{"id":"https://openalex.org/W2016012456","doi":"https://doi.org/10.1109/tase.2013.2276940","title":"Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy","display_name":"Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2016012456","doi":"https://doi.org/10.1109/tase.2013.2276940","mag":"2016012456"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2013.2276940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2013.2276940","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://escholarship.org/uc/item/8tj9w19z","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061193324","display_name":"Animesh Garg","orcid":"https://orcid.org/0000-0003-0482-4296"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Animesh Garg","raw_affiliation_strings":["Department of Industrial Engineering and Operations Research, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering and Operations Research, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039447314","display_name":"Timmy Siauw","orcid":null},"institutions":[{"id":"https://openalex.org/I180670191","display_name":"University of California, San Francisco","ror":"https://ror.org/043mz5j54","country_code":"US","type":"education","lineage":["https://openalex.org/I180670191"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Timmy Siauw","raw_affiliation_strings":["Department of Radiation Oncology, University of California, San Francisco, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Radiation Oncology, University of California, San Francisco, CA, USA","institution_ids":["https://openalex.org/I180670191"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083082888","display_name":"Dmitry Berenson","orcid":"https://orcid.org/0000-0002-9712-109X"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dmitry Berenson","raw_affiliation_strings":["Department Computer Science, Worcester Polytechnic Institute, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Computer Science, Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002324653","display_name":"J. Adam M. Cunha","orcid":null},"institutions":[{"id":"https://openalex.org/I180670191","display_name":"University of California, San Francisco","ror":"https://ror.org/043mz5j54","country_code":"US","type":"education","lineage":["https://openalex.org/I180670191"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Adam M. Cunha","raw_affiliation_strings":["Department of Radiation Oncology, University of California, San Francisco, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Radiation Oncology, University of California, San Francisco, CA, USA","institution_ids":["https://openalex.org/I180670191"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042728664","display_name":"I\u2010Chow Hsu","orcid":"https://orcid.org/0000-0002-3113-121X"},"institutions":[{"id":"https://openalex.org/I180670191","display_name":"University of California, San Francisco","ror":"https://ror.org/043mz5j54","country_code":"US","type":"education","lineage":["https://openalex.org/I180670191"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"I-Chow Hsu","raw_affiliation_strings":["Department of Radiation Oncology, University of California, San Francisco, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Radiation Oncology, University of California, San Francisco, CA, USA","institution_ids":["https://openalex.org/I180670191"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113617016","display_name":"Jean Pouliot","orcid":null},"institutions":[{"id":"https://openalex.org/I180670191","display_name":"University of California, San Francisco","ror":"https://ror.org/043mz5j54","country_code":"US","type":"education","lineage":["https://openalex.org/I180670191"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean Pouliot","raw_affiliation_strings":["Department of Radiation Oncology, University of California, San Francisco, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Radiation Oncology, University of California, San Francisco, CA, USA","institution_ids":["https://openalex.org/I180670191"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085665695","display_name":"Dan Stoianovici","orcid":"https://orcid.org/0000-0001-6635-9647"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dan Stoianovici","raw_affiliation_strings":["Department of Urology, Mechanical Engineering and Neurosurgery, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Urology, Mechanical Engineering and Neurosurgery, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010019244","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0001-6747-9499"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["University