{"id":"https://openalex.org/W4386883235","doi":"https://doi.org/10.1126/scirobotics.adf7614","title":"Autonomous medical needle steering in vivo","display_name":"Autonomous medical needle steering in vivo","publication_year":2023,"publication_date":"2023-09-13","ids":{"openalex":"https://openalex.org/W4386883235","doi":"https://doi.org/10.1126/scirobotics.adf7614","pmid":"https://pubmed.ncbi.nlm.nih.gov/37729421"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adf7614","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adf7614","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11182607/pdf/nihms-1954097.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068912132","display_name":"Alan Kuntz","orcid":"https://orcid.org/0000-0003-0017-3932"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alan Kuntz","raw_affiliation_strings":["Kahlert School of Computing and Robotics Center, University of Utah, Salt Lake City, UT 84112, USA"],"raw_orcid":"https://orcid.org/0000-0003-0017-3932","affiliations":[{"raw_affiliation_string":"Kahlert School of Computing and Robotics Center, University of Utah, Salt Lake City, UT 84112, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"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":true,"raw_author_name":"Maxwell Emerson","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA"],"raw_orcid":"https://orcid.org/0000-0003-2491-1979","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA","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":true,"raw_author_name":"Tayfun Efe Ertop","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA"],"raw_orcid":"https://orcid.org/0000-0001-7004-367X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043527194","display_name":"Inbar Fried","orcid":"https://orcid.org/0000-0003-0427-284X"},"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":true,"raw_author_name":"Inbar Fried","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA"],"raw_orcid":"https://orcid.org/0000-0003-0427-284X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080782723","display_name":"Mengyu Fu","orcid":"https://orcid.org/0000-0002-5237-1220"},"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":true,"raw_author_name":"Mengyu Fu","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA"],"raw_orcid":"https://orcid.org/0000-0002-5237-1220","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082472029","display_name":"Janine Hoelscher","orcid":"https://orcid.org/0000-0003-3970-0613"},"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":true,"raw_author_name":"Janine Hoelscher","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA"],"raw_orcid":"https://orcid.org/0000-0003-3970-0613","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"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":true,"raw_author_name":"Margaret Rox","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA"],"raw_orcid":"https://orcid.org/0000-0003-4271-9139","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","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":["Department of Medicine, Division of Pulmonary Diseases and Critical Care Medicine, University of North Carolina School of Medicine, Chapel Hill, NC 27599, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medicine, Division of Pulmonary Diseases and Critical Care Medicine, University of North Carolina School of Medicine, Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000367649","display_name":"Erin A. Gillaspie","orcid":"https://orcid.org/0000-0003-2075-5534"},"institutions":[{"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":"Erin A. Gillaspie","raw_affiliation_strings":["Department of Medicine and Thoracic Surgery, Vanderbilt University Medical Center, Nashville, TN 37232, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medicine and Thoracic Surgery, Vanderbilt University Medical Center, Nashville, TN 37232, USA","institution_ids":["https://openalex.org/I901861585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091466574","display_name":"Yueh Z. Lee","orcid":"https://orcid.org/0000-0003-1846-7680"},"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":"Yueh Z. Lee","raw_affiliation_strings":["Department of Radiology, University of North Carolina School of Medicine, Chapel Hill, NC 27599, USA"],"raw_orcid":"https://orcid.org/0000-0003-1846-7680","affiliations":[{"raw_affiliation_string":"Department of Radiology, University of North Carolina School of Medicine, Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"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/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":["Department of Medicine and Thoracic Surgery, Vanderbilt University Medical Center, Nashville, TN 37232, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Medicine and Thoracic Surgery, Vanderbilt University Medical Center, Nashville, TN 