-6854-4448"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroki Watanabe","raw_affiliation_strings":["Graduate School of Science and Engineering, Waseda University, Japan","Graduate School of Science and Engineering; Waseda University; Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Graduate School of Science and Engineering; Waseda University; Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108428487","display_name":"Takeharu Hoshi","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takeharu Hoshi","raw_affiliation_strings":["Graduate School of Science and Engineering, Waseda University, Japan","Graduate School of Science and Engineering; Waseda University; Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Graduate School of Science and Engineering; Waseda University; Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014322597","display_name":"Kazuya Kawamura","orcid":"https://orcid.org/0000-0002-2736-1311"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Kawamura","raw_affiliation_strings":["Graduate School of Science and Engineering, Waseda University, Japan","Graduate School of Science and Engineering; Waseda University; Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Graduate School of Science and Engineering; Waseda University; Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111640158","display_name":"Masakatsu G. Fujie","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masakatsu G. Fujie","raw_affiliation_strings":["Graduate School of Science and Engineering and Faculty of Science and Engineering, Waseda University, Japan","Graduate School of Science and Engineering, Waseda University, and Faculty of Science and Engineering, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering and Faculty of Science and Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, and Faculty of Science and Engineering, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8371,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.85148905,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3482","last_page":"3489"},"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":0.9836000204086304,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9696000218391418,"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/motion-planning","display_name":"Motion planning","score":0.6123268604278564},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5590387582778931},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5453037023544312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.537843644618988},{"id":"https://openalex.org/keywords/radiation-treatment-planning","display_name":"Radiation treatment planning","score":0.5251519083976746},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4835669696331024},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18934550881385803},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.1880348026752472},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13279074430465698},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10125464200973511}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6123268604278564},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5590387582778931},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5453037023544312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.537843644618988},{"id":"https://openalex.org/C201645570","wikidata":"https://www.wikidata.org/wiki/Q830637","display_name":"Radiation treatment planning","level":3,"score":0.5251519083976746},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4835669696331024},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18934550881385803},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.1880348026752472},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13279074430465698},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10125464200973511},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C509974204","wikidata":"https://www.wikidata.org/wiki/Q180507","display_name":"Radiation therapy","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152794","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5799999833106995,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1524593324","https://openalex.org/W2029648690","https://openalex.org/W2036471941","https://openalex.org/W2100757294","https://openalex.org/W2101946278","https://openalex.org/W2102729693","https://openalex.org/W2104870442","https://openalex.org/W2107550832","https://openalex.org/W2109121052","https://openalex.org/W2118152376","https://openalex.org/W2118346296","https://openalex.org/W2125793808","https://openalex.org/W2126860880","https://openalex.org/W2128057665","https://openalex.org/W2132356138","https://openalex.org/W2149614046","https://openalex.org/W2165061586","https://openalex.org/W2170354816","https://openalex.org/W2180065899","https://openalex.org/W2754300823"],"related_works":["https://openalex.org/W2943623134","https://openalex.org/W2494523064","https://openalex.org/W2215759665","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1519058190","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"Needle":[0],"insertion":[1,106,162,218],"treatments":[2],"require":[3],"accurate":[4,48],"placement":[5,133,149,174,203],"of":[6,24,42,80,88,103,114,131,147,172,182,223],"the":[7,11,20,40,43,64,68,77,86,100,121,128,144,154,161,169,183,206,213],"needle":[8,21,49,105,132,148,173,202,217],"tip":[9],"into":[10],"target":[12],"cancer.":[13],"However,":[14],"it":[15],"is":[16,45,58,70,118],"difficult":[17,71],"to":[18,38,67,72,92,98,119,126,159,200],"insert":[19],"accurately":[22],"because":[23,76],"cancer":[25],"displacement":[26],"caused":[27],"by":[28],"organ":[29,44],"deformation.":[30],"Therefore,":[31,85],"a":[32,55,94,136,165,177,189,220],"path":[33,163],"planning":[34,56,96,116,184,214],"using":[35,188],"numerical":[36,178],"simulation":[37,179],"analyze":[39],"deformation":[41],"important":[46],"for":[47,107],"insertion.":[50],"The":[51,111],"problem":[52],"in":[53,164],"developing":[54],"method":[57,97,117,156,185,215],"that":[59,167,212],"puncture":[60,81,109,122,138],"conditions,":[61],"such":[62],"as":[63],"force":[65],"applied":[66],"needle,":[69],"be":[73],"decided":[74],"deterministically,":[75],"experimental":[78],"data":[79],"conditions":[82],"have":[83],"variations.":[84],"purpose":[87],"this":[89,115],"research":[90],"was":[91,140,151,157,186,197],"develop":[93],"novel":[95],"decide":[99],"robust":[101],"paths":[102],"straight":[104],"various":[108],"points.":[110],"basic":[112],"idea":[113],"consider":[120],"condition":[123,139],"probabilistic":[124],"and":[125,142,180],"evaluate":[127],"expected":[129,145,170],"value":[130,146],"accuracy.":[134,175],"First,":[135],"probability-based":[137],"introduced,":[141],"then":[143],"accuracy":[150,204,222],"defined.":[152],"Next,":[153],"optimization":[155],"developed":[158],"search":[160],"way":[166],"minimizes":[168],"values":[171],"Then,":[176],"evaluation":[181],"conducted,":[187],"liver-shaped":[190],"2D":[191],"model.":[192],"Furthermore,":[193],"an":[194],"in-vitro":[195],"experiment":[196],"carried":[198],"out":[199],"measure":[201],"from":[205],"optimized":[207],"path.":[208],"Experimental":[209],"results":[210],"show":[211],"realizes":[216],"with":[219],"mean":[221],"1.5":[224],"mm.":[225]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}