of California Berkeley, Berkeley, CA, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California Berkeley, Berkeley, CA, US","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8032,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.72751567,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"10","issue":"4","first_page":"948","last_page":"956"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9854000210762024,"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/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.9799000024795532,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.7579194903373718},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.683822512626648},{"id":"https://openalex.org/keywords/brachytherapy","display_name":"Brachytherapy","score":0.596237301826477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4878949820995331},{"id":"https://openalex.org/keywords/radiation-treatment-planning","display_name":"Radiation treatment planning","score":0.47525689005851746},{"id":"https://openalex.org/keywords/skew","display_name":"Skew","score":0.43236950039863586},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4213467240333557},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41488125920295715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3867831230163574},{"id":"https://openalex.org/keywords/nuclear-medicine","display_name":"Nuclear medicine","score":0.21317636966705322},{"id":"https://openalex.org/keywords/radiation-therapy","display_name":"Radiation therapy","score":0.2025197148323059},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.2010461986064911},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1306687593460083}],"concepts":[{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.7579194903373718},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.683822512626648},{"id":"https://openalex.org/C2777416452","wikidata":"https://www.wikidata.org/wiki/Q896687","display_name":"Brachytherapy","level":3,"score":0.596237301826477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4878949820995331},{"id":"https://openalex.org/C201645570","wikidata":"https://www.wikidata.org/wiki/Q830637","display_name":"Radiation treatment planning","level":3,"score":0.47525689005851746},{"id":"https://openalex.org/C43711488","wikidata":"https://www.wikidata.org/wiki/Q7534783","display_name":"Skew","level":2,"score":0.43236950039863586},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4213467240333557},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41488125920295715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3867831230163574},{"id":"https://openalex.org/C2989005","wikidata":"https://www.wikidata.org/wiki/Q214963","display_name":"Nuclear medicine","level":1,"score":0.21317636966705322},{"id":"https://openalex.org/C509974204","wikidata":"https://www.wikidata.org/wiki/Q180507","display_name":"Radiation therapy","level":2,"score":0.2025197148323059},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.2010461986064911},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1306687593460083},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tase.2013.2276940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2013.2276940","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.400.9715","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.400.9715","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://queue.ieor.berkeley.edu/~goldberg/pubs/T-ASE-Robot-Guided-Skew-Line-Brachytherapy-F13.pdf","raw_type":"text"},{"id":"pmh:oai:escholarship.org/ark:/13030/qt8tj9w19z","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/8tj9w19z","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automation Science and Engineering, vol 10, iss 4","raw_type":"article"},{"id":"pmh:qt8tj9w19z","is_oa":true,"landing_page_url":"http://www.escholarship.org/uc/item/8tj9w19z","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Garg, A; Siauw, T; Berenson, D; Cunha, JAM; Hsu, IC; Pouliot, J; \u00c2\u00a0et al.