{"id":"https://openalex.org/W4411600296","doi":"https://doi.org/10.1109/tbme.2025.3582865","title":"Fast Tip Tracking via Needle Detection and Estimation During Ultrasound-Guided Prostate Biopsy","display_name":"Fast Tip Tracking via Needle Detection and Estimation During Ultrasound-Guided Prostate Biopsy","publication_year":2025,"publication_date":"2025-06-24","ids":{"openalex":"https://openalex.org/W4411600296","doi":"https://doi.org/10.1109/tbme.2025.3582865","pmid":"https://pubmed.ncbi.nlm.nih.gov/40553664"},"language":"en","primary_location":{"id":"doi:10.1109/tbme.2025.3582865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2025.3582865","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"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 Biomedical Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Menglin Wu","orcid":"https://orcid.org/0000-0001-6392-0478"},"institutions":[{"id":"https://openalex.org/I134687103","display_name":"Nanjing Tech University","ror":"https://ror.org/03sd35x91","country_code":"CN","type":"education","lineage":["https://openalex.org/I134687103"]},{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Menglin Wu","raw_affiliation_strings":["School of Computer Science and Information Engineering, Nanjing Tech University, China","School of Computer Science and Information Engineering, Nanjing Tech University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-6392-0478","affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Nanjing Tech University, China","institution_ids":["https://openalex.org/I134687103","https://openalex.org/I200845125"]},{"raw_affiliation_string":"School of Computer Science and Information Engineering, Nanjing Tech University, Nanjing, China","institution_ids":["https://openalex.org/I134687103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001528582","display_name":"Yu Pang","orcid":"https://orcid.org/0000-0001-6803-9807"},"institutions":[{"id":"https://openalex.org/I134687103","display_name":"Nanjing Tech University","ror":"https://ror.org/03sd35x91","country_code":"CN","type":"education","lineage":["https://openalex.org/I134687103"]},{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Pang","raw_affiliation_strings":["School of Computer Science and Information Engineering, Nanjing Tech University, China","School of Computer Science and Information Engineering, Nanjing Tech University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Nanjing Tech University, China","institution_ids":["https://openalex.org/I134687103","https://openalex.org/I200845125"]},{"raw_affiliation_string":"School of Computer Science and Information Engineering, Nanjing Tech University, Nanjing, China","institution_ids":["https://openalex.org/I134687103"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Kun Huang","orcid":"https://orcid.org/0000-0003-4873-679X"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Huang","raw_affiliation_strings":["Department of Computer Science and Engineering, Nanjing University of Science and Technology, China","Department of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-4873-679X","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Nanjing University of Science and Technology, China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuhan Zhang","orcid":"https://orcid.org/0000-0002-4421-2414"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yuhan Zhang","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, China","Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-4421-2414","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079948057","display_name":"Pablo D. Burstein","orcid":null},"institutions":[{"id":"https://openalex.org/I4210150693","display_name":"The Medical Device (United Kingdom)","ror":"https://ror.org/059mrwr24","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210150693"]},{"id":"https://openalex.org/I4210167079","display_name":"Nano Carbon (Poland)","ror":"https://ror.org/05v34hx56","country_code":"PL","type":"company","lineage":["https://openalex.org/I4210167079"]}],"countries":["GB","PL"],"is_corresponding":false,"raw_author_name":"Pablo D. Burstein","raw_affiliation_strings":["Carbon Medical Device Ltd., China","Carbon Medical Device Ltd., Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carbon Medical Device Ltd., China","institution_ids":["https://openalex.org/I4210150693","https://openalex.org/I4210167079"]},{"raw_affiliation_string":"Carbon Medical Device Ltd., Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112254848","display_name":"Jie Zhu","orcid":"https://orcid.org/0000-0002-5545-3811"},"institutions":[{"id":"https://openalex.org/I2802939634","display_name":"Chinese PLA General Hospital","ror":"https://ror.org/04gw3ra78","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I2802939634"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhu","raw_affiliation_strings":["Senior Department of Urology, The Third Medical Center of Chinese PLA General Hospital, China","Senior Department of Urology, The Third Medical Center of Chinese PLA General Hospital, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Senior Department of Urology, The Third Medical Center of Chinese PLA General Hospital, China","institution_ids":["https://openalex.org/I2802939634"]},{"raw_affiliation_string":"Senior Department of Urology, The Third Medical Center of Chinese PLA General Hospital, Beijing, China","institution_ids":["https://openalex.org/I2802939634"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100380086","display_name":"Chuan Zhang","orcid":"https://orcid.org/0000-0003-0564-9434"},"institutions":[{"id":"https://openalex.org/I4210133711","display_name":"Chengdu Fifth People's Hospital","ror":"https://ror.org/03gxy9f87","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210133711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuan