{"id":"https://openalex.org/W3133795800","doi":"https://doi.org/10.1142/s2424905x21500033","title":"3D Steerable Biopsy Needle with a Motorized Manipulation System and Ultrasound Tracking to Navigate inside Tissue","display_name":"3D Steerable Biopsy Needle with a Motorized Manipulation System and Ultrasound Tracking to Navigate inside Tissue","publication_year":2020,"publication_date":"2020-09-01","ids":{"openalex":"https://openalex.org/W3133795800","doi":"https://doi.org/10.1142/s2424905x21500033","mag":"3133795800"},"language":"en","primary_location":{"id":"doi:10.1142/s2424905x21500033","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2424905x21500033","pdf_url":null,"source":{"id":"https://openalex.org/S4210232911","display_name":"Journal of Medical Robotics Research","issn_l":"2424-905X","issn":["2424-905X","2424-9068"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Medical Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020615048","display_name":"Blayton Padasdao","orcid":null},"institutions":[{"id":"https://openalex.org/I117965899","display_name":"University of Hawai\u02bbi at M\u0101noa","ror":"https://ror.org/01wspgy28","country_code":"US","type":"education","lineage":["https://openalex.org/I117965899"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Blayton Padasdao","raw_affiliation_strings":["Department of Mechanical Engineering, University of Hawaii at Manoa 2540 Dole St., Holmes Hall 302, Honolulu, HI 96822, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hawaii at Manoa 2540 Dole St., Holmes Hall 302, Honolulu, HI 96822, USA","institution_ids":["https://openalex.org/I117965899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067608611","display_name":"Zahra Khashei Varnamkhasti","orcid":null},"institutions":[{"id":"https://openalex.org/I117965899","display_name":"University of Hawai\u02bbi at M\u0101noa","ror":"https://ror.org/01wspgy28","country_code":"US","type":"education","lineage":["https://openalex.org/I117965899"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zahra Khashei Varnamkhasti","raw_affiliation_strings":["Department of Mechanical Engineering, University of Hawaii at Manoa 2540 Dole St., Holmes Hall 302, Honolulu, HI 96822, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hawaii at Manoa 2540 Dole St., Holmes Hall 302, Honolulu, HI 96822, USA","institution_ids":["https://openalex.org/I117965899"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012467528","display_name":"Bardia Konh","orcid":"https://orcid.org/0000-0001-9700-8751"},"institutions":[{"id":"https://openalex.org/I117965899","display_name":"University of Hawai\u02bbi at M\u0101noa","ror":"https://ror.org/01wspgy28","country_code":"US","type":"education","lineage":["https://openalex.org/I117965899"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bardia Konh","raw_affiliation_strings":["Department of Mechanical Engineering, University of Hawaii at Manoa 2540 Dole St., Holmes Hall 302, Honolulu, HI 96822, USA"],"raw_orcid":"https://orcid.org/0000-0001-9700-8751","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hawaii at Manoa 2540 Dole St., Holmes Hall 302, Honolulu, HI 96822, USA","institution_ids":["https://openalex.org/I117965899"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5020615048"],"corresponding_institution_ids":["https://openalex.org/I117965899"],"apc_list":null,"apc_paid":null,"fwci":0.6097,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.65230586,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"05","issue":"03n04","first_page":"2150003","last_page":"2150003"},"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":0.9933000206947327,"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/T11486","display_name":"Micro and Nano Robotics","score":0.991599977016449,"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/imaging-phantom","display_name":"Imaging phantom","score":0.720426082611084},{"id":"https://openalex.org/keywords/biopsy","display_name":"Biopsy","score":0.5266042947769165},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.5070302486419678},{"id":"https://openalex.org/keywords/tissue-sample","display_name":"Tissue