{"id":"https://openalex.org/W2999820322","doi":"https://doi.org/10.1109/toh.2020.2967375","title":"Enabling In-Bore MRI-Guided Biopsies With Force Feedback","display_name":"Enabling In-Bore MRI-Guided Biopsies With Force Feedback","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W2999820322","doi":"https://doi.org/10.1109/toh.2020.2967375","mag":"2999820322","pmid":"https://pubmed.ncbi.nlm.nih.gov/31976906"},"language":"en","primary_location":{"id":"doi:10.1109/toh.2020.2967375","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2020.2967375","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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 Haptics","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":"https://openalex.org/A5046249634","display_name":"Samuel Frishman","orcid":"https://orcid.org/0000-0003-2047-9875"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Samuel Frishman","raw_affiliation_strings":["Mechanical Engineering Department, Stanford University, Stanford, USA"],"raw_orcid":"https://orcid.org/0000-0003-2047-9875","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Stanford University, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070581646","display_name":"Ali Kight","orcid":"https://orcid.org/0000-0001-6440-1063"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali Kight","raw_affiliation_strings":["Bioengineering Department, Stanford University, Stanford, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bioengineering Department, Stanford University, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047816744","display_name":"Ileana Pirozzi","orcid":"https://orcid.org/0000-0003-0201-8186"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ileana Pirozzi","raw_affiliation_strings":["Bioengineering Department, Stanford University, Stanford, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bioengineering Department, Stanford University, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003619876","display_name":"Mela Coffey","orcid":"https://orcid.org/0000-0003-2275-8341"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mela C. Coffey","raw_affiliation_strings":["Biomedical Engineering and Mechanics Department, Virginia Tech, Blacksburg, USA"],"raw_orcid":"https://orcid.org/0000-0003-2275-8341","affiliations":[{"raw_affiliation_string":"Biomedical Engineering and Mechanics Department, Virginia Tech, Blacksburg, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008058056","display_name":"Bruce L. Daniel","orcid":"https://orcid.org/0000-0003-0475-5892"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bruce L. Daniel","raw_affiliation_strings":["Radiology Department, Stanford University, Stanford, USA"],"raw_orcid":"https://orcid.org/0000-0003-0475-5892","affiliations":[{"raw_affiliation_string":"Radiology Department, Stanford University, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046683404","display_name":"Mark R. Cutkosky","orcid":"https://orcid.org/0000-0003-4730-0900"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark R. Cutkosky","raw_affiliation_strings":["Radiology Department, Stanford University, Stanford, USA"],"raw_orcid":"https://orcid.org/0000-0003-4730-0900","affiliations":[{"raw_affiliation_string":"Radiology Department, Stanford University, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5046249634"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":0.8707,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.69657472,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"13","issue":"1","first_page":"159","last_page":"166"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9923999905586243,"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/T11402","display_name":"Vascular Malformations Diagnosis and Treatment","score":0.9847000241279602,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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/teleoperation","display_name":"Teleoperation","score":0.844152569770813},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7621674537658691},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.543303906917572},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48513492941856384},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.48361554741859436},{"id":"https://openalex.org/keywords/scanner","display_name":"Scanner","score":0.4767345190048218},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.46728214621543884},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3872530460357666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2588661015033722},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22530293464660645},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21406611800193787}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.844152569770813},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7621674537658691},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.543303906917572},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48513492941856384},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.48361554741859436},{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.4767345190048218},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.46728214621543884},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3872530460357666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2588661015033722},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22530293464660645},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21406611800193787},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001707","descriptor_name":"Biopsy, Needle","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001707","descriptor_name":"Biopsy, Needle","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001707","descriptor_name":"Biopsy, Needle","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","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":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008279","descriptor_name":"Magnetic Resonance Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008279","descriptor_name":"Magnetic Resonance Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008279","descriptor_name":"Magnetic Resonance Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D061705","descriptor_name":"Image-Guided Biopsy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D061705","descriptor_name":"Image-Guided Biopsy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D061705","descriptor_name":"Image-Guided Biopsy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/toh.2020.2967375","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2020.2967375","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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 Haptics","raw_type":"journal-article"},{"id":"pmid:31976906","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31976906","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 haptics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7462493975","display_name":null,"funder_award_id":"1615891","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1480220726","https://openalex.org/W1948403275","https://openalex.org/W1967238126","https://openalex.org/W1968812902","https://openalex.org/W2000139215","https://openalex.org/W2002422568","https://openalex.org/W2016954168","https://openalex.org/W2020255928","https://openalex.org/W2033481362","https://openalex.org/W2035252444","https://openalex.org/W2056153636","https://openalex.org/W2057856055","https://openalex.org/W2067309401","https://openalex.org/W2072181760","https://openalex.org/W2120770278","https://openalex.org/W2144078986","https://openalex.org/W2144903249","https://openalex.org/W2147604166","https://openalex.org/W2164660172","https://openalex.org/W2183048311","https://openalex.org/W2248480959","https://openalex.org/W2531667847","https://openalex.org/W2607158390","https://openalex.org/W2736363026","https://openalex.org/W2775541150","https://openalex.org/W2807508628","https://openalex.org/W2912826639","https://openalex.org/W3003706299","https://openalex.org/W4255694987","https://openalex.org/W6628564860"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652"],"abstract_inverted_index":{"Limited":[0],"physical":[1],"access":[2,45],"to":[3,16],"target":[4],"organs":[5],"of":[6,149],"patients":[7],"inside":[8,47],"an":[9],"MRI":[10,27,137],"scanner":[11],"is":[12],"a":[13,36,51,55,82,86,89,117,130],"major":[14],"obstruction":[15],"real-time":[17],"MRI-guided":[18],"interventions.":[19],"Traditional":[20],"teleoperation":[21],"technologies":[22],"are":[23],"incompatible":[24],"with":[25,81,108],"the":[26,48,70,74,79,125,147,150],"environment":[28],"and":[29,44,57,77,88,99],"although":[30],"several":[31],"solutions":[32],"have":[33],"been":[34],"explored,":[35],"versatile":[37],"system":[38,75],"that":[39,116],"provides":[40],"high-fidelity":[41],"haptic":[42],"feedback":[43],"deep":[46],"bore":[49],"remains":[50],"challenge.":[52],"We":[53,68],"present":[54],"passive":[56],"nearly":[58],"frictionless":[59],"MRI-compatible":[60],"hydraulic":[61],"teleoperator":[62],"designed":[63],"for":[64],"in-bore":[65],"liver":[66],"biopsies.":[67],"describe":[69],"design":[71],"components,":[72],"characterize":[73],"transparency,":[76],"evaluate":[78],"performance":[80],"user":[83,106],"study":[84,107],"in":[85,134,143,146],"laboratory":[87],"clinical":[90],"setting.":[91],"The":[92],"results":[93],"demonstrate":[94],"%":[95],"difference":[96],"between":[97],"input":[98],"output":[100],"forces":[101],"during":[102],"realistic":[103],"manipulation.":[104],"A":[105],"participants":[109],"conducting":[110],"mock":[111],"needle":[112,132],"biopsy":[113,131],"tasks":[114],"indicates":[115],"remote":[118],"operator":[119],"performs":[120],"equally":[121],"well":[122],"when":[123,128],"using":[124],"device":[126],"as":[127],"holding":[129],"directly":[133],"hand.":[135],"Additionally,":[136],"compatibility":[138],"tests":[139],"show":[140],"no":[141],"reduction":[142],"signal-to-noise":[144],"ratio":[145],"presence":[148],"device.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