Zhang","raw_affiliation_strings":["Department of Urology, Chengdu Fifth People's Hospital, Chendu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Urology, Chengdu Fifth People's Hospital, Chendu, China","institution_ids":["https://openalex.org/I4210133711"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11590563,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"1","first_page":"380","last_page":"392"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9387999773025513,"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":0.9387999773025513,"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/T10888","display_name":"Augmented Reality Applications","score":0.009100000374019146,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.007799999788403511,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/prostate","display_name":"Prostate","score":0.5805754661560059},{"id":"https://openalex.org/keywords/prostate-biopsy","display_name":"Prostate biopsy","score":0.5700938701629639},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.5237607359886169},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.512358546257019},{"id":"https://openalex.org/keywords/biopsy","display_name":"Biopsy","score":0.474923700094223},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4364500939846039},{"id":"https://openalex.org/keywords/cancer-detection","display_name":"Cancer detection","score":0.41866186261177063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41295963525772095},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3911955952644348},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.36953145265579224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3591773509979248},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.32731062173843384},{"id":"https://openalex.org/keywords/cancer","display_name":"Cancer","score":0.11199858784675598},{"id":"https://openalex.org/keywords/internal-medicine","display_name":"Internal medicine","score":0.09404358267784119}],"concepts":[{"id":"https://openalex.org/C2776235491","wikidata":"https://www.wikidata.org/wiki/Q9625","display_name":"Prostate","level":3,"score":0.5805754661560059},{"id":"https://openalex.org/C2781217009","wikidata":"https://www.wikidata.org/wiki/Q4086927","display_name":"Prostate biopsy","level":4,"score":0.5700938701629639},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.5237607359886169},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.512358546257019},{"id":"https://openalex.org/C2775934546","wikidata":"https://www.wikidata.org/wiki/Q179991","display_name":"Biopsy","level":2,"score":0.474923700094223},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4364500939846039},{"id":"https://openalex.org/C2985322473","wikidata":"https://www.wikidata.org/wiki/Q3044843","display_name":"Cancer detection","level":3,"score":0.41866186261177063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41295963525772095},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3911955952644348},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.36953145265579224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3591773509979248},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.32731062173843384},{"id":"https://openalex.org/C121608353","wikidata":"https://www.wikidata.org/wiki/Q12078","display_name":"Cancer","level":2,"score":0.11199858784675598},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.09404358267784119},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007091","descriptor_name":"Image Processing, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D007091","descriptor_name":"Image Processing, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011467","descriptor_name":"Prostate","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":true},{"descriptor_ui":"D011467","descriptor_name":"Prostate","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":true},{"descriptor_ui":"D011467","descriptor_name":"Prostate","qualifier_ui":"Q000473","qualifier_name":"pathology","is_major_topic":true},{"descriptor_ui":"D011467","descriptor_name":"Prostate","qualifier_ui":"Q000473","qualifier_name":"pathology","is_major_topic":true},{"descriptor_ui":"D011471","descriptor_name":"Prostatic Neoplasms","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":false},{"descriptor_ui":"D011471","descriptor_name":"Prostatic Neoplasms","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":false},{"descriptor_ui":"D011471","descriptor_name":"Prostatic Neoplasms","qualifier_ui":"Q000473","qualifier_name":"pathology","is_major_topic":false},{"descriptor_ui":"D011471","descriptor_name":"Prostatic Neoplasms","qualifier_ui":"Q000473","qualifier_name":"pathology","is_major_topic":false},{"descriptor_ui":"D018084","descriptor_name":"Ultrasonography, Interventional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D018084","descriptor_name":"Ultrasonography, Interventional","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D061705","descriptor_name":"Image-Guided Biopsy","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D061705","descriptor_name":"Image-Guided Biopsy","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D061705","descriptor_name":"Image-Guided Biopsy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D061705","descriptor_name":"Image-Guided Biopsy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/tbme.2025.3582865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2025.3582865","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"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 Biomedical Engineering","raw_type":"journal-article"},{"id":"pmid:40553664","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40553664","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on bio-medical