sample","score":0.49691322445869446},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.4519970417022705},{"id":"https://openalex.org/keywords/needle-biopsy","display_name":"Needle biopsy","score":0.420057475566864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3834940791130066},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.3042919933795929},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.25626665353775024}],"concepts":[{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.720426082611084},{"id":"https://openalex.org/C2775934546","wikidata":"https://www.wikidata.org/wiki/Q179991","display_name":"Biopsy","level":2,"score":0.5266042947769165},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.5070302486419678},{"id":"https://openalex.org/C3019482985","wikidata":"https://www.wikidata.org/wiki/Q7410159","display_name":"Tissue sample","level":2,"score":0.49691322445869446},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.4519970417022705},{"id":"https://openalex.org/C2992613538","wikidata":"https://www.wikidata.org/wiki/Q180071","display_name":"Needle biopsy","level":3,"score":0.420057475566864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3834940791130066},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3042919933795929},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.25626665353775024}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s2424905x21500033","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2424905x21500033","pdf_url":null,"source":{"id":"https://openalex.org/S4210232911","display_name":"Journal of Medical Robotics Research","issn_l":"2424-905X","issn":["2424-905X","2424-9068"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Medical Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7421381586","display_name":null,"funder_award_id":"20ADVC-102159","funder_id":"https://openalex.org/F4320306371","funder_display_name":"Hawaii Community Foundation"}],"funders":[{"id":"https://openalex.org/F4320306371","display_name":"Hawaii Community Foundation","ror":"https://ror.org/03jwgbj27"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":75,"referenced_works":["https://openalex.org/W15706293","https://openalex.org/W1604037492","https://openalex.org/W1967657494","https://openalex.org/W1975520189","https://openalex.org/W1987524362","https://openalex.org/W1989660002","https://openalex.org/W1996618888","https://openalex.org/W2002780491","https://openalex.org/W2017456772","https://openalex.org/W2019617864","https://openalex.org/W2052805468","https://openalex.org/W2057271741","https://openalex.org/W2064955308","https://openalex.org/W2065964725","https://openalex.org/W2070539717","https://openalex.org/W2071026978","https://openalex.org/W2075352058","https://openalex.org/W2078187233","https://openalex.org/W2088865132","https://openalex.org/W2090415875","https://openalex.org/W2091643555","https://openalex.org/W2091884377","https://openalex.org/W2100156971","https://openalex.org/W2104108814","https://openalex.org/W2106934286","https://openalex.org/W2107550832","https://openalex.org/W2119531408","https://openalex.org/W2121939955","https://openalex.org/W2128339709","https://openalex.org/W2131548928","https://openalex.org/W2132167838","https://openalex.org/W2138475205","https://openalex.org/W2140749079","https://openalex.org/W2146761577","https://openalex.org/W2156199850","https://openalex.org/W2163872762","https://openalex.org/W2167480813","https://openalex.org/W2171638840","https://openalex.org/W2180065899","https://openalex.org/W2213211432","https://openalex.org/W2300225845","https://openalex.org/W2400840419","https://openalex.org/W2462654948","https://openalex.org/W2513622562","https://openalex.org/W2531667847","https://openalex.org/W2567794413","https://openalex.org/W2571361994","https://openalex.org/W2580767461","https://openalex.org/W2588358979","https://openalex.org/W2594730512","https://openalex.org/W2601771264","https://openalex.org/W2605509116","https://openalex.org/W2606670576