{"id":"https://openalex.org/W1499227246","doi":"https://doi.org/10.1109/tro.2015.2452776","title":"The System Design and Evaluation of a 7-DOF Image-Guided Venipuncture Robot","display_name":"The System Design and Evaluation of a 7-DOF Image-Guided Venipuncture Robot","publication_year":2015,"publication_date":"2015-07-28","ids":{"openalex":"https://openalex.org/W1499227246","doi":"https://doi.org/10.1109/tro.2015.2452776","mag":"1499227246","pmid":"https://pubmed.ncbi.nlm.nih.gov/26257588"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2015.2452776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2452776","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","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/A5034317517","display_name":"Max L. Balter","orcid":"https://orcid.org/0000-0001-5577-356X"},"institutions":[{"id":"https://openalex.org/I4210109165","display_name":"Environmental and Occupational Health Sciences Institute","ror":"https://ror.org/01vta4r13","country_code":"US","type":"education","lineage":["https://openalex.org/I4210109165"]},{"id":"https://openalex.org/I4210110951","display_name":"Gorgias Press (United States)","ror":"https://ror.org/01p5xff03","country_code":"US","type":"company","lineage":["https://openalex.org/I4210110951"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Max L. Balter","raw_affiliation_strings":["Department of Biomedical Engineering, Rutgers University, Piscataway, NJ 08854 USA, and also with VascuLogic, LLC, Piscataway, NJ 08854 USA ( balterm53@gmail.com )"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Rutgers University, Piscataway, NJ 08854 USA, and also with VascuLogic, LLC, Piscataway, NJ 08854 USA ( balterm53@gmail.com )","institution_ids":["https://openalex.org/I4210109165","https://openalex.org/I4210110951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026544050","display_name":"Alvin I. Chen","orcid":"https://orcid.org/0000-0003-0109-6422"},"institutions":[{"id":"https://openalex.org/I4210109165","display_name":"Environmental and Occupational Health Sciences Institute","ror":"https://ror.org/01vta4r13","country_code":"US","type":"education","lineage":["https://openalex.org/I4210109165"]},{"id":"https://openalex.org/I4210110951","display_name":"Gorgias Press (United States)","ror":"https://ror.org/01p5xff03","country_code":"US","type":"company","lineage":["https://openalex.org/I4210110951"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alvin I. Chen","raw_affiliation_strings":["Department of Biomedical Engineering, Rutgers University, Piscataway, NJ 08854 USA, and also with VascuLogic, LLC, Piscataway, NJ 08854 USA ( alv6688@gmail.com )"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Rutgers University, Piscataway, NJ 08854 USA, and also with VascuLogic, LLC, Piscataway, NJ 08854 USA ( alv6688@gmail.com )","institution_ids":["https://openalex.org/I4210109165","https://openalex.org/I4210110951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102976472","display_name":"Timothy J. Maguire","orcid":"https://orcid.org/0000-0001-8771-1566"},"institutions":[{"id":"https://openalex.org/I4210109165","display_name":"Environmental and Occupational Health Sciences Institute","ror":"https://ror.org/01vta4r13","country_code":"US","type":"education","lineage":["https://openalex.org/I4210109165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Timothy J. Maguire","raw_affiliation_strings":["Department of Biomedical Engineering, Rutgers University, Piscataway, NJ 08854 USA, and also with VascuLogic, LLC, Piscataway, NJ 08854 USA ( tim.maguire25@gmail.com )"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Rutgers University, Piscataway, NJ 08854 USA, and also with VascuLogic, LLC, Piscataway, NJ 08854 USA ( tim.maguire25@gmail.com )","institution_ids":["https://openalex.org/I4210109165"]}]},{"author_position":"last","author":{"id":null,"display_name":"Martin L. Yarmush","orcid":"https://orcid.org/0000-0001-5577-356X"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Martin L. Yarmush","raw_affiliation_strings":["Department of Biomedical Engineering, Rutgers University, Piscataway, NJ 08854 USA, and also with Massachusetts General Hospital, Boston, MA 02108 USA ( yarmush@rci.rutgers.edu )"],"raw_orcid":"https://orcid.org/0000-0001-5577-356X","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Rutgers University, Piscataway, NJ 08854 USA, and also with Massachusetts General Hospital, Boston, MA 02108 USA ( yarmush@rci.rutgers.edu )","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6373,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.82215331,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"31","issue":"4","first_page":"1044","last_page":"1053"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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":0.9991999864578247,"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/T10641","display_name":"Central Venous Catheters and Hemodialysis","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/3604","display_name":"Emergency Medical Services"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9940999746322632,"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/venipuncture","display_name":"Venipuncture","score":0.9441879391670227},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.8184714317321777},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5643782019615173},{"id":"https://openalex.org/keywords/cannula","display_name":"Cannula","score":0.5381456613540649},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48690783977508545},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47078126668930054},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46288156509399414},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45228832960128784},{"id":"https://openalex.org/keywords/cephalic-vein","display_name":"Cephalic