{"id":"https://openalex.org/W1965248653","doi":"https://doi.org/10.1109/tro.2012.2203051","title":"A 3-D Ultrasound Robotic Prostate Brachytherapy System With Prostate Motion Tracking","display_name":"A 3-D Ultrasound Robotic Prostate Brachytherapy System With Prostate Motion Tracking","publication_year":2012,"publication_date":"2012-06-27","ids":{"openalex":"https://openalex.org/W1965248653","doi":"https://doi.org/10.1109/tro.2012.2203051","mag":"1965248653"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2012.2203051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2203051","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-00712854/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080797140","display_name":"Nikolai Hungr","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136308","display_name":"Translational Innovation in Medicine and Complexity","ror":"https://ror.org/03985kf35","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210104684","https://openalex.org/I4210136308","https://openalex.org/I4210159245","https://openalex.org/I899635006","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Nikolai Hungr","raw_affiliation_strings":["Techniques de l'Ing\u00e9nierie M\u00e9dicale et de la Complexit-e-Informatique, Math\u00e9matiques et Applications de Grenoble Laboratory, Grenoble, France","Techniques de l'Ing\u00e9nierie M\u00e9dicale et de la Complexit\u00e9 - Informatique, Math\u00e9matiques et Applications, Grenoble - UMR 5525"],"affiliations":[{"raw_affiliation_string":"Techniques de l'Ing\u00e9nierie M\u00e9dicale et de la Complexit-e-Informatique, Math\u00e9matiques et Applications de Grenoble Laboratory, Grenoble, France","institution_ids":["https://openalex.org/I4210136308"]},{"raw_affiliation_string":"Techniques de l'Ing\u00e9nierie M\u00e9dicale et de la Complexit\u00e9 - Informatique, Math\u00e9matiques et Applications, Grenoble - UMR 5525","institution_ids":["https://openalex.org/I4210136308"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083101824","display_name":"Micha\u00ebl Baumann","orcid":"https://orcid.org/0000-0002-9340-974X"},"institutions":[{"id":"https://openalex.org/I4210136308","display_name":"Translational Innovation in Medicine and Complexity","ror":"https://ror.org/03985kf35","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210104684","https://openalex.org/I4210136308","https://openalex.org/I4210159245","https://openalex.org/I899635006","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Michael Baumann","raw_affiliation_strings":["Techniques de l\u2019Ing\u00e9nierie M\u00e9dicale et de la Complexit\u00e9\u2014Informatique, Math\u00e9matiques et Applications de Grenoble Laboratory, 38706 Grenoble, France","Techniques de l'Ing\u00e9nierie M\u00e9dicale et de la Complexit\u00e9 - Informatique, Math\u00e9matiques et Applications, Grenoble - UMR 5525"],"affiliations":[{"raw_affiliation_string":"Techniques de l\u2019Ing\u00e9nierie M\u00e9dicale et de la Complexit\u00e9\u2014Informatique, Math\u00e9matiques et Applications de Grenoble Laboratory, 38706 Grenoble, France","institution_ids":["https://openalex.org/I4210136308"]},{"raw_affiliation_string":"Techniques de l'Ing\u00e9nierie M\u00e9dicale et de la Complexit\u00e9 - Informatique, Math\u00e9matiques et Applications, Grenoble - UMR 5525","institution_ids":["https://openalex.org/I4210136308"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032885642","display_name":"Jean\u2010Alexandre Long","orcid":"https://orcid.org/0000-0002-2340-6252"},"institutions":[{"id":"https://openalex.org/I4210136308","display_name":"Translational Innovation in Medicine and Complexity","ror":"https://ror.org/03985kf35","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210104684","https://openalex.org/I4210136308","https://openalex.org/I4210159245","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I4210098826","display_name":"Service de la Sant\u00e9 Publique","ror":"https://ror.org/00y8acb95","country_code":"CH","type":"government","lineage":["https://openalex.org/I4210098826"]},{"id":"https://openalex.org/I2800555055","display_name":"Centre Hospitalier Universitaire de Grenoble","ror":"https://ror.org/041rhpw39","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I2800555055"]}],"countries":["CH","FR"],"is_corresponding":false,"raw_author_name":"Jean-Alexandre Long","raw_affiliation_strings":["Centre Hospitalier Universitaire de Grenoble, Grenoble, France","Techniques de l'Ing\u00e9nierie M\u00e9dicale et de la Complexit\u00e9 - Informatique, Math\u00e9matiques et Applications, Grenoble - UMR 5525","Service d'urologie"],"affiliations":[{"raw_affiliation_string":"Centre Hospitalier Universitaire de Grenoble, Grenoble, France","institution_ids":["https://openalex.org/I2800555055","https://openalex.org/I899635006"]},{"raw_affiliation_string":"Techniques de l'Ing\u00e9nierie M\u00e9dicale et de la Complexit\u00e9 - Informatique, Math\u00e9matiques et Applications, Grenoble - UMR 5525","institution_ids":["https://openalex.org/I4210136308"]},{"raw_affiliation_string":"Service