{"id":"https://openalex.org/W1604067610","doi":"https://doi.org/10.1109/icar.2015.7251434","title":"Needle deflection prediction using adaptive slope model","display_name":"Needle deflection prediction using adaptive slope model","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1604067610","doi":"https://doi.org/10.1109/icar.2015.7251434","mag":"1604067610"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2015.7251434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251434","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-01275351","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053769854","display_name":"Ederson Ant\u00f4nio Gomes Dorile\u00f4","orcid":null},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Ederson Dorileo","raw_affiliation_strings":["Robotic Department, University of Montpellier, Montpellier, France","Robotic Department - LIRMM, University of Montpellier, France"],"affiliations":[{"raw_affiliation_string":"Robotic Department, University of Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I19894307"]},{"raw_affiliation_string":"Robotic Department - LIRMM, University of Montpellier, France","institution_ids":["https://openalex.org/I19894307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024843434","display_name":"Nabil Zemiti","orcid":"https://orcid.org/0000-0003-2052-6037"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nabil Zemiti","raw_affiliation_strings":["Robotic Department, University of Montpellier, Montpellier, France","Robotic Department - LIRMM, University of Montpellier, France"],"affiliations":[{"raw_affiliation_string":"Robotic Department, University of Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I19894307"]},{"raw_affiliation_string":"Robotic Department - LIRMM, University of Montpellier, France","institution_ids":["https://openalex.org/I19894307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064237897","display_name":"Philippe Poignet","orcid":"https://orcid.org/0000-0003-3574-4387"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Poignet","raw_affiliation_strings":["Robotic Department, University of Montpellier, Montpellier, France","Robotic Department - LIRMM, University of Montpellier, France"],"affiliations":[{"raw_affiliation_string":"Robotic Department, University of Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I19894307"]},{"raw_affiliation_string":"Robotic Department - LIRMM, University of Montpellier, France","institution_ids":["https://openalex.org/I19894307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5053769854"],"corresponding_institution_ids":["https://openalex.org/I19894307"],"apc_list":null,"apc_paid":null,"fwci":0.3621,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.61724733,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"60","issue":null,"first_page":"60","last_page":"65"},"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":0.9933000206947327,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9786999821662903,"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/deflection","display_name":"Deflection (physics)","score":0.6190935373306274},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4856492280960083},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4738790690898895},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4701055884361267},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3152657747268677},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.1762620508670807},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13572779297828674}],"concepts":[{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.6190935373306274},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4856492280960083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4738790690898895},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4701055884361267},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3152657747268677},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.1762620508670807},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13572779297828674}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icar.2015.7251434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251434","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-01275351v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-01275351","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICAR 2015 - 17th International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. pp.60-65, &#x27E8;10.1109/ICAR.2015.7251434&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-01275351v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-01275351","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICAR 2015 - 17th International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. pp.60-65, &#x27E8;10.1109/ICAR.2015.7251434&#x27E9;","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1524593324","https://openalex.org/W1547510481","https://openalex.org/W1580817027","https://openalex.org/W1985342465","https://openalex.org/W2020275220","https://openalex.org/W2088392499","https://openalex.org/W2093664976","https://openalex.org/W2100156971","https://openalex.org/W2109121052","https://openalex.org/W2109859106","https://openalex.org/W2118152376","https://openalex.org/W2118408079","https://openalex.org/W2123873601","https://openalex.org/W2125793808","https://openalex.org/W2128339709","https://openalex.org/W2130482172","https://openalex.org/W2132431375","https://openalex.org/W2165061586","https://openalex.org/W2180065899","https://openalex.org/W6676043936","https://openalex.org/W6678444469","https://openalex.org/W6684301429"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2935759653","https://openalex.org/W3105167352","https://openalex.org/W54078636","https://openalex.org/W2954470139","https://openalex.org/W1501425562","https://openalex.org/W2902782467","https://openalex.org/W3084825885","https://openalex.org/W2298861036"],"abstract_inverted_index":{"Thin":[0],"and":[1,45,67,91,106,110,155,169],"long":[2],"(semi-rigid)":[3],"needles":[4],"are":[5],"well":[6],"known":[7],"to":[8,23,57,72,204],"bend":[9],"during":[10,209],"percutaneous":[11],"insertions":[12,19],"because":[13],"of":[14,27,37,43,51,61,89,100,117,125,152,175,184,193,196],"needle-tissue":[15,63,82,148],"interactions.":[16],"Robotized":[17],"needle":[18,52,68,74,105,112,119,176,207],"have":[20],"been":[21],"proposed":[22,80],"improve":[24],"the":[25,41,59,87,97,118,126,136,153,191],"efficacy":[26],"Interventional":[28],"Radiology":[29],"(IR)":[30],"procedures":[31],"such":[32,142],"as":[33,143],"radiofrequency":[34],"ablation":[35],"(RFA)":[36],"kidney":[38],"tumors.":[39],"However,":[40],"success":[42],"treatments":[44],"diagnosis":[46],"depends":[47],"on":[48],"accurate":[49],"prediction":[50],"deflection.":[53],"This":[54],"work":[55],"aims":[56],"demonstrate":[58],"feasibility":[60],"merging":[62],"properties,":[64],"tip":[65,69,120],"asymmetry":[66],"position":[70,121],"updates":[71,116],"assist":[73],"placement.":[75],"In":[76],"this":[77],"paper":[78],"we":[79],"a":[81,101],"interaction":[83],"model":[84],"that":[85],"matches":[86],"observations":[88],"transversal":[90],"axial":[92],"resultant":[93],"forces":[94],"acting":[95],"in":[96,165],"system.":[98],"Analysis":[99],"slope":[102,127],"parameter":[103],"between":[104],"tissue":[107,144,146,154,171],"provides":[108],"online":[109,188],"offline":[111,194],"deflections":[113],"predictions.":[114],"Online":[115],"allow":[122],"adaptive":[123],"corrections":[124,189],"parameter.":[128],"Moreover,":[129],"promising":[130],"results":[131,174],"were":[132],"observed":[133],"while":[134],"evaluating":[135],"model's":[137],"performance":[138],"under":[139],"uncertainties":[140],"conditions":[141],"deformation,":[145],"inhomogeneity,":[147],"friction,":[149],"topological":[150],"changes":[151],"other":[156],"modeling":[157],"approximations.":[158],"The":[159,198],"system":[160,199],"is":[161],"evaluated":[162],"by":[163],"experiments":[164],"soft":[166,179],"(homogeneous)":[167],"PVC":[168],"multilayer":[170],"phantoms.":[172],"Experiment":[173],"placement":[177],"into":[178],"tissues":[180],"presented":[181],"average":[182],"error":[183,192],"1.04":[185],"mm.":[186],"Meanwhile,":[187],"decreased":[190],"predictions":[195],"25%.":[197],"shows":[200],"an":[201],"encouraging":[202],"ability":[203],"predict":[205],"semi-rigid":[206],"deflection":[208],"interactions":[210],"with":[211],"elastic":[212],"medium.":[213]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
