{"id":"https://openalex.org/W2774778213","doi":"https://doi.org/10.1109/roman.2017.8172344","title":"Development of a two DOF needle driver for CT-guided needle insertion-type interventional robotic system","display_name":"Development of a two DOF needle driver for CT-guided needle insertion-type interventional robotic system","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2774778213","doi":"https://doi.org/10.1109/roman.2017.8172344","mag":"2774778213"},"language":"en","primary_location":{"id":"doi:10.1109/roman.2017.8172344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2017.8172344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","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/A5109983076","display_name":"Ki Young Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ki Young Kim","raw_affiliation_strings":["Department of Medical Assistant Robotics, Korea Institute of Machinery & Materials, Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medical Assistant Robotics, Korea Institute of Machinery & Materials, Daegu, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055761024","display_name":"Hyun Soo Woo","orcid":"https://orcid.org/0000-0002-9796-9074"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun Soo Woo","raw_affiliation_strings":["Department of Medical Assistant Robotics, Korea Institute of Machinery & Materials, Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medical Assistant Robotics, Korea Institute of Machinery & Materials, Daegu, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058103274","display_name":"Jang Ho Cho","orcid":"https://orcid.org/0000-0003-3268-960X"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jang Ho Cho","raw_affiliation_strings":["Department of Medical Assistant Robotics, Korea Institute of Machinery & Materials, Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medical Assistant Robotics, Korea Institute of Machinery & Materials, Daegu, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054141355","display_name":"Yong Koo Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yong Koo Lee","raw_affiliation_strings":["Department of Medical Assistant Robotics, Korea Institute of Machinery & Materials, Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medical Assistant Robotics, Korea Institute of Machinery & Materials, Daegu, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2625,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.57750361,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"470","last_page":"475"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9864000082015991,"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":0.9794999957084656,"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/scanner","display_name":"Scanner","score":0.5909583568572998},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.5584744215011597},{"id":"https://openalex.org/keywords/repeatability","display_name":"Repeatability","score":0.5389460325241089},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.45586538314819336},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4182719588279724},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2627450227737427},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.22042882442474365},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21448388695716858},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11262726783752441}],"concepts":[{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.5909583568572998},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5584744215011597},{"id":"https://openalex.org/C154020017","wikidata":"https://www.wikidata.org/wiki/Q520171","display_name":"Repeatability","level":2,"score":0.5389460325241089},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.45586538314819336},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4182719588279724},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2627450227737427},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.22042882442474365},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21448388695716858},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11262726783752441},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/roman.2017.8172344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2017.8172344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1980417427","https://openalex.org/W1981822312","https://openalex.org/W1987780882","https://openalex.org/W2019263893","https://openalex.org/W2020275220","https://openalex.org/W2038083044","https://openalex.org/W2084452455","https://openalex.org/W2119804245","https://openalex.org/W2151777000","https://openalex.org/W2155512611","https://openalex.org/W2155672172","https://openalex.org/W2159126926","https://openalex.org/W2160722457","https://openalex.org/W2206210076","https://openalex.org/W2295322470","https://openalex.org/W6645725200","https://openalex.org/W6655570996","https://openalex.org/W6697484670"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2774752550","https://openalex.org/W2364738582","https://openalex.org/W1983775438"],"abstract_inverted_index":{"We":[0,81],"present":[1],"a":[2,17,35,41,68],"compact":[3],"and":[4,63,71,89,115],"lightweight":[5],"two":[6],"Degrees":[7],"of":[8,93,101,109,126,139],"Freedom":[9],"(DOF)":[10],"needle":[11,19,54,57,73,79,95,104,128,141,143,151,161],"driver":[12,58,152],"to":[13,16,52,67,85,96,155],"be":[14],"applied":[15],"teleoperated":[18],"insertion-type":[20,144,162],"interventional":[21,25],"robotic":[22],"system.":[23],"The":[24,56,106,122],"slave":[26],"manipulator":[27],"is":[28,74,153],"located":[29,45],"beside":[30],"the":[31,47,72,78,87,90,94,98,102,110,116,127,135,140,149,156],"patient":[32],"bed":[33],"inside":[34],"CT":[36],"scanner":[37],"room.":[38],"Physicians":[39],"manipulate":[40],"master":[42],"device,":[43],"separately":[44],"in":[46,50],"control":[48,53],"room,":[49],"order":[51],"placement.":[55],"provides":[59],"one":[60,64],"translational":[61],"motion":[62,66],"rotational":[65],"biopsy":[69],"needle,":[70],"easily":[75],"detachable":[76],"from":[77],"driver.":[80,105],"performed":[82],"several":[83],"experiments":[84],"measure":[86],"repeatability":[88,111],"insertion":[91,124,137],"force":[92,125,138],"evaluate":[97],"basic":[99],"performance":[100],"proposed":[103],"maximum":[107,123],"error":[108],"was":[112,119,129],"0.16":[113],"mm":[114],"standard":[117],"deviation":[118],"0.0058":[120],"mm.":[121],"about":[130],"2.2":[131],"kgf,":[132],"which":[133],"meets":[134],"minimum":[136],"for":[142,159],"interventions.":[145,163],"Therefore,":[146],"we":[147],"expect":[148],"suggested":[150],"suitable":[154],"clinical":[157],"environment":[158],"CT-guided":[160]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