d'urologie","institution_ids":["https://openalex.org/I4210098826"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083741691","display_name":"Jocelyne Troccaz","orcid":"https://orcid.org/0000-0001-5921-9419"},"institutions":[{"id":"https://openalex.org/I2800555055","display_name":"Centre Hospitalier Universitaire de Grenoble","ror":"https://ror.org/041rhpw39","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I2800555055"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jocelyne Troccaz","raw_affiliation_strings":["Centre Hospitalier Universitaire de Grenoble, Grenoble, France","Gestes Medico-chirurgicaux Assist\u00e9s par Ordinateur"],"affiliations":[{"raw_affiliation_string":"Centre Hospitalier Universitaire de Grenoble, Grenoble, France","institution_ids":["https://openalex.org/I2800555055","https://openalex.org/I899635006"]},{"raw_affiliation_string":"Gestes Medico-chirurgicaux Assist\u00e9s par Ordinateur","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5080797140"],"corresponding_institution_ids":["https://openalex.org/I4210136308"],"apc_list":null,"apc_paid":null,"fwci":7.6512,"has_fulltext":true,"cited_by_count":76,"citation_normalized_percentile":{"value":0.97538651,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"28","issue":"6","first_page":"1382","last_page":"1397"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9944999814033508,"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"}},"topics":[{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9944999814033508,"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":0.9934999942779541,"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"}},{"id":"https://openalex.org/T10124","display_name":"Prostate Cancer Diagnosis and Treatment","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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-brachytherapy","display_name":"Prostate brachytherapy","score":0.6931937336921692},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.6327126026153564},{"id":"https://openalex.org/keywords/prostate-biopsy","display_name":"Prostate biopsy","score":0.5870579481124878},{"id":"https://openalex.org/keywords/brachytherapy","display_name":"Brachytherapy","score":0.5813237428665161},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5618224740028381},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.529158353805542},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5243728160858154},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5118350386619568},{"id":"https://openalex.org/keywords/prostate","display_name":"Prostate","score":0.47541099786758423},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.41519659757614136},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.33570611476898193},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.25444549322128296},{"id":"https://openalex.org/keywords/radiation-therapy","display_name":"Radiation therapy","score":0.1689034104347229},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.1687738299369812},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.1588771641254425}],"concepts":[{"id":"https://openalex.org/C2778648096","wikidata":"https://www.wikidata.org/wiki/Q17009878","display_name":"Prostate brachytherapy","level":4,"score":0.6931937336921692},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.6327126026153564},{"id":"https://openalex.org/C2781217009","wikidata":"https://www.wikidata.org/wiki/Q4086927","display_name":"Prostate biopsy","level":4,"score":0.5870579481124878},{"id":"https://openalex.org/C2777416452","wikidata":"https://www.wikidata.org/wiki/Q896687","display_name":"Brachytherapy","level":3,"score":0.5813237428665161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5618224740028381},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.529158353805542},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5243728160858154},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5118350386619568},{"id":"https://openalex.org/C2776235491","wikidata":"https://www.wikidata.org/wiki/Q9625","display_name":"Prostate","level":3,"score":0.47541099786758423},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.41519659757614136},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.33570611476898193},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.25444549322128296},{"id":"https://openalex.org/C509974204","wikidata":"https://www.wikidata.org/wiki/Q180507","display_name":"Radiation therapy","level":2,"score":0.1689034104347229},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.1687738299369812},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.1588771641254425},{"id":"https://openalex.org/C121608353","wikidata":"https://www.wikidata.org/wiki/Q12078","display_name":"Cancer","level":2,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2012.2203051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2203051","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-00712854v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00712854","pdf_url":"https://hal.science/hal-00712854/document","source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2012, 