{"id":"https://openalex.org/W2111835870","doi":"https://doi.org/10.1117/12.811334","title":"Human vs. robot operator error in a needle-based navigation system for percutaneous liver interventions","display_name":"Human vs. robot operator error in a needle-based navigation system for percutaneous liver interventions","publication_year":2009,"publication_date":"2009-02-26","ids":{"openalex":"https://openalex.org/W2111835870","doi":"https://doi.org/10.1117/12.811334","mag":"2111835870"},"language":"en","primary_location":{"id":"doi:10.1117/12.811334","is_oa":true,"landing_page_url":"https://doi.org/10.1117/12.811334","pdf_url":"https://www.spiedigitallibrary.org/conference-proceedings-of-spie/7261/72610Y/Human-vs-robot-operator-error-in-a-needle-based-navigation/10.1117/12.811334.pdf","source":{"id":"https://openalex.org/S183492911","display_name":"Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE","issn_l":"0277-786X","issn":["0277-786X","1996-756X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315543","host_organization_name":"SPIE","host_organization_lineage":["https://openalex.org/P4310315543"],"host_organization_lineage_names":["SPIE"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SPIE Proceedings","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.spiedigitallibrary.org/conference-proceedings-of-spie/7261/72610Y/Human-vs-robot-operator-error-in-a-needle-based-navigation/10.1117/12.811334.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023493127","display_name":"Lena Maier\u2010Hein","orcid":"https://orcid.org/0000-0003-4910-9368"},"institutions":[{"id":"https://openalex.org/I17937529","display_name":"German Cancer Research Center","ror":"https://ror.org/04cdgtt98","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I17937529"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Lena Maier-Hein","raw_affiliation_strings":["German Cancer Research Ctr. (Germany)"],"affiliations":[{"raw_affiliation_string":"German Cancer Research Ctr. (Germany)","institution_ids":["https://openalex.org/I17937529"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028193094","display_name":"Conor J. Walsh","orcid":"https://orcid.org/0000-0002-2744-917X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Conor J. Walsh","raw_affiliation_strings":["Massachusetts Institute of Technology (United States)","Massachusetts Institute of Technology  (United States)"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (United States)","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology  (United States)","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080028621","display_name":"Alexander Seitel","orcid":"https://orcid.org/0000-0002-5919-9646"},"institutions":[{"id":"https://openalex.org/I17937529","display_name":"German Cancer Research Center","ror":"https://ror.org/04cdgtt98","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I17937529"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Seitel","raw_affiliation_strings":["German Cancer Research Ctr. (Germany)"],"affiliations":[{"raw_affiliation_string":"German Cancer Research Ctr. (Germany)","institution_ids":["https://openalex.org/I17937529"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032029045","display_name":"Nevan C. Hanumara","orcid":"https://orcid.org/0000-0002-4707-4053"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nevan C. Hanumara","raw_affiliation_strings":["Massachusetts Institute of Technology (United States)","Massachusetts Institute of Technology  (United States)"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (United States)","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology  (United States)","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057597584","display_name":"Jo-Anne O. Shepard","orcid":"https://orcid.org/0000-0003-1932-7620"},"institutions":[{"id":"https://openalex.org/I4210087915","display_name":"Massachusetts General Hospital","ror":"https://ror.org/002pd6e78","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210087915","https://openalex.org/I48633490"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jo-Anne Shepard","raw_affiliation_strings":["Massachusetts General Hospital (United States)","Massachusetts General Hospital   (United States)"],"affiliations":[{"raw_affiliation_string":"Massachusetts General Hospital (United States)","institution_ids":["https://openalex.org/I4210087915"]},{"raw_affiliation_string":"Massachusetts General Hospital   (United States)","institution_ids":["https://openalex.org/I4210087915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046939591","display_name":"Alfred M. Franz","orcid":"https://orcid.org/0009-0002-5754-2356"},"institutions":[{"id":"https://openalex.org/I17937529","display_name":"German Cancer Research Center","ror":"https://ror.org/04cdgtt98","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I17937529"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. M. Franz","raw_affiliation_strings":["German Cancer Research Ctr. (Germany)"],"affiliations":[{"raw_affiliation_string":"German Cancer Research Ctr. (Germany)","institution_ids":["https://openalex.org/I17937529"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068039944","display_name":"Frank Pianka","orcid":"https://orcid.org/0000-0002-4369-9339"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"F. Pianka","raw_affiliation_strings":["Univ. of Heidelberg (Germany)","University of Heidelberg, Germany"],"affiliations":[{"raw_affiliation_string":"Univ. of Heidelberg (Germany)","institution_ids":["https://openalex.org/I223822909"]},{"raw_affiliation_string":"University of Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023100110","display_name":"Sascha M\u00fcller","orcid":"https://orcid.org/0000-0002-8663-4543"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sascha