{"id":"https://openalex.org/W2787231760","doi":"https://doi.org/10.1109/sii.2017.8279291","title":"Needle pose adjustment based on force information with needle puncturing robot","display_name":"Needle pose adjustment based on force information with needle puncturing robot","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2787231760","doi":"https://doi.org/10.1109/sii.2017.8279291","mag":"2787231760"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2017.8279291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2017.8279291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/SICE International Symposium on System Integration (SII)","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/A5102161450","display_name":"Kazushi Kimura","orcid":null},"institutions":[{"id":"https://openalex.org/I136446963","display_name":"Okayama University of Science","ror":"https://ror.org/05aevyc10","country_code":"JP","type":"education","lineage":["https://openalex.org/I136446963"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazushi Kimura","raw_affiliation_strings":["Graduate School of Natural Science and Technology, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Natural Science and Technology, Okayama, Japan","institution_ids":["https://openalex.org/I136446963"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091376701","display_name":"Takayuki Matsuno","orcid":"https://orcid.org/0000-0003-3372-0912"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Takayuki Matsuno","raw_affiliation_strings":["Graduate School of Natural Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Natural Science and Technology","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111839630","display_name":"Kohei Sugiyama","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kohei Sugiyama","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064580718","display_name":"Akisato Nagao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Akisato Nagao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033931797","display_name":"Tetsushi Kamegawa","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tetsushi Kamegawa","raw_affiliation_strings":["Graduate School of Natural Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Natural Science and Technology","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073454546","display_name":"Mamoru Minami","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mamoru Minami","raw_affiliation_strings":["Graduate School of Natural Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Natural Science and Technology","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000048544","display_name":"Takao Hiraki","orcid":"https://orcid.org/0000-0003-3992-4043"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Takao Hiraki","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.19990868,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"626","last_page":"631"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9939000010490417,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9860000014305115,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/puncturing","display_name":"Puncturing","score":0.9592019319534302},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.7886183261871338},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6703552007675171},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.6242462992668152},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5611020922660828},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5584184527397156},{"id":"https://openalex.org/keywords/cantilever","display_name":"Cantilever","score":0.5525444149971008},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.5211858153343201},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4958284795284271},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3463709354400635},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2177318036556244},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.19953134655952454},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.19517835974693298},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16009566187858582},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.135545015335083}],"concepts":[{"id":"https://openalex.org/C2778808095","wikidata":"https://www.wikidata.org/wiki/Q3899825","display_name":"Puncturing","level":2,"score":0.9592019319534302},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.7886183261871338},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6703552007675171},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.6242462992668152},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5611020922660828},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5584184527397156},{"id":"https://openalex.org/C141354745","wikidata":"https://www.wikidata.org/wiki/Q17227","display_name":"Cantilever","level":2,"score":0.5525444149971008},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.5211858153343201},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4958284795284271},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3463709354400635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2177318036556244},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.19953134655952454},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.19517835974693298},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16009566187858582},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.135545015335083},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii.2017.8279291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2017.8279291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2105223712","https://openalex.org/W2118152376","https://openalex.org/W2160722457","https://openalex.org/W2170245125","https://openalex.org/W2523762078","https://openalex.org/W2626229101"],"related_works":["https://openalex.org/W3045553430","https://openalex.org/W2023742978","https://openalex.org/W298790751","https://openalex.org/W2044497204","https://openalex.org/W2151271150","https://openalex.org/W2113391978","https://openalex.org/W4366570393","https://openalex.org/W4294739349","https://openalex.org/W2372176723","https://openalex.org/W3144329896"],"abstract_inverted_index":{"In":[0,53,92],"recent":[1],"years,":[2],"interventional":[3],"radiology":[4],"(IR)":[5],"which":[6],"is":[7,38,85,117,141],"a":[8,95,101,126],"medical":[9],"procedure":[10],"has":[11],"been":[12],"attracting":[13],"considerable":[14],"attention.":[15],"Doctors":[16],"can":[17],"perform":[18],"IR":[19,63],"percutaneously":[20],"while":[21],"observing":[22],"the":[23,49,69,77,83,139,146,153],"fluoroscopic":[24],"image,":[25],"such":[26],"as":[27,125],"CT":[28],"and":[29],"MRI":[30],"images,":[31],"of":[32,51,100,109,115,121,132,135,145,155],"patients.":[33],"Therefore,":[34],"this":[35,57,93],"surgical":[36],"method":[37,96,148],"less":[39],"invasive.":[40],"However,":[41],"doctors":[42],"are":[43],"exposed":[44],"to":[45,55,97,137],"strong":[46],"radiation":[47],"in":[48,103],"case":[50],"CT-guidance.":[52],"order":[54],"overcome":[56],"problem,":[58],"we":[59],"have":[60],"developed":[61],"remote-controlled":[62],"assistance":[64],"robot.":[65],"The":[66],"phenomena":[67],"that":[68],"needle":[70,84,102,116,122,133],"tip":[71],"deviates":[72],"from":[73],"target":[74,88],"tissue":[75,89],"at":[76],"end":[78],"sometimes":[79],"occur,":[80],"even":[81],"if":[82],"aligned":[86],"with":[87],"before":[90],"puncturing.":[91],"research":[94],"adjust":[98],"pose":[99,131],"lateral":[104],"direction":[105],"based":[106,151],"on":[107,152],"information":[108],"force":[110,140],"sensor":[111],"for":[112],"reducing":[113],"deflection":[114,120],"proposed.":[118],"First,":[119],"was":[123,149],"modeled":[124],"simply":[127],"cantilever":[128],"beam.":[129],"Next,":[130],"gripper":[134],"robot":[136],"reduce":[138],"calculated.":[142],"Finally,":[143],"validity":[144],"proposed":[147],"verified":[150],"result":[154],"phantom":[156],"puncture":[157],"experiment.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