vein","score":0.44161611795425415},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37381041049957275},{"id":"https://openalex.org/keywords/vein","display_name":"Vein","score":0.36376363039016724},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3547822833061218},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.3365633487701416},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.3334854245185852},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.230918288230896}],"concepts":[{"id":"https://openalex.org/C74414138","wikidata":"https://www.wikidata.org/wiki/Q886549","display_name":"Venipuncture","level":2,"score":0.9441879391670227},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.8184714317321777},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5643782019615173},{"id":"https://openalex.org/C2778074680","wikidata":"https://www.wikidata.org/wiki/Q2125439","display_name":"Cannula","level":2,"score":0.5381456613540649},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48690783977508545},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47078126668930054},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46288156509399414},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45228832960128784},{"id":"https://openalex.org/C2776943423","wikidata":"https://www.wikidata.org/wiki/Q1670335","display_name":"Cephalic vein","level":3,"score":0.44161611795425415},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37381041049957275},{"id":"https://openalex.org/C2777202286","wikidata":"https://www.wikidata.org/wiki/Q9609","display_name":"Vein","level":2,"score":0.36376363039016724},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3547822833061218},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3365633487701416},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.3334854245185852},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.230918288230896}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2015.2452776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2452776","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":"pmid:26257588","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26257588","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 robotics : a publication of the IEEE Robotics and Automation Society","raw_type":null},{"id":"pmh:oai:europepmc.org:3506750","is_oa":false,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4527661","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7300000190734863}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337354","display_name":"National Institute of General Medical Sciences","ror":"https://ror.org/04q48ey07"},{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1598167444","https://openalex.org/W1610895217","https://openalex.org/W1964666848","https://openalex.org/W1976612446","https://openalex.org/W2005222094","https://openalex.org/W2007780287","https://openalex.org/W2018872700","https://openalex.org/W2040307295","https://openalex.org/W2042262752","https://openalex.org/W2066547415","https://openalex.org/W2080761928","https://openalex.org/W2091113383","https://openalex.org/W2096579040","https://openalex.org/W2105711445","https://openalex.org/W2108134005","https://openalex.org/W2108837787","https://openalex.org/W2129534965","https://openalex.org/W2142332302","https://openalex.org/W2143047169","https://openalex.org/W2148293218","https://openalex.org/W2153029808","https://openalex.org/W2153577625","https://openalex.org/W2157641950","https://openalex.org/W2170245125","https://openalex.org/W2246023205","https://openalex.org/W2314587743","https://openalex.org/W2336537425","https://openalex.org/W2409607218","https://openalex.org/W3163200468","https://openalex.org/W4249254950","https://openalex.org/W6679367408","https://openalex.org/W6888765124"],"related_works":["https://openalex.org/W2151117302","https://openalex.org/W3207520462","https://openalex.org/W2096440248","https://openalex.org/W88451756","https://openalex.org/W2025115542","https://openalex.org/W3138840988","https://openalex.org/W3030017322","https://openalex.org/W3030638883","https://openalex.org/W3029142687","https://openalex.org/W2373960409"],"abstract_inverted_index":{"Accessing":[0],"the":[1,13,20,43,58,66,112,123,136,139,150,154,158,178,182],"venous":[2],"bloodstream":[3],"to":[4,24,110,121,134],"deliver":[5],"fluids":[6],"or":[7],"obtain":[8],"a":[9,74,82,85,105,118,129,185,195],"blood":[10],"sample":[11],"is":[12],"most":[14],"common":[15],"clinical":[16],"routine":[17],"practiced":[18],"in":[19,53,94,167,194],"U.S.":[21],"Practitioners":[22],"continue":[23],"rely":[25],"on":[26,36],"manual":[27],"venipuncture":[28,57,77],"techniques,":[29],"but":[30],"success":[31,189],"rates":[32,46],"are":[33],"heavily":[34],"dependent":[35],"clinician":[37],"skill":[38],"and":[39,99,104,128,156,160,166,184],"patient":[40],"physiology.":[41],"In":[42,145],"U.S.,":[44],"failure":[45],"can":[47],"be":[48],"as":[49,51],"high":[50,186],"50%":[52],"difficult":[54],"patients,":[55],"making":[56],"leading":[59],"cause":[60],"of":[61,68,117,153,181,188],"medical":[62],"injury.":[63],"To":[64],"improve":[65],"rate":[67,187],"first-stick":[69],"success,":[70],"we":[71,148],"have":[72],"developed":[73],"portable":[75],"autonomous":[76],"device":[78,92],"that":[79],"robotically":[80],"servos":[81],"needle":[83],"into":[84,138],"suitable":[86],"vein":[87,141],"under":[88,142],"image":[89,102,122],"guidance.":[90],"The":[91,114,172],"operates":[93],"real":[95],"time,":[96],"combining":[97],"near-infrared":[98],"ultrasound":[100],"imaging,":[101],"analysis,":[103],"7-degree-of-freedom":[106],"(DOF)":[107],"robotic":[108],"system":[109,151],"perform":[111],"venipuncture.":[113],"robot":[115,155],"consists":[116],"3-DOF":[119],"gantry":[120],"patient's":[124],"peripheral":[125],"forearm":[126],"veins":[127,193],"miniaturized":[130],"4-DOF":[131],"serial":[132],"arm":[133],"guide":[135],"cannula":[137],"selected":[140],"closed-loop":[143],"control.":[144],"this":[146],"paper,":[147],"present":[149],"architecture":[152],"evaluate":[157],"accuracy":[159,176],"precision":[161],"through":[162],"tracking,":[163],"free-space":[164],"positioning,":[165],"vitro":[168],"phantom":[169,192],"cannulation":[170],"experiments.":[171],"results":[173],"demonstrate":[174],"submillimeter":[175],"throughout":[177],"operating":[179],"workspace":[180],"manipulator":[183],"when":[190],"cannulating":[191],"skin-mimicking":[196],"tissue":[197],"model.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-23T13:55:30.953635","created_date":"2025-10-10T00:00:00"}
