{"id":"https://openalex.org/W2920959446","doi":"https://doi.org/10.1117/12.2513967","title":"Design and control of a compact modular robot for transbronchial lung biopsy","display_name":"Design and control of a compact modular robot for transbronchial lung biopsy","publication_year":2019,"publication_date":"2019-03-08","ids":{"openalex":"https://openalex.org/W2920959446","doi":"https://doi.org/10.1117/12.2513967","mag":"2920959446","pmid":"https://pubmed.ncbi.nlm.nih.gov/35250147"},"language":"en","primary_location":{"id":"doi:10.1117/12.2513967","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2513967","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8898049","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063239986","display_name":"Stephanie Amack","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephanie Amack","raw_affiliation_strings":["Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Vanderbilt Univ. (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt Univ. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016647778","display_name":"Margaret Rox","orcid":"https://orcid.org/0000-0003-4271-9139"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Margaret F. Rox","raw_affiliation_strings":["Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Vanderbilt Univ. (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt Univ. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057650460","display_name":"Maxwell Emerson","orcid":"https://orcid.org/0000-0003-2491-1979"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maxwell Emerson","raw_affiliation_strings":["Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Vanderbilt Univ. (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt Univ. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009794922","display_name":"Robert J. Webster","orcid":"https://orcid.org/0000-0003-1389-224X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Webster","raw_affiliation_strings":["Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Vanderbilt Univ. (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt Univ. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054402635","display_name":"Ron Alterovitz","orcid":"https://orcid.org/0000-0002-4492-1384"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ron Alterovitz","raw_affiliation_strings":["Computer Science, University of North Carolina at Chapel Hill, NC, USA","The Univ. of North Carolina at Chapel Hill (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science, University of North Carolina at Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"The Univ. of North Carolina at Chapel Hill (United States)","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068912132","display_name":"Alan Kuntz","orcid":"https://orcid.org/0000-0003-0017-3932"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alan Kuntz","raw_affiliation_strings":["Computer Science, University of North Carolina at Chapel Hill, NC, USA","The Univ. of North Carolina at Chapel Hill (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science, University of North Carolina at Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"The Univ. of North Carolina at Chapel Hill (United States)","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059786636","display_name":"Jason E. Mitchell","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason Mitchell","raw_affiliation_strings":["Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Vanderbilt Univ. (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt Univ. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049322095","display_name":"Tayfun Efe Ertop","orcid":"https://orcid.org/0000-0001-7004-367X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tayfun E. Ertop","raw_affiliation_strings":["Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Vanderbilt Univ. (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt Univ. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026581995","display_name":"Joshua B. Gafford","orcid":"https://orcid.org/0000-0002-5955-5831"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua Gafford","raw_affiliation_strings":["Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Vanderbilt Univ. (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt Univ. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030115976","display_name":"Fabien Maldonado","orcid":"https://orcid.org/0000-0002-6504-2063"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]},{"id":"https://openalex.org/I901861585","display_name":"Vanderbilt University Medical Center","ror":"https://ror.org/05dq2gs74","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210162197","https://openalex.org/I901861585"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fabien Maldonado","raw_affiliation_strings":["Interventional Pulmonology, Vanderbilt University Medical Center, Nashville, TN, USA","Vanderbilt Univ. Medical Ctr. (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interventional Pulmonology, Vanderbilt University Medical Center, Nashville, TN, USA","institution_ids":["https://openalex.org/I901861585"]},{"raw_affiliation_string":"Vanderbilt Univ. Medical Ctr. (United States)","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078927238","display_name":"Jason Akulian","orcid":"https://orcid.org/0000-0002-4528-8496"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason Akulian","raw_affiliation_strings":["Interventional Pulmonology, University of North Carolina at Chapel Hill, NC, USA","The Univ. of North Carolina at Chapel Hill (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interventional Pulmonology, University of North Carolina at Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"The Univ. of North Carolina at Chapel Hill (United States)","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"10951","issue":null,"first_page":"17","last_page":"17"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11486","display_name":"Micro and Nano Robotics","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7707046866416931},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.723969578742981},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6887966394424438},{"id":"https://openalex.org/keywords/homing","display_name":"Homing (biology)","score":0.6221907734870911},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5351945161819458},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.515242874622345},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.515182614326477},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.45388704538345337},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35626012086868286},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3545258045196533},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14173486828804016}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7707046866416931},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.723969578742981},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6887966394424438},{"id":"https://openalex.org/C151872237","wikidata":"https://www.wikidata.org/wiki/Q1410759","display_name":"Homing (biology)","level":2,"score":0.6221907734870911},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5351945161819458},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.515242874622345},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.515182614326477},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.45388704538345337},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35626012086868286},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3545258045196533},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14173486828804016},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1117/12.2513967","is_oa":false,"landing_page_url":"https://doi.org/10.1117/12.2513967","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling","raw_type":"proceedings-article"},{"id":"pmid:35250147","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35250147","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":"Proceedings of SPIE--the International Society for Optical Engineering","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:8898049","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8898049","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proc SPIE Int Soc Opt Eng","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:8898049","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8898049","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proc SPIE Int Soc Opt Eng","raw_type":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1937603640","display_name":null,"funder_award_id":"T32 EB021937","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"},{"id":"https://openalex.org/G5947857836","display_name":null,"funder_award_id":"R01 EB024864","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"}],"funders":[{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1528755127","https://openalex.org/W1531457617","https://openalex.org/W1972132758","https://openalex.org/W2040709641","https://openalex.org/W2054928326","https://openalex.org/W2059226773","https://openalex.org/W2061230053","https://openalex.org/W2063030202","https://openalex.org/W2065431943","https://openalex.org/W2068193467","https://openalex.org/W2091944169","https://openalex.org/W2093664976","https://openalex.org/W2097202674","https://openalex.org/W2103117465","https://openalex.org/W2106458329","https://openalex.org/W2121939955","https://openalex.org/W2131150943","https://openalex.org/W2138564331","https://openalex.org/W2143496842","https://openalex.org/W2184993170","https://openalex.org/W2191166886","https://openalex.org/W2201506230","https://openalex.org/W2400840419","https://openalex.org/W2531214183","https://openalex.org/W2567794413","https://openalex.org/W2606274206","https://openalex.org/W2623660146","https://openalex.org/W2725058193","https://openalex.org/W4235621800","https://openalex.org/W4240404393","https://openalex.org/W6631617010","https://openalex.org/W6631709821","https://openalex.org/W6687429723","https://openalex.org/W6687473905"],"related_works":["https://openalex.org/W122469368","https://openalex.org/W2475425029","https://openalex.org/W2945074068","https://openalex.org/W4238798220","https://openalex.org/W3201918386","https://openalex.org/W2495868881","https://openalex.org/W2467617359","https://openalex.org/W4252287176","https://openalex.org/W2691078541","https://openalex.org/W2490659911"],"abstract_inverted_index":{"Lung":[0],"cancer":[1],"is":[2,30,162,175],"one":[3],"of":[4,11,27,46,70,131,159],"the":[5,19,43,47,55,88,92,128,132,193,223],"most":[6],"prevalent":[7],"and":[8,25,35,73,215,222],"deadly":[9],"forms":[10],"cancer,":[12],"claiming":[13],"more":[14,106],"than":[15],"154,000":[16],"lives":[17],"in":[18,42,75,127,168,192],"USA":[20],"per":[21],"year.":[22],"Accurate":[23],"targeting":[24,167],"biopsy":[26,144],"pulmonary":[28],"abnormalities":[29],"key":[31],"for":[32,86],"early":[33],"diagnosis":[34],"successful":[36],"treatment.":[37],"Many":[38],"cancerous":[39],"lesions":[40,126],"originate":[41],"peripheral":[44,89,129],"regions":[45,130],"lung":[48,90],"which":[49,65,151],"are":[50],"not":[51],"directly":[52],"accessible":[53],"from":[54,125,187],"bronchial":[56],"tree,":[57],"thereby":[58],"requiring":[59],"percutaneous":[60],"approaches":[61],"to":[62,112,122,225],"collect":[63],"biopsies,":[64],"carry":[66],"a":[67,84,95,105,114,118,142,169,178,188,199],"higher":[68],"risk":[69],"pneumothorax,":[71],"hemorrhage,":[72],"death":[74],"extreme":[76],"cases.":[77],"In":[78,100],"prior":[79,207],"work,":[80],"our":[81],"group":[82],"proposed":[83,180],"concept":[85],"accessing":[87],"through":[91,117,209],"airways,":[93],"via":[94,164],"bronchscope":[96],"deployed":[97],"steerable":[98,115,143,173,194],"needle.":[99],"this":[101,160,203],"paper,":[102],"we":[103],"present":[104],"compact,":[107],"modular,":[108,211],"multi-stage":[109],"robot,":[110],"designed":[111],"deploy":[113],"needle":[116,174],"standard":[119],"flexible":[120],"bronchoscope,":[121],"retrieve":[123],"biopsies":[124],"lung.":[133],"The":[134,157,172],"robot":[135,161],"has":[136],"several":[137],"stages":[138],"that":[139,218],"can":[140],"control":[141],"needle,":[145],"as":[146,148,153,228],"well":[147],"concentric":[149],"tubes,":[150],"act":[152],"an":[154],"aiming":[155],"conduit.":[156],"functionality":[158],"demonstrated":[163],"closed-loop":[165],"lesion":[166],"CT":[170],"scanner.":[171],"controlled":[176],"using":[177],"previously":[179],"sliding":[181],"mode":[182],"controller,":[183],"based":[184],"on":[185,206],"feedback":[186],"magnetic":[189],"tracker":[190],"embedded":[191],"needle's":[195],"tip.":[196],"Towards":[197],"developing":[198],"clinically":[200],"viable":[201],"platform,":[202],"system":[204],"builds":[205],"work":[208],"its":[210],"compact":[212],"form":[213],"factor,":[214],"workflow-conscious":[216],"design":[217],"provides":[219],"precise":[220],"homing":[221],"ability":[224],"interchange":[226],"tools":[227],"needed.":[229]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4}],"updated_date":"2026-07-19T07:52:34.831488","created_date":"2025-10-10T00:00:00"}