(2013). Robot-guided open-loop insertion of skew-line needle arrangements for high dose rate brachytherapy. IEEE Transactions on Automation Science and Engineering, 10(4), 948 - 956. doi: 10.1109/TASE.2013.2276940. UC San Francisco: Retrieved from: http://www.escholarship.org/uc/item/8tj9w19z","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:escholarship.org/ark:/13030/qt8tj9w19z","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/8tj9w19z","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automation Science and Engineering, vol 10, iss 4","raw_type":"article"},"sustainable_development_goals":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W21929159","https://openalex.org/W47556920","https://openalex.org/W1527927258","https://openalex.org/W1898678539","https://openalex.org/W1932808278","https://openalex.org/W1935837759","https://openalex.org/W1966854752","https://openalex.org/W1967827409","https://openalex.org/W1984934137","https://openalex.org/W1988874269","https://openalex.org/W1989242673","https://openalex.org/W1993187570","https://openalex.org/W2015481934","https://openalex.org/W2022063701","https://openalex.org/W2031134752","https://openalex.org/W2036471941","https://openalex.org/W2039102489","https://openalex.org/W2041534869","https://openalex.org/W2042051341","https://openalex.org/W2043708766","https://openalex.org/W2046741734","https://openalex.org/W2050391053","https://openalex.org/W2054138161","https://openalex.org/W2070927739","https://openalex.org/W2073870948","https://openalex.org/W2075810750","https://openalex.org/W2077234964","https://openalex.org/W2077546766","https://openalex.org/W2082457060","https://openalex.org/W2083831128","https://openalex.org/W2088865132","https://openalex.org/W2091884377","https://openalex.org/W2094966149","https://openalex.org/W2098369774","https://openalex.org/W2099745446","https://openalex.org/W2103427358","https://openalex.org/W2104275987","https://openalex.org/W2104367785","https://openalex.org/W2110962460","https://openalex.org/W2112484408","https://openalex.org/W2122149458","https://openalex.org/W2125843529","https://openalex.org/W2126675188","https://openalex.org/W2134390318","https://openalex.org/W2137052004","https://openalex.org/W2139913352","https://openalex.org/W2152079888","https://openalex.org/W2154145393","https://openalex.org/W2154400790","https://openalex.org/W2155524843","https://openalex.org/W2157883849","https://openalex.org/W2165950447","https://openalex.org/W2167104378","https://openalex.org/W2168258005","https://openalex.org/W2170245125","https://openalex.org/W2397696187","https://openalex.org/W3122317558","https://openalex.org/W6712765503"],"related_works":["https://openalex.org/W2389281101","https://openalex.org/W4290802965","https://openalex.org/W97789383","https://openalex.org/W2415632822","https://openalex.org/W2086196749","https://openalex.org/W328240141","https://openalex.org/W2460936463","https://openalex.org/W2080003909","https://openalex.org/W92931116","https://openalex.org/W4237576296"],"abstract_inverted_index":{"We":[0,56,82,134],"present":[1],"a":[2,178],"study":[3,93,173],"in":[4,140,170],"human-centered":[5],"automation":[6],"that":[7,120],"has":[8],"potential":[9],"to":[10,25,31,45,75,92,116,130,156,162],"reduce":[11],"patient":[12],"side":[13],"effects":[14],"from":[15,154],"high":[16],"dose":[17,80,125],"rate":[18],"brachytherapy":[19],"(HDR-BT).":[20],"To":[21],"efficiently":[22],"deliver":[23],"radiation":[24],"the":[26,36,41,97,111,122,131,147,163],"prostate":[27],"while":[28],"minimizing":[29],"trauma":[30,129],"sensitive":[32],"structures":[33],"such":[34],"as":[35],"penile":[37,132],"bulb,":[38],"we":[39],"modified":[40],"Acubot-RND":[42],"7-axis":[43],"robot":[44,98,148,179],"guide":[46],"insertion":[47],"of":[48,166],"diamond-tip":[49],"needles":[50],"into":[51],"desired":[52],"skew-line":[53,77],"geometric":[54],"arrangements.":[55],"extend":[57],"and":[58,68,79,99,137],"integrate":[59],"two":[60,95],"algorithms:":[61],"Needle":[62],"Planning":[63,70],"with":[64,71,87,96,103,127,180],"Integer":[65,72],"Programming":[66,73],"(NPIP)":[67],"Inverse":[69],"(IPIP)":[74],"compute":[76],"needle":[78,118,141],"plans.":[81],"performed":[83],"three":[84],"physical":[85],"experiments":[86],"anatomically":[88],"correct":[89],"phantom":[90],"models":[91],"performance:":[94],"one":[100],"control":[101],"experiment":[102],"an":[104,171],"expert":[105],"human":[106],"physician":[107],"(coauthor":[108],"Hsu)":[109],"without":[110,151],"robot.":[112],"All":[113],"were":[114],"able":[115],"achieve":[117],"arrangements":[119],"meet":[121],"RTOG-0321":[123],"clinical":[124],"objectives":[126],"zero":[128],"bulb.":[133],"analyze":[135],"systematic":[136],"random":[138],"errors":[139],"placement;":[142],"total":[143],"RMS":[144,164],"error":[145,165],"for":[146,174],"system":[149],"operating":[150],"feedback":[152],"ranged":[153],"2.6":[155],"4.3":[157],"mm,":[158],"which":[159],"is":[160],"comparable":[161],"2.7":[167],"mm":[168],"obtained":[169],"earlier":[172],"PPI-BT":[175],"treatment":[176],"using":[177],"3D":[181],"ultrasound":[182],"feedback.":[183]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}