{"id":"https://openalex.org/W4367321014","doi":"https://doi.org/10.1109/toh.2023.3271224","title":"Deconstructing Haptic Feedback Information in Robot-Assisted Needle Insertion in Soft Tissues","display_name":"Deconstructing Haptic Feedback Information in Robot-Assisted Needle Insertion in Soft Tissues","publication_year":2023,"publication_date":"2023-04-28","ids":{"openalex":"https://openalex.org/W4367321014","doi":"https://doi.org/10.1109/toh.2023.3271224","pmid":"https://pubmed.ncbi.nlm.nih.gov/37115838"},"language":"en","primary_location":{"id":"doi:10.1109/toh.2023.3271224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2023.3271224","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":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-04082247v1/file/ToH23-ferro-deconstructing-lq.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074565525","display_name":"Marco Ferro","orcid":"https://orcid.org/0000-0002-7057-9252"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Ferro","raw_affiliation_strings":["Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0002-7057-9252","affiliations":[{"raw_affiliation_string":"Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058355041","display_name":"Claudio Pacchierotti","orcid":"https://orcid.org/0000-0002-8006-9168"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Claudio Pacchierotti","raw_affiliation_strings":["CNRS, Univ Rennes, Inria, IRISA, Rennes, France"],"raw_orcid":"https://orcid.org/0000-0002-8006-9168","affiliations":[{"raw_affiliation_string":"CNRS, Univ Rennes, Inria, IRISA, Rennes, France","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I56067802","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101573235","display_name":"Sara Rossi","orcid":"https://orcid.org/0009-0002-2920-0316"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sara Rossi","raw_affiliation_strings":["Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy"],"raw_orcid":"https://orcid.org/0009-0002-2920-0316","affiliations":[{"raw_affiliation_string":"Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040398924","display_name":"Marilena Vendittelli","orcid":"https://orcid.org/0000-0002-5348-0525"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marilena Vendittelli","raw_affiliation_strings":["Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5348-0525","affiliations":[{"raw_affiliation_string":"Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8216,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70056159,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"16","issue":"4","first_page":"536","last_page":"542"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9990000128746033,"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.8821976184844971},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8540172576904297},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.6658490896224976},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5857175588607788},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5251388549804688},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.39872556924819946},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37561163306236267},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3362046480178833},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33319950103759766},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08282303810119629}],"concepts":[{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.8821976184844971},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8540172576904297},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.6658490896224976},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5857175588607788},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5251388549804688},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39872556924819946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37561163306236267},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3362046480178833},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33319950103759766},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08282303810119629},{"id":"https://openalex.org/C138496976","wikidata":"https://www.wikidata.org/wiki/Q175002","display_name":"Developmental psychology","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000089862","descriptor_name":"Haptic Technology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000089862","descriptor_name":"Haptic Technology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000089862","descriptor_name":"Haptic Technology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000089862","descriptor_name":"Haptic Technology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","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":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"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":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014584","descriptor_name":"User-Computer Interface","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014584","descriptor_name":"User-Computer Interface","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014584","descriptor_name":"User-Computer Interface","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014584","descriptor_name":"User-Computer Interface","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D025321","descriptor_name":"Surgery, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","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":"D055698","descriptor_name":"Touch Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":4,"locations":[{"id":"doi:10.1109/toh.2023.3271224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2023.3271224","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:37115838","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37115838","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},{"id":"pmh:oai:HAL:hal-04082247v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-04082247","pdf_url":"https://inria.hal.science/hal-04082247v1/file/ToH23-ferro-deconstructing-lq.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Haptics (ToH), 2023, 16 (4), pp.536-542. ⟨10.1109/TOH.2023.3271224⟩","raw_type":"Journal articles"},{"id":"pmh:oai:iris.uniroma1.it:11573/1678991","is_oa":true,"landing_page_url":"https://hdl.handle.net/11573/1678991","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04082247v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-04082247","pdf_url":"https://inria.hal.science/hal-04082247v1/file/ToH23-ferro-deconstructing-lq.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Haptics (ToH), 2023, 16 (4), pp.536-542. ⟨10.1109/TOH.2023.3271224⟩","raw_type":"Journal articles"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4367321014.pdf","grobid_xml":"https://content.openalex.org/works/W4367321014.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1004141173","https://openalex.org/W1971076945","https://openalex.org/W1975059652","https://openalex.org/W1988007333","https://openalex.org/W2008169038","https://openalex.org/W2020255928","https://openalex.org/W2083692125","https://openalex.org/W2116134138","https://openalex.org/W2128851696","https://openalex.org/W2134494183","https://openalex.org/W2169924715","https://openalex.org/W2241992751","https://openalex.org/W2296757716","https://openalex.org/W2345854622","https://openalex.org/W2590669721","https://openalex.org/W2800266831","https://openalex.org/W2998545699","https://openalex.org/W3142938931","https://openalex.org/W3196220979","https://openalex.org/W3203874249"],"related_works":["https://openalex.org/W2327210927","https://openalex.org/W4229057662","https://openalex.org/W2044297498","https://openalex.org/W3195731900","https://openalex.org/W2074483596","https://openalex.org/W2303198768","https://openalex.org/W2952163316","https://openalex.org/W2111832515","https://openalex.org/W1991401042","https://openalex.org/W2731583012"],"abstract_inverted_index":{"This":[0],"paper":[1],"evaluates":[2],"the":[3,39,54,57,75,90,109,127,131,148,151],"role":[4],"and":[5,48,56,86],"effectiveness":[6],"of":[7,10,41,61,78,130],"different":[8,82,99],"types":[9],"haptic":[11],"feedback":[12,16,51,79,121],"in":[13,21,67,96],"presenting":[14],"relevant":[15],"information":[17,80,107],"during":[18],"needle":[19],"insertion":[20],"soft":[22],"tissues":[23],"through":[24,81,108],"a":[25,62,68,98],"remotely":[26],"operated":[27],"robot.":[28],"We":[29],"carried":[30],"out":[31],"three":[32],"experiments":[33],"with":[34,102,133],"human":[35],"subjects":[36],"to":[37,89,104,135],"analyze":[38],"effect":[40],"grounded":[42,112],"kinesthetic":[43,85,113],"feedback,":[44,47],"cutaneous":[45,49,119,137,161],"vibrotactile":[46,136],"pressure":[50,120],"for":[52,125],"rendering":[53,126,143],"elastic":[55,128,145],"viscous":[58],"force":[59],"components":[60],"simplified":[63],"needle-tissue":[64],"interaction":[65,132],"model":[66],"simulated":[69],"environment.":[70],"Results":[71],"showed":[72],"that":[73,118,142,159],"providing":[74,105],"two":[76],"pieces":[77],"channels,":[83],"i.e.,":[84],"cutaneous,":[87],"led":[88],"best":[91],"performance,":[92],"yielding":[93],"an":[94,165],"improvement":[95],"detecting":[97],"tissue":[100],"layer":[101],"respect":[103,134],"both":[106],"same":[110],"commercial":[111],"interface.":[114],"Moreover,":[115],"results":[116,140],"indicate":[117],"is":[122,154],"more":[123],"suited":[124],"component":[129,146],"sensations.":[138],"Finally,":[139],"suggest":[141],"this":[144],"where":[147],"user":[149],"holds":[150],"input":[152],"interface":[153],"not":[155],"so":[156],"important,":[157],"confirming":[158],"delocalized":[160],"sensations":[162],"can":[163],"be":[164],"effective":[166],"solution.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}