{"id":"https://openalex.org/W2999730249","doi":"https://doi.org/10.1109/arso46408.2019.8948818","title":"Research on Needle Aspiration Robot for Diagnosis of Thyroid Nodules","display_name":"Research on Needle Aspiration Robot for Diagnosis of Thyroid Nodules","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2999730249","doi":"https://doi.org/10.1109/arso46408.2019.8948818","mag":"2999730249"},"language":"en","primary_location":{"id":"doi:10.1109/arso46408.2019.8948818","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso46408.2019.8948818","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"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/A5079476808","display_name":"Jian Zhao","orcid":"https://orcid.org/0000-0002-1508-9007"},"institutions":[{"id":"https://openalex.org/I34949971","display_name":"University of Jinan","ror":"https://ror.org/02mjz6f26","country_code":"CN","type":"education","lineage":["https://openalex.org/I34949971"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian Zhao","raw_affiliation_strings":["the School of Mechanical Engineering, University of Jinan, Jinan, Shandong Province, China"],"affiliations":[{"raw_affiliation_string":"the School of Mechanical Engineering, University of Jinan, Jinan, Shandong Province, China","institution_ids":["https://openalex.org/I34949971"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101718615","display_name":"Honghua Zhao","orcid":"https://orcid.org/0000-0002-7519-6699"},"institutions":[{"id":"https://openalex.org/I34949971","display_name":"University of Jinan","ror":"https://ror.org/02mjz6f26","country_code":"CN","type":"education","lineage":["https://openalex.org/I34949971"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Honghua Zhao","raw_affiliation_strings":["the School of Mechanical Engineering, University of Jinan, Jinan, Shandong Province, China"],"affiliations":[{"raw_affiliation_string":"the School of Mechanical Engineering, University of Jinan, Jinan, Shandong Province, China","institution_ids":["https://openalex.org/I34949971"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084387605","display_name":"Dianmin Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I4210163399","display_name":"Shandong First Medical University","ror":"https://ror.org/05jb9pq57","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163399"]},{"id":"https://openalex.org/I4210100830","display_name":"Shandong Tumor Hospital","ror":"https://ror.org/01413r497","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210100830"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dianmin Sun","raw_affiliation_strings":["Department of Thoracic Surgery, Shandong Cancer Hospital and Institute, Shandong First Medical University and Shandong Academy of Medical Sciences, Jinan, Shandong Province, China"],"affiliations":[{"raw_affiliation_string":"Department of Thoracic Surgery, Shandong Cancer Hospital and Institute, Shandong First Medical University and Shandong Academy of Medical Sciences, Jinan, Shandong Province, China","institution_ids":["https://openalex.org/I4210163399","https://openalex.org/I4210100830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040539585","display_name":"Xuyin Gong","orcid":null},"institutions":[{"id":"https://openalex.org/I34949971","display_name":"University of Jinan","ror":"https://ror.org/02mjz6f26","country_code":"CN","type":"education","lineage":["https://openalex.org/I34949971"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuyin Gong","raw_affiliation_strings":["the School of Mechanical Engineering, University of Jinan, Jinan, Shandong Province, China"],"affiliations":[{"raw_affiliation_string":"the School of Mechanical Engineering, University of Jinan, Jinan, Shandong Province, China","institution_ids":["https://openalex.org/I34949971"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072670040","display_name":"Zhitong Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I34949971","display_name":"University of Jinan","ror":"https://ror.org/02mjz6f26","country_code":"CN","type":"education","lineage":["https://openalex.org/I34949971"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhitong Hu","raw_affiliation_strings":["the School of Mechanical Engineering, University of Jinan, Jinan, Shandong Province, China"],"affiliations":[{"raw_affiliation_string":"the School of Mechanical Engineering, University of Jinan, Jinan, Shandong Province, China","institution_ids":["https://openalex.org/I34949971"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101045536","display_name":"Yaohua Zhao","orcid":"https://orcid.org/0009-0004-8582-6027"},"institutions":[{"id":"https://openalex.org/I34949971","display_name":"University of Jinan","ror":"https://ror.org/02mjz6f26","country_code":"CN","type":"education","lineage":["https://openalex.org/I34949971"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaohua Zhao","raw_affiliation_strings":["the School of Foreign Languages, University of Jinan, Jinan, Shandong Province, China"],"affiliations":[{"raw_affiliation_string":"the School of Foreign Languages, University of Jinan, Jinan, Shandong Province, China","institution_ids":["https://openalex.org/I34949971"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5079476808"],"corresponding_institution_ids":["https://openalex.org/I34949971"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16252041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"122","last_page":"127"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9905999898910522,"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":0.9905999898910522,"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/T14510","display_name":"Medical Imaging and Analysis","score":0.9333999752998352,"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/T10706","display_name":"Traumatic Brain Injury and Neurovascular Disturbances","score":0.9302999973297119,"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/workspace","display_name":"Workspace","score":0.7435933351516724},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6995315551757812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6306940317153931},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5672631859779358},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4818590581417084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47511157393455505},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45981770753860474},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44383418560028076},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.42723333835601807},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35749107599258423},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26546967029571533},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2413439154624939},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18867671489715576},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09491130709648132}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7435933351516724},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6995315551757812},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6306940317153931},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5672631859779358},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4818590581417084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47511157393455505},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45981770753860474},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44383418560028076},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.42723333835601807},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35749107599258423},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26546967029571533},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2413439154624939},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18867671489715576},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09491130709648132},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/arso46408.2019.8948818","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso46408.2019.8948818","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1964156064","https://openalex.org/W2075056858","https://openalex.org/W2167654583","https://openalex.org/W2170527165","https://openalex.org/W2368346800"],"related_works":["https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W1970280380","https://openalex.org/W2084494155","https://openalex.org/W2537091977","https://openalex.org/W2380210784","https://openalex.org/W2972304526","https://openalex.org/W2119963650"],"abstract_inverted_index":{"Based":[0],"on":[1],"the":[2,19,29,32,37,40,86,89,92,104,107,120,123,126,129],"status":[3],"of":[4,18,31,36,51,88,100,106,122,128],"thyroid":[5],"nodule":[6],"puncture":[7,11,53,102,131],"diagnosis,":[8],"a":[9],"6-DOF":[10],"surgery":[12],"robot":[13,20,90,108,124],"is":[14,21,43,82,95],"studied.":[15],"The":[16,34,79,97,116],"structure":[17],"combined":[22],"with":[23],"active":[24],"and":[25,39,57,91,103,111,125],"passive":[26],"to":[27,73,84],"increase":[28],"flexibility":[30],"robot.":[33],"weight":[35],"arm":[38],"execution":[41],"end":[42],"reduced":[44],"by":[45,113],"remote":[46],"driving.":[47],"A":[48,68],"new":[49,69],"type":[50],"fixed-point":[52,101,130],"mechanism":[54,132],"was":[55,77],"designed,":[56],"two":[58],"driving":[59],"modes":[60],"were":[61,65],"analyzed.":[62],"Kinematics":[63],"models":[64],"constructed":[66],"respectively.":[67],"rope":[70],"winding":[71],"method":[72,81],"prevent":[74],"falling":[75],"off":[76],"proposed.":[78],"D-H":[80],"used":[83],"analyze":[85],"kinematics":[87,93,98],"model":[94,99],"established.":[96],"workspace":[105],"are":[109,133],"simulated":[110],"analyzed":[112],"using":[114],"MATLAB.":[115],"results":[117],"show":[118],"that":[119],"configuration":[121],"design":[127],"reasonable.":[134]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}