A. M\u00fcller","raw_affiliation_strings":["Univ. of Heidelberg (Germany)","University of Heidelberg, Germany"],"affiliations":[{"raw_affiliation_string":"Univ. of Heidelberg (Germany)","institution_ids":["https://openalex.org/I223822909"]},{"raw_affiliation_string":"University of Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076541452","display_name":"Bruno M. Schmied","orcid":"https://orcid.org/0000-0003-4552-7386"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bruno Schmied","raw_affiliation_strings":["Univ. of Heidelberg (Germany)","University of Heidelberg, Germany"],"affiliations":[{"raw_affiliation_string":"Univ. of Heidelberg (Germany)","institution_ids":["https://openalex.org/I223822909"]},{"raw_affiliation_string":"University of Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030295291","display_name":"Alexander H. Slocum","orcid":"https://orcid.org/0000-0002-5048-4109"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander H. Slocum","raw_affiliation_strings":["Massachusetts Institute of Technology (United States)","Massachusetts Institute of Technology  (United States)"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (United States)","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology  (United States)","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100601447","display_name":"Rajiv Gupta","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087915","display_name":"Massachusetts General Hospital","ror":"https://ror.org/002pd6e78","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210087915","https://openalex.org/I48633490"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rajiv Gupta","raw_affiliation_strings":["Massachusetts General Hospital (United States)","Massachusetts General Hospital   (United States)"],"affiliations":[{"raw_affiliation_string":"Massachusetts General Hospital (United States)","institution_ids":["https://openalex.org/I4210087915"]},{"raw_affiliation_string":"Massachusetts General Hospital   (United States)","institution_ids":["https://openalex.org/I4210087915"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111391208","display_name":"Hans\u2010Peter Meinzer","orcid":null},"institutions":[{"id":"https://openalex.org/I17937529","display_name":"German Cancer Research Center","ror":"https://ror.org/04cdgtt98","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I17937529"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hans-Peter Meinzer","raw_affiliation_strings":["German Cancer Research Ctr. (Germany)"],"affiliations":[{"raw_affiliation_string":"German Cancer Research Ctr. (Germany)","institution_ids":["https://openalex.org/I17937529"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":12,"corresponding_author_ids":["https://openalex.org/A5023493127"],"corresponding_institution_ids":["https://openalex.org/I17937529"],"apc_list":null,"apc_paid":null,"fwci":0.2291,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.61979932,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"7261","issue":null,"first_page":"72610Y","last_page":"72610Y"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10888","display_name":"Augmented Reality Applications","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9955000281333923,"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/imaging-phantom","display_name":"Imaging phantom","score":0.7261412143707275},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.603223979473114},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5979266166687012},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.551222026348114},{"id":"https://openalex.org/keywords/percutaneous","display_name":"Percutaneous","score":0.5101540684700012},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.47670218348503113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4619676470756531},{"id":"https://openalex.org/keywords/radiofrequency-ablation","display_name":"Radiofrequency ablation","score":0.46035999059677124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4504214823246002},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.4397553503513336},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.3888779580593109},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3604881763458252},{"id":"https://openalex.org/keywords/ablation","display_name":"Ablation","score":0.3267923891544342}],"concepts":[{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.7261412143707275},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.603223979473114},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5979266166687012},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.551222026348114},{"id":"https://openalex.org/C2780813298","wikidata":"https://www.wikidata.org/wiki/Q2071287","display_name":"Percutaneous","level":2,"score":0.5101540684700012},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.47670218348503113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4619676470756531},{"id":"https://openalex.org/C2777377203","wikidata":"https://www.wikidata.org/wiki/Q1809554","display_name":"Radiofrequency ablation","level":3,"score":0.46035999059677124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4504214823246002},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.4397553503513336},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.3888779580593109},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3604881763458252},{"id":"https://openalex.org/C2778902805","wikidata":"https://www.wikidata.org/wiki/Q322177","display_name":"Ablation","level":2,"score":0.3267923891544342},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1117/12.811334","is_oa":true,"landing_page_url":"https://doi.org/10.1117/12.811334","pdf_url":"https://www.spiedigitallibrary.org/conference-proceedings-of-spie/7261/72610Y/Human-vs-robot-operator-error-in-a-needle-based-navigation/10.1117/12.811334.pdf","source":{"id":"https://openalex.org/S183492911","display_name":"Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE","issn_l":"0277-786X","issn":["0277-786X","1996-756X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315543","host_organization_name":"SPIE","host_organization_lineage":["https://openalex.org/P4310315543"],"host_organization_lineage_names":["SPIE"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SPIE