{"id":"https://openalex.org/W2921522777","doi":"https://doi.org/10.1109/tro.2019.2897858","title":"Robotic Insertion of Flexible Needle in Deformable Structures Using Inverse Finite-Element Simulation","display_name":"Robotic Insertion of Flexible Needle in Deformable Structures Using Inverse Finite-Element Simulation","publication_year":2019,"publication_date":"2019-03-16","ids":{"openalex":"https://openalex.org/W2921522777","doi":"https://doi.org/10.1109/tro.2019.2897858","mag":"2921522777"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2019.2897858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2897858","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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://inria.hal.science/hal-02144487","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113823778","display_name":"Yinoussa Adagolodjo","orcid":null},"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/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yinoussa Adagolodjo","raw_affiliation_strings":["AVR Team-Project, ICube/CNRS, Strasbourg University, Strasbourg, France","ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AVR Team-Project, ICube/CNRS, Strasbourg University, Strasbourg, France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)","institution_ids":["https://openalex.org/I4210100283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073654314","display_name":"Laurent Goffin","orcid":"https://orcid.org/0000-0001-8937-7979"},"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/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Laurent Goffin","raw_affiliation_strings":["AVR Team-Project, ICube/CNRS, Strasbourg University, Strasbourg, France","ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AVR Team-Project, ICube/CNRS, Strasbourg University, Strasbourg, France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)","institution_ids":["https://openalex.org/I4210100283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076594666","display_name":"Michel de Mathelin","orcid":"https://orcid.org/0000-0002-8422-572X"},"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/I4210109354","display_name":"Institut de Recherche contre les Cancers de l\u2019Appareil Digestif","ror":"https://ror.org/01xyqts46","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4210109354"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Michel De Mathelin","raw_affiliation_strings":["AVR Team-Project, ICube/CNRS, Strasbourg University, Strasbourg, France","IRCAD/EITS - LSIIT Laboratory (University of Strasbourg - France)"],"raw_orcid":"https://orcid.org/0000-0002-8422-572X","affiliations":[{"raw_affiliation_string":"AVR Team-Project, ICube/CNRS, Strasbourg University, Strasbourg, France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"IRCAD/EITS - LSIIT Laboratory (University of Strasbourg - France)","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I4210109354"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033652495","display_name":"Hadrien Courtecuisse","orcid":"https://orcid.org/0000-0001-6342-2284"},"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/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Hadrien Courtecuisse","raw_affiliation_strings":["AVR Team-Project, ICube/CNRS, Strasbourg University, Strasbourg, France","MIMESIS - Computational Anatomy and Simulation for Medicine (1, Place de l'h\u00f4pital\r\n67091 Strasbourg - France)"],"raw_orcid":"https://orcid.org/0000-0001-6342-2284","affiliations":[{"raw_affiliation_string":"AVR Team-Project, ICube/CNRS, Strasbourg University, Strasbourg, France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"MIMESIS - Computational Anatomy and Simulation for Medicine (1, Place de l'h\u00f4pital\r\n67091 Strasbourg - France)","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1294,"has_fulltext":false,"cited_by_count":59,"citation_normalized_percentile":{"value":0.86508455,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"35","issue":"3","first_page":"697","last_page":"708"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7918766736984253},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.695000171661377},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5793999433517456},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5370226502418518},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.496907502412796},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.48453086614608765},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4801301658153534},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4567992687225342},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.4413033425807953},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43200162053108215},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4208824634552002},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4019445478916168},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35357293486595154},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3229716718196869},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29250216484069824},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.27245044708251953},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25142955780029297},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17076456546783447},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.16091474890708923},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15653327107429504},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1441238820552826},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.1204003393650055}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7918766736984253},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.695000171661377},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5793999433517456},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5370226502418518},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.496907502412796},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.48453086614608765},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4801301658153534},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4567992687225342},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.4413033425807953},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43200162053108215},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4208824634552002},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4019445478916168},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35357293486595154},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3229716718196869},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29250216484069824},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27245044708251953},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25142955780029297},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17076456546783447},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.16091474890708923},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15653327107429504},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1441238820552826},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.1204003393650055},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2019.2897858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2897858","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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-02144487v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-02144487","pdf_url":null,"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 