","https://openalex.org/W2616747052","https://openalex.org/W2748891723","https://openalex.org/W2765288370","https://openalex.org/W2767410506","https://openalex.org/W2784524760","https://openalex.org/W2789597941","https://openalex.org/W2789767748","https://openalex.org/W2793285301","https://openalex.org/W2794262107","https://openalex.org/W2834413742","https://openalex.org/W2909729638","https://openalex.org/W2947417366","https://openalex.org/W2963278001","https://openalex.org/W2963280258","https://openalex.org/W2972630751","https://openalex.org/W3003607036","https://openalex.org/W3033848484","https://openalex.org/W3048260847","https://openalex.org/W3093819133","https://openalex.org/W3114485450","https://openalex.org/W4206101763","https://openalex.org/W4233999938"],"related_works":["https://openalex.org/W3164202441","https://openalex.org/W2092820169","https://openalex.org/W2587952403","https://openalex.org/W4256046926","https://openalex.org/W2986315147","https://openalex.org/W2081545967","https://openalex.org/W2042970335","https://openalex.org/W3146344619","https://openalex.org/W2586697405","https://openalex.org/W110326197"],"abstract_inverted_index":{"Needle":[0,86],"insertion":[1],"techniques":[2],"have":[3,100],"been":[4,89],"used":[5],"in":[6,18,44,70,95,129,176,179,196,202,213,235,251],"several":[7],"minimally":[8],"invasive":[9],"procedures":[10],"for":[11,32],"diagnostic":[12],"and":[13,66,103,109,150,157,178,193,204,257,267],"therapeutic":[14],"purposes.":[15],"For":[16],"example,":[17],"tissue":[19,26,128,234],"biopsy,":[20],"a":[21,41,71,117,137,180],"small":[22],"sample":[23,39],"of":[24,50,93,124,168,189,261],"suspicious":[25,142],"is":[27,40,57,61,134,148,183,200,209,222,239],"extracted":[28],"using":[29,242],"percutaneous":[30],"needles":[31,105],"further":[33],"analysis.":[34],"A":[35,144,217],"clinically":[36],"significant":[37],"biopsy":[38,121,138],"definitive":[42],"factor":[43],"cancer":[45,215],"diagnosis;":[46],"therefore,":[47],"precise":[48],"placement":[49],"the":[51,68,76,96,112,127,154,159,166,169,172,227,232,245],"needle":[52,69,122,133,160,174,229,246],"tip":[53,230,247],"at":[54],"target":[55,77],"location":[56],"necessary.":[58],"However,":[59],"it":[60],"often":[62],"challenging":[63],"to":[64,74,106,140,152,211,225],"guide":[65],"track":[67,226],"desired":[72],"path":[73],"reach":[75],"precisely,":[78],"while":[79],"avoiding":[80],"sensitive":[81],"organs":[82],"or":[83],"large":[84],"arteries.":[85],"steering":[87],"has":[88],"an":[90,255],"active":[91,104,119,173,228],"field":[92],"research":[94],"past":[97],"decade.":[98],"Researchers":[99],"introduced":[101],"passive":[102],"improve":[107],"navigation":[108],"targeting":[110],"inside":[111,126,162,231],"tissue.":[113,143,163],"This":[114],"work":[115],"introduces":[116],"novel":[118],"steerable":[120],"capable":[123],"bending":[125],"multiple":[130],"directions.":[131],"The":[132],"equipped":[135],"with":[136,254],"mechanism":[139],"extract":[141],"motorized":[145],"manipulation":[146,175],"system":[147],"developed":[149],"programmed":[151],"pull":[153],"cable":[155],"tendons":[156],"control":[158],"deflection":[161,188],"To":[164],"show":[165],"feasibility":[167],"design":[170],"concept,":[171],"air":[177,203],"tissue-mimicking":[181],"phantom":[182,205,233],"evaluated.":[184],"An":[185],"average":[186,256],"angular":[187],"about":[190],"12.40":[191],"\u2218":[192,195],"11.34":[194],"three":[197],"principal":[198],"directions":[199],"realized":[201],"tissue,":[206],"respectively,":[207],"which":[208],"expected":[210],"assist":[212],"breast":[214],"biopsy.":[216],"robot-assisted":[218],"ultrasound":[219],"tracking":[220,259],"method":[221],"also":[223],"proposed":[224],"real":[236,252],"time.":[237],"It":[238],"shown":[240],"that":[241],"this":[243],"method,":[244],"can":[248],"be":[249],"tracked":[250],"time":[253],"maximum":[258],"error":[260],"[Formula:":[262,268],"see":[263,265,269,271],"text][Formula:":[264,270],"text]mm":[266],"text]mm,":[272],"respectively.":[273]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}