engineering","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger"}],"awards":[{"id":"https://openalex.org/G5897065952","display_name":null,"funder_award_id":"62202408","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W46610460","https://openalex.org/W142942868","https://openalex.org/W245965882","https://openalex.org/W639708223","https://openalex.org/W1516448465","https://openalex.org/W1581322187","https://openalex.org/W1979530602","https://openalex.org/W1985753696","https://openalex.org/W1990552485","https://openalex.org/W1992987847","https://openalex.org/W2014481360","https://openalex.org/W2056206824","https://openalex.org/W2070117223","https://openalex.org/W2075352058","https://openalex.org/W2078187233","https://openalex.org/W2079465399","https://openalex.org/W2080165421","https://openalex.org/W2156992415","https://openalex.org/W2168063673","https://openalex.org/W2288753936","https://openalex.org/W2332223968","https://openalex.org/W2334417331","https://openalex.org/W2419362453","https://openalex.org/W2511508505","https://openalex.org/W2626054025","https://openalex.org/W2798943056","https://openalex.org/W2891033863","https://openalex.org/W2899415703","https://openalex.org/W2921171235","https://openalex.org/W2953809838","https://openalex.org/W2955186028","https://openalex.org/W2962858109","https://openalex.org/W2962914239","https://openalex.org/W2963037989","https://openalex.org/W2970418872","https://openalex.org/W2971851026","https://openalex.org/W2980755070","https://openalex.org/W2981415272","https://openalex.org/W3002325867","https://openalex.org/W3011143832","https://openalex.org/W3035228270","https://openalex.org/W3048331484","https://openalex.org/W3106615849","https://openalex.org/W3107016113","https://openalex.org/W3135579950","https://openalex.org/W3154502365","https://openalex.org/W3156931243","https://openalex.org/W3174845410","https://openalex.org/W3176659256","https://openalex.org/W3186564193","https://openalex.org/W3206235622","https://openalex.org/W4283791382","https://openalex.org/W4285043770","https://openalex.org/W4307823382","https://openalex.org/W4308235976","https://openalex.org/W4322499695","https://openalex.org/W4353029687","https://openalex.org/W4376109788","https://openalex.org/W4377695248","https://openalex.org/W4379012538","https://openalex.org/W4383108298","https://openalex.org/W4386066081","https://openalex.org/W4386350424","https://openalex.org/W4390822339","https://openalex.org/W4394585865","https://openalex.org/W4399558131","https://openalex.org/W4402915850"],"related_works":["https://openalex.org/W2084723631","https://openalex.org/W2566665866","https://openalex.org/W2358184952","https://openalex.org/W3115500073","https://openalex.org/W3096156950","https://openalex.org/W3197418554","https://openalex.org/W2353816345","https://openalex.org/W2785380349","https://openalex.org/W1725314107","https://openalex.org/W2158543276"],"abstract_inverted_index":{"OBJECTIVE:":[0],"Accurate":[1],"and":[2,28,42,59,124,145,177,179,186,193,223,245],"real-time":[3,212],"needle":[4,26,34,75,84,93,110,137,226],"tip":[5,94,227],"tracking":[6,16,66,170,181,203,228],"is":[7,95,113,130,138],"critical":[8],"in":[9,51,67],"image-guided":[10,230],"prostate":[11,231,248],"biopsy":[12],"procedures.":[13],"Ultrasound":[14],"(US)-based":[15],"methods,":[17],"though,":[18],"are":[19,150],"afflicted":[20],"by":[21],"suboptimal":[22],"image":[23],"quality,":[24],"low":[25],"visibility,":[27],"dynamic,":[29],"variable":[30],"appearance":[31],"of":[32,46,71,100,103,118,142,175,183,205,225],"the":[33,74,80,101,119,126,136,190,221,238],"tip.":[35],"Therefore,":[36],"this":[37],"task":[38],"requires":[39],"a":[40,56,87,105,202],"lightweight":[41,88],"robust":[43],"approach,":[44],"capable":[45],"handling":[47],"complex":[48],"US":[49],"environments":[50],"real-time.":[52],"METHODS:":[53],"We":[54],"propose":[55],"Needle":[57],"Detection":[58],"Estimation":[60],"(NDE)":[61],"framework":[62,217],"for":[63,189,211,247],"US-guided":[64],"needle-tip":[65],"real":[68],"time.":[69],"Instead":[70],"directly":[72],"detecting":[73],"tip,":[76],"we":[77],"first":[78],"detect":[79],"more":[81],"consistently":[82],"represented":[83],"axis":[85],"using":[86],"line":[89],"detection":[90,121],"model.":[91],"The":[92,234],"then":[96],"estimated":[97],"as":[98],"one":[99],"endpoints":[102],"such":[104],"detected":[106],"axis.":[107],"A":[108],"Kalman-filter-based":[109],"estimation":[111],"module":[112],"added":[114],"to":[115,122,152,240],"take":[116],"advantage":[117],"last":[120],"improve":[123,241],"guide":[125],"current":[127],"detection,":[128],"which":[129],"particularly":[131],"helpful":[132],"within":[133],"frames":[134],"where":[135],"not":[139],"visible.":[140],"Segment":[141],"Line":[143],"(SoL)":[144],"Copy-Paste":[146],"object":[147],"augmentation":[148],"strategies":[149],"used":[151],"increase":[153],"robustness":[154],"while":[155],"reducing":[156],"dependency":[157],"on":[158],"large":[159],"training":[160],"datasets.":[161],"RESULTS:":[162],"Experiments":[163],"demonstrate":[164],"that":[165],"our":[166,199],"method":[167,200,236],"outperforms":[168],"existing":[169],"techniques,":[171],"achieving":[172],"success":[173],"rates":[174],"95.27%":[176],"95.62%,":[178],"average":[180],"errors":[182],"1.94":[184],"mm":[185,188],"2.53":[187],"In":[191,194],"vitro":[192],"vivo":[195],"datasets,":[196],"respectively.":[197],"Furthermore,":[198],"achieves":[201],"speed":[204],"102.13":[206],"FPS,":[207],"making":[208],"it":[209],"suitable":[210],"scenarios.":[213],"CONCLUSIONS:":[214],"Our":[215],"NDE":[216],"can":[218],"significantly":[219],"enhance":[220],"reliability":[222],"efficiency":[224],"during":[229],"biopsy.":[232],"SIGNIFICANCE:":[233],"proposed":[235],"shows":[237],"potential":[239],"both":[242],"clinical":[243],"diagnosis":[244],"therapy":[246],"cancer.":[249]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}