Proceedings","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/52583","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/52583","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"SPIE","raw_type":"http://purl.org/eprint/type/JournalArticle"}],"best_oa_location":{"id":"doi:10.1117/12.811334","is_oa":true,"landing_page_url":"https://doi.org/10.1117/12.811334","pdf_url":"https://www.spiedigitallibrary.org/conference-proceedings-of-spie/7261/72610Y/Human-vs-robot-operator-error-in-a-needle-based-navigation/10.1117/12.811334.pdf","source":{"id":"https://openalex.org/S183492911","display_name":"Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE","issn_l":"0277-786X","issn":["0277-786X","1996-756X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315543","host_organization_name":"SPIE","host_organization_lineage":["https://openalex.org/P4310315543"],"host_organization_lineage_names":["SPIE"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SPIE Proceedings","raw_type":"proceedings-article"},"sustainable_development_goals":[{"display_name":"Good health and well-being","score":0.7400000095367432,"id":"https://metadata.un.org/sdg/3"}],"awards":[{"id":"https://openalex.org/G6052429835","display_name":null,"funder_award_id":"(DFG)","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2111835870.pdf","grobid_xml":"https://content.openalex.org/works/W2111835870.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W174765383","https://openalex.org/W1585084867","https://openalex.org/W1597138931","https://openalex.org/W1969383346","https://openalex.org/W1973375897","https://openalex.org/W1993267444","https://openalex.org/W1998299095","https://openalex.org/W2033734827","https://openalex.org/W2038061403","https://openalex.org/W2044568771","https://openalex.org/W2046069535","https://openalex.org/W2048700738","https://openalex.org/W2067897115","https://openalex.org/W2069362228","https://openalex.org/W2070853651","https://openalex.org/W2073770499","https://openalex.org/W2077959536","https://openalex.org/W2083786141","https://openalex.org/W2093893539","https://openalex.org/W2094111095","https://openalex.org/W2097543198","https://openalex.org/W2113498585","https://openalex.org/W2118435666","https://openalex.org/W2131772268","https://openalex.org/W2135392778","https://openalex.org/W2160722457","https://openalex.org/W2169616182","https://openalex.org/W2170245125","https://openalex.org/W2171117380","https://openalex.org/W2171691043","https://openalex.org/W4229689238","https://openalex.org/W4237494323","https://openalex.org/W4238893582","https://openalex.org/W4249139418","https://openalex.org/W6643563056","https://openalex.org/W6662160934","https://openalex.org/W6670136918","https://openalex.org/W6685298392"],"related_works":["https://openalex.org/W2417440389","https://openalex.org/W4244157427","https://openalex.org/W2734382758","https://openalex.org/W2334028226","https://openalex.org/W1598961389","https://openalex.org/W4380789556","https://openalex.org/W2904133969","https://openalex.org/W2125530569","https://openalex.org/W2131550650","https://openalex.org/W2029690180"],"abstract_inverted_index":{"Computed":[0],"tomography":[1],"(CT)":[2],"guided":[3],"percutaneous":[4],"punctures":[5],"of":[6,26,38,71,77,93,177],"the":[7,27,35,39,42,60,68,72,84,89,104,107,135,140,145,149,151,163,178,181],"liver":[8,130],"for":[9,52],"cancer":[10],"diagnosis":[11],"and":[12,55,133,165],"therapy":[13],"(e.g.":[14],"tumor":[15],"biopsy,":[16],"radiofrequency":[17],"ablation)":[18],"are":[19],"well-established":[20],"procedures":[21],"in":[22,57,119,127,190],"clinical":[23,191],"routine.":[24],"One":[25],"main":[28],"challenges":[29],"related":[30],"to":[31,50,81,148,159,172],"these":[32],"interventions":[33],"is":[34,157],"accurate":[36],"placement":[37],"needle":[40,117,154,164],"within":[41],"lesion.":[43],"Several":[44],"navigation":[45,96,183],"concepts":[46],"have":[47],"been":[48],"introduced":[49],"compensate":[51],"organ":[53],"shift":[54],"deformation":[56],"real-time,":[58],"yet,":[59],"operator":[61,85,137],"error":[62,86,92,138,142],"remains":[63],"an":[64,94],"important":[65],"factor":[66],"influencing":[67],"overall":[69,90],"accuracy":[70,189],"developed":[73],"systems.":[74],"The":[75],"aim":[76],"this":[78,112],"study":[79],"was":[80],"investigate":[82],"whether":[83],"and,":[87],"thus,":[88],"insertion":[91,155],"existing":[95],"system":[97,156,184],"could":[98,185],"be":[99],"further":[100],"reduced":[101],"by":[102,144],"replacing":[103],"user":[105],"with":[106,139],"medical":[108],"robot":[109,179],"Robopsy.":[110],"For":[111],"purpose,":[113],"we":[114],"performed":[115,143],"navigated":[116],"insertions":[118],"a":[120,128,173],"static":[121],"abdominal":[122],"phantom":[123],"as":[124,126],"well":[125],"respiratory":[129],"motion":[131],"simulator":[132],"compared":[134,171],"human":[136,174],"targeting":[141,188],"robot.":[146],"According":[147],"results,":[150],"Robopsy":[152],"driven":[153],"able":[158],"more":[160],"accurately":[161],"align":[162],"insert":[166],"it":[167],"along":[168],"its":[169],"axis":[170],"operator.":[175],"Integration":[176],"into":[180],"current":[182],"thus":[186],"improve":[187],"use.":[192]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