37232, USA","institution_ids":["https://openalex.org/I901861585"]}]},{"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":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA"],"raw_orcid":"https://orcid.org/0000-0003-1389-224X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","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":true,"raw_author_name":"Ron Alterovitz","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA"],"raw_orcid":"https://orcid.org/0000-0002-4492-1384","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5016647778","https://openalex.org/A5043527194","https://openalex.org/A5049322095","https://openalex.org/A5054402635","https://openalex.org/A5057650460","https://openalex.org/A5080782723","https://openalex.org/A5082472029"],"corresponding_institution_ids":["https://openalex.org/I114027177","https://openalex.org/I200719446"],"apc_list":null,"apc_paid":null,"fwci":4.771,"has_fulltext":true,"cited_by_count":49,"citation_normalized_percentile":{"value":0.96098527,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"8","issue":"82","first_page":"eadf7614","last_page":"eadf7614"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9847000241279602,"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":0.9778000116348267,"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/robot","display_name":"Robot","score":0.6696327924728394},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5343813896179199},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4671810269355774},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.4661354422569275},{"id":"https://openalex.org/keywords/bronchoscopy","display_name":"Bronchoscopy","score":0.4290286898612976},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38998475670814514},{"id":"https://openalex.org/keywords/medical-physics","display_name":"Medical physics","score":0.3711433410644531},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3679460287094116},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.27357062697410583},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.2121773660182953}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6696327924728394},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5343813896179199},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4671810269355774},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.4661354422569275},{"id":"https://openalex.org/C2778996910","wikidata":"https://www.wikidata.org/wiki/Q237232","display_name":"Bronchoscopy","level":2,"score":0.4290286898612976},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38998475670814514},{"id":"https://openalex.org/C19527891","wikidata":"https://www.wikidata.org/wiki/Q1120908","display_name":"Medical physics","level":1,"score":0.3711433410644531},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3679460287094116},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.27357062697410583},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.2121773660182953}],"mesh":[{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009339","descriptor_name":"Needles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1126/scirobotics.adf7614","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adf7614","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:37729421","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37729421","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":"Science robotics","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11182607","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11182607","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11182607/pdf/nihms-1954097.pdf","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":"Sci Robot","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:11182607","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11182607","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11182607/pdf/nihms-1954097.pdf","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":"Sci Robot","raw_type":"Text"},"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[{"id":"https://openalex.org/G126325759","display_name":"NSF-BSF: RI: Small: Provably High-Quality Robot Inspection Planning - Theory and Application","funder_award_id":"2008475","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G1483567314","display_name":"CPS: Medium: GOALI: Enabling Scalable Real-Time Certification for AI-Oriented Safety-Critical