Robotics, 2019, 35 (3), pp.697-708. ⟨10.1109/TRO.2019.2897858⟩","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/116632","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.12210/116632","pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/review"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02144487v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-02144487","pdf_url":null,"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 Robotics, 2019, 35 (3), pp.697-708. ⟨10.1109/TRO.2019.2897858⟩","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322147","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W103287842","https://openalex.org/W1417019744","https://openalex.org/W1499315759","https://openalex.org/W1501357369","https://openalex.org/W1544433213","https://openalex.org/W1591089445","https://openalex.org/W1591462533","https://openalex.org/W1605573896","https://openalex.org/W1817690242","https://openalex.org/W1846698530","https://openalex.org/W1956769800","https://openalex.org/W1972003883","https://openalex.org/W1981673074","https://openalex.org/W1987164933","https://openalex.org/W1989008518","https://openalex.org/W2000384453","https://openalex.org/W2003954396","https://openalex.org/W2015054659","https://openalex.org/W2021923954","https://openalex.org/W2023216632","https://openalex.org/W2033804675","https://openalex.org/W2033810246","https://openalex.org/W2053265216","https://openalex.org/W2057960800","https://openalex.org/W2082297701","https://openalex.org/W2089936601","https://openalex.org/W2090415875","https://openalex.org/W2091884377","https://openalex.org/W2093664976","https://openalex.org/W2094778893","https://openalex.org/W2098306053","https://openalex.org/W2100156971","https://openalex.org/W2101817128","https://openalex.org/W2107747604","https://openalex.org/W2118152376","https://openalex.org/W2121272278","https://openalex.org/W2128019145","https://openalex.org/W2132929497","https://openalex.org/W2133487725","https://openalex.org/W2152715074","https://openalex.org/W2159741760","https://openalex.org/W2165061586","https://openalex.org/W2167134471","https://openalex.org/W2167501464","https://openalex.org/W2169825654","https://openalex.org/W2177324447","https://openalex.org/W2296166276","https://openalex.org/W2297474462","https://openalex.org/W2416119461","https://openalex.org/W2479204581","https://openalex.org/W2513263600","https://openalex.org/W2572831010","https://openalex.org/W2625694861","https://openalex.org/W2773354250","https://openalex.org/W2776074204","https://openalex.org/W2804580687","https://openalex.org/W4205614566","https://openalex.org/W6604140306","https://openalex.org/W6683525156","https://openalex.org/W6696993530","https://openalex.org/W6715974207","https://openalex.org/W6721867013"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W3136087161","https://openalex.org/W1486373823","https://openalex.org/W2119578520","https://openalex.org/W2053762185","https://openalex.org/W2913611334","https://openalex.org/W1984283682","https://openalex.org/W1965257389","https://openalex.org/W2018238589","https://openalex.org/W2145980196"],"abstract_inverted_index":{"This":[0],"paper":[1,171],"introduces":[2],"a":[3,10,54,100,110,116,146,208,213,225],"new":[4,76],"approach":[5,102],"for":[6,131,187,252],"the":[7,28,45,60,66,80,83,87,132,150,155,159,174,191,219,230,241,244,247,254,257,260],"control":[8],"of":[9,56,69,82,89,120,134,158,169,190,239],"robotic":[11,112],"system":[12],"interacting":[13],"with":[14,38],"deformable":[15,121,214],"structures.":[16],"The":[17,165,199],"method":[18,200],"is":[19,201,221],"applied":[20],"to":[21,33,78,223],"needle":[22,135,210,242,255],"insertion":[23,46,136],"procedures,":[24],"which":[25],"are":[26,107,179],"among":[27],"least":[29],"invasive":[30],"surgical":[31],"approaches":[32],"access":[34,41],"deep":[35],"internal":[36],"structures":[37,122],"sometimes":[39],"poor":[40],"conditions.":[42],"Yet,":[43],"during":[44,229,246],"both":[47,203,240],"tissues":[48,90],"and":[49,63,124,126,137,143,196,205,243],"needles":[50],"deform":[51],"resulting":[52],"in":[53,109,173,181],"displacement":[55],"targets":[57],"identified":[58],"at":[59,145],"planning":[61,231],"step":[62],"significantly":[64],"raising":[65],"technical":[67],"difficulty":[68],"these":[70],"approaches.":[71],"Robotic":[72],"assistance":[73],"may":[74],"offer":[75],"possibilities":[77],"enforce":[79],"accuracy":[81],"needle's":[84],"positioning,":[85],"but":[86],"deformation":[88,238],"remains":[91],"an":[92,162],"open":[93],"problem.":[94],"In":[95],"this":[96,170,185],"paper,":[97],"we":[98,152],"propose":[99],"numerical":[101],"where":[103],"finite-element":[104],"(FE)":[105],"models":[106,129],"used":[108],"close-control":[111],"loop.":[113],"We":[114,216],"introduce":[115],"complete":[117],"forward":[118],"simulation":[119,133],"(needle":[123],"environment)":[125],"constraint-based":[127],"interaction":[128],"allowing":[130,184],"complex":[138],"nonlinear":[139],"phenomena":[140],"(friction,":[141],"puncture,":[142],"insertion)":[144],"high":[147],"frequency.":[148],"For":[149],"control,":[151],"numerically":[153,204],"derive":[154],"so-called":[156],"Jacobian":[157,192],"Simulation":[160],"using":[161,207],"inverse":[163,177],"method.":[164],"most":[166],"original":[167],"aspect":[168],"lies":[172],"fact":[175],"that":[176,218],"steps":[178],"performed":[180],"constraints":[182],"space,":[183],"way":[186],"fast":[188],"estimation":[189],"(i.e.,":[193],"between":[194],"40":[195],"100":[197],"Hz).":[198],"validated":[202],"experimentally":[206],"flexible":[209],"inserted":[211],"inside":[212],"foam.":[215],"show":[217],"robot":[220],"able":[222],"follow":[224],"given":[226],"trajectory,":[227],"defined":[228],"step,":[232],"taking":[233],"into":[234],"account":[235],"any":[236,250],"occurring":[237],"foam":[245],"insertion;":[248],"without":[249],"need":[251],"tracking":[253],"neither":[256],"target":[258],"nor":[259],"trajectory.":[261]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}