28 (6), pp.1382-1397. &#x27E8;10.1109/TRO.2012.2203051&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-00712854v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00712854","pdf_url":"https://hal.science/hal-00712854/document","source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2012, 28 (6), pp.1382-1397. &#x27E8;10.1109/TRO.2012.2203051&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320320893","display_name":"Institut National de la Sant\u00e9 et de la Recherche M\u00e9dicale","ror":"https://ror.org/02vjkv261"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1965248653.pdf","grobid_xml":"https://content.openalex.org/works/W1965248653.grobid-xml"},"referenced_works_count":49,"referenced_works":["https://openalex.org/W1491111105","https://openalex.org/W1502487762","https://openalex.org/W1716671087","https://openalex.org/W1967238126","https://openalex.org/W1981822312","https://openalex.org/W1984807126","https://openalex.org/W1988874269","https://openalex.org/W1998877194","https://openalex.org/W2002780491","https://openalex.org/W2007732954","https://openalex.org/W2042152936","https://openalex.org/W2044527457","https://openalex.org/W2046225028","https://openalex.org/W2051086046","https://openalex.org/W2054138161","https://openalex.org/W2056937542","https://openalex.org/W2065140927","https://openalex.org/W2068645463","https://openalex.org/W2069830404","https://openalex.org/W2075433155","https://openalex.org/W2089272575","https://openalex.org/W2092199670","https://openalex.org/W2093510658","https://openalex.org/W2098369774","https://openalex.org/W2099002310","https://openalex.org/W2101039696","https://openalex.org/W2110962460","https://openalex.org/W2111267573","https://openalex.org/W2114866208","https://openalex.org/W2125697821","https://openalex.org/W2125837480","https://openalex.org/W2126675188","https://openalex.org/W2133110153","https://openalex.org/W2139647997","https://openalex.org/W2147469139","https://openalex.org/W2149998541","https://openalex.org/W2152079888","https://openalex.org/W2152767299","https://openalex.org/W2154400790","https://openalex.org/W2154675718","https://openalex.org/W2155524843","https://openalex.org/W2155672172","https://openalex.org/W2160201029","https://openalex.org/W2161368485","https://openalex.org/W2167104378","https://openalex.org/W2168699456","https://openalex.org/W6637617689","https://openalex.org/W6676971752","https://openalex.org/W6682380732"],"related_works":["https://openalex.org/W1968581313","https://openalex.org/W2597882543","https://openalex.org/W2102373670","https://openalex.org/W2809967836","https://openalex.org/W2004179434","https://openalex.org/W2810663015","https://openalex.org/W2807466365","https://openalex.org/W2566665866","https://openalex.org/W2133110153","https://openalex.org/W2408551504"],"abstract_inverted_index":{"This":[0,151],"paper":[1],"describes":[2],"a":[3,13,21,63,117],"new":[4],"3-D":[5,15,65],"ultrasound":[6,16,66,79,105],"robotic":[7,22],"prostate":[8,36,114,125],"brachytherapy":[9],"system.":[10,120,179],"It":[11],"uses":[12],"stationary":[14],"probe":[17,80],"rigidly":[18],"fixed":[19],"to":[20,34,39,49,52,93,97,129,136,160],"needle":[23,45,148],"insertion":[24,149],"mechanism.":[25],"The":[26,74],"novelty":[27],"of":[28,87,127,158,177],"the":[29,41,91,98,103,132,138,147,178],"system":[30,133],"is":[31,60],"its":[32],"ability":[33],"track":[35],"motion":[37],"intraoperatively":[38],"allow":[40],"dose":[42],"planning":[43],"and":[44,78],"trajectories":[46],"or":[47],"depths":[48],"be":[50,94],"adapted":[51],"take":[53],"into":[54],"account":[55],"these":[56],"motions.":[57],"Prostate":[58],"tracking":[59],"done":[61],"using":[62,116],"fast":[64],"registration":[67],"algorithm":[68],"previously":[69],"validated":[70],"for":[71,173],"biopsy":[72],"guidance.":[73],"7-degree-of-freedom":[75],"(7-DOF)":[76],"robot":[77],"are":[81],"calibrated":[82],"together":[83],"with":[84,124,141],"an":[85],"accuracy":[86,145,153],"0.9":[88],"mm,":[89,131],"allowing":[90],"needles":[92],"precisely":[95],"inserted":[96],"seed":[99],"targets":[100,140],"chosen":[101,139],"in":[102,146,171],"reference":[104],"image.":[106],"Experiments":[107],"were":[108],"conducted":[109],"on":[110],"mobile,":[111],"deformable":[112],"synthetic":[113],"phantoms":[115],"prototype":[118],"laboratory":[119],"Results":[121],"showed":[122],"that,":[123],"motions":[126],"up":[128,159],"7":[130],"was":[134,168],"able":[135],"reach":[137],"less":[142],"than":[143],"2-mm":[144],"direction.":[150],"measured":[152],"included":[154],"extrinsic":[155],"measurement":[156],"errors":[157],"1.1":[161],"mm.":[162],"A":[163],"preliminary":[164],"cadaver":[165],"feasibility":[166],"study":[167],"also":[169],"described":[170],"preparation":[172],"more":[174],"realistic":[175],"experimentation":[176]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":13},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T08:04:53.788161","created_date":"2025-10-10T00:00:00"}