Systems","funder_award_id":"2038855","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G581404232","display_name":null,"funder_award_id":"R01EB024864","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"},{"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/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4386883235.pdf"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1940266261","https://openalex.org/W1974562154","https://openalex.org/W2020275220","https://openalex.org/W2029990316","https://openalex.org/W2049981393","https://openalex.org/W2083692125","https://openalex.org/W2088865132","https://openalex.org/W2090415875","https://openalex.org/W2091884377","https://openalex.org/W2093664976","https://openalex.org/W2103117465","https://openalex.org/W2121562131","https://openalex.org/W2133420155","https://openalex.org/W2150119051","https://openalex.org/W2162262758","https://openalex.org/W2187242441","https://openalex.org/W2201506230","https://openalex.org/W2291266724","https://openalex.org/W2400840419","https://openalex.org/W2531214183","https://openalex.org/W2537242594","https://openalex.org/W2598070036","https://openalex.org/W2788503139","https://openalex.org/W2889630644","https://openalex.org/W2910540886","https://openalex.org/W2916893469","https://openalex.org/W2920959446","https://openalex.org/W2941460562","https://openalex.org/W2988394346","https://openalex.org/W3001624842","https://openalex.org/W3006293443","https://openalex.org/W3090137532","https://openalex.org/W3090407809","https://openalex.org/W3119005666","https://openalex.org/W3120812949","https://openalex.org/W3125821714","https://openalex.org/W3137532763","https://openalex.org/W3177316897","https://openalex.org/W3205456053","https://openalex.org/W4200553277","https://openalex.org/W4206582757","https://openalex.org/W4210656949","https://openalex.org/W4223931121","https://openalex.org/W4293055339","https://openalex.org/W4306831877"],"related_works":["https://openalex.org/W3031284610","https://openalex.org/W2044067184","https://openalex.org/W2410376319","https://openalex.org/W8302103","https://openalex.org/W3030906550","https://openalex.org/W3171631314","https://openalex.org/W4307426112","https://openalex.org/W1521672401","https://openalex.org/W2606825221","https://openalex.org/W2064245428"],"abstract_inverted_index":{"The":[0,130],"use":[1],"of":[2,40,43,48,57,78,125,169,180,196,224,242],"needles":[3],"to":[4,11,30,64,83,110,156,244],"access":[5],"sites":[6],"within":[7],"organs":[8],"is":[9,33,160],"fundamental":[10],"many":[12],"interventional":[13],"medical":[14,97],"procedures":[15,60],"both":[16],"for":[17,134,162],"diagnosis":[18],"and":[19,22,50,68,73,141,147,222,233],"treatment.":[20],"Safely":[21],"accurately":[23],"navigating":[24],"a":[25,31,79,84,96,102,111,118,212],"needle":[26,80,103,123,228],"through":[27,104],"living":[28,105,231],"tissue":[29,52,106,232],"target":[32,86,112],"currently":[34],"often":[35],"challenging":[36],"or":[37],"infeasible":[38],"because":[39],"the":[41,62,154,166,173,194,220,239],"presence":[42],"anatomical":[44,108,135],"obstacles,":[45,136],"high":[46],"levels":[47],"uncertainty,":[49],"natural":[51],"motion.":[53],"Medical":[54],"robots":[55,229],"capable":[56,124],"automating":[58],"needle-based":[59],"have":[61],"potential":[63],"overcome":[65],"these":[66,235],"challenges":[67],"enable":[69],"enhanced":[70],"patient":[71,247],"care":[72],"safety.":[74],"However,":[75],"autonomous":[76,131,226],"navigation":[77],"around":[81,107],"obstacles":[82,109],"predefined":[85],"in":[87,113,138,172,183,185,230],"vivo":[88,186],"has":[89],"not":[90],"been":[91],"shown.":[92],"Here,":[93],"we":[94],"introduce":[95],"robot":[98,132],"that":[99,204],"autonomously":[100],"navigates":[101],"vivo.":[114],"Our":[115,217],"system":[116,155,182],"leverages":[117],"laser-patterned":[119],"highly":[120],"flexible":[121],"steerable":[122,227],"maneuvering":[126],"along":[127],"curvilinear":[128],"trajectories.":[129],"accounts":[133],"uncertainty":[137],"tissue/needle":[139],"interaction,":[140],"respiratory":[142],"motion":[143],"using":[144],"replanning,":[145],"control,":[146],"safe":[148],"insertion":[149],"time":[150],"windows.":[151],"We":[152,176,201],"applied":[153],"lung":[157,164,199],"biopsy,":[158],"which":[159],"critical":[161],"diagnosing":[163],"cancer,":[165],"leading":[167],"cause":[168],"cancer-related":[170],"deaths":[171],"United":[174],"States.":[175],"demonstrated":[177,203],"successful":[178],"performance":[179],"our":[181,205],"multiple":[184],"porcine":[187],"studies":[188],"achieving":[189],"targeting":[190],"errors":[191],"less":[192],"than":[193],"radius":[195],"clinically":[197],"relevant":[198],"nodules.":[200],"also":[202],"approach":[206],"offers":[207],"greater":[208],"accuracy":[209],"compared":[210],"with":[211],"standard":[213],"manual":[214],"bronchoscopy":[215],"technique.":[216],"results":[218],"show":[219],"feasibility":[221],"advantage":[223],"deploying":[225],"how":[234],"systems":[236],"can":[237],"extend":[238],"current":[240],"capabilities":[241],"physicians":[243],"further":[245],"improve":[246],"care.":[248]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":28},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-10T07:45:09.275182","created_date":"2025-10-10T00:00:00"}