{"id":"https://openalex.org/W4281554955","doi":"https://doi.org/10.1142/s2424905x22410045","title":"Estimation of Needle Puncturing Form during Slight Needle Movement Based on Force Data for Robotic Automated Puncturing Function","display_name":"Estimation of Needle Puncturing Form during Slight Needle Movement Based on Force Data for Robotic Automated Puncturing Function","publication_year":2022,"publication_date":"2022-05-26","ids":{"openalex":"https://openalex.org/W4281554955","doi":"https://doi.org/10.1142/s2424905x22410045"},"language":"en","primary_location":{"id":"doi:10.1142/s2424905x22410045","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2424905x22410045","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/A5091376701","display_name":"Takayuki Matsuno","orcid":"https://orcid.org/0000-0003-3372-0912"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takayuki Matsuno","raw_affiliation_strings":["Graduate School of Natural Science and Technology, Okayama University, 1-1-1 Tsushimanaka, Kita-Ku, Okayama City, Okayama 700-8530, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Natural Science and Technology, Okayama University, 1-1-1 Tsushimanaka, Kita-Ku, Okayama City, Okayama 700-8530, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023786370","display_name":"Hikaru Murakami","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hikaru Murakami","raw_affiliation_strings":["Graduate School of Natural Science and Technology, Okayama University, 1-1-1 Tsushimanaka, Kita-Ku, Okayama City, Okayama 700-8530, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Natural Science and Technology, Okayama University, 1-1-1 Tsushimanaka, Kita-Ku, Okayama City, Okayama 700-8530, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033931797","display_name":"Tetsushi Kamegawa","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsushi Kamegawa","raw_affiliation_strings":["Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University, 1-1-1 Tsushimanaka, Kita-Ku, Okayama City, Okayama 700-8530, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University, 1-1-1 Tsushimanaka, Kita-Ku, Okayama City, Okayama 700-8530, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110359062","display_name":"Nanako Sakai","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nanako Sakai","raw_affiliation_strings":["Graduate School of Natural Science and Technology, Okayama University, 1-1-1 Tsushimanaka, Kita-Ku, Okayama City, Okayama 700-8530, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Natural Science and Technology, Okayama University, 1-1-1 Tsushimanaka, Kita-Ku, Okayama City, Okayama 700-8530, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000048544","display_name":"Takao Hiraki","orcid":"https://orcid.org/0000-0003-3992-4043"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takao Hiraki","raw_affiliation_strings":["Graduate School of Medical, Dentistry and Pharmaceutical Sciences, Okayama University, 2-5-1 Shikata, Kita-Ku, Okayama City, Okayama 700-8558, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Medical, Dentistry and Pharmaceutical Sciences, Okayama University, 2-5-1 Shikata, Kita-Ku, Okayama City, Okayama 700-8558, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087750601","display_name":"Yuichiro Toda","orcid":"https://orcid.org/0000-0003-4170-2300"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichiro Toda","raw_affiliation_strings":["Graduate School of Natural Science and Technology, Okayama University, 1-1-1 Tsushimanaka, Kita-Ku, Okayama City, Okayama 700-8530, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Natural Science and Technology, Okayama University, 1-1-1 Tsushimanaka, Kita-Ku, Okayama City, Okayama 700-8530, Japan","institution_ids":["https://openalex.org/I163770644"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5091376701"],"corresponding_institution_ids":["https://openalex.org/I163770644"],"apc_list":null,"apc_paid":null,"fwci":0.0801,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.33382445,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"07","issue":"02n03","first_page":null,"last_page":null},"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/T10916","display_name":"Surgical Simulation and Training","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11984","display_name":"Anatomy and Medical Technology","score":0.9921000003814697,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/puncturing","display_name":"Puncturing","score":0.956380307674408},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.630602240562439},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.553203821182251},{"id":"https://openalex.org/keywords/insert","display_name":"Insert (composites)","score":0.5513849854469299},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4572131633758545},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.4228246212005615},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41469699144363403},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.3921360969543457},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.36210018396377563},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32009175419807434},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13087615370750427},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09972000122070312}],"concepts":[{"id":"https://openalex.org/C2778808095","wikidata":"https://www.wikidata.org/wiki/Q3899825","display_name":"Puncturing","level":2,"score":0.956380307674408},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.630602240562439},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.553203821182251},{"id":"https://openalex.org/C2780098074","wikidata":"https://www.wikidata.org/wiki/Q6037362","display_name":"Insert (composites)","level":2,"score":0.5513849854469299},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4572131633758545},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.4228246212005615},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41469699144363403},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3921360969543457},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.36210018396377563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32009175419807434},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13087615370750427},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09972000122070312},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s2424905x22410045","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2424905x22410045","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":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1971433803","https://openalex.org/W2007732954","https://openalex.org/W2024888248","https://openalex.org/W2040709641","https://openalex.org/W2057271741","https://openalex.org/W2104838030","https://openalex.org/W2105223712","https://openalex.org/W2118152376","https://openalex.org/W2147604166","https://openalex.org/W2160722457","https://openalex.org/W2169616182","https://openalex.org/W2170245125","https://openalex.org/W2171383727","https://openalex.org/W2171691043","https://openalex.org/W2567202936","https://openalex.org/W2584307536","https://openalex.org/W2626229101","https://openalex.org/W2787231760","https://openalex.org/W2969212002"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2003938723","https://openalex.org/W2439875401","https://openalex.org/W2047967234","https://openalex.org/W2002120878","https://openalex.org/W2118496982","https://openalex.org/W2525756941","https://openalex.org/W4238867864","https://openalex.org/W1989160339"],"abstract_inverted_index":{"In":[0,124,217],"this":[1,152],"paper,":[2],"we":[3,219],"focused":[4],"on":[5,113],"the":[6,21,61,80,83,114,120,133,136,142,149,157,163,176,179,194,204,211,224,227],"medical":[7,24],"procedure":[8],"to":[9,43,93,118,131,155,222],"insert":[10,132],"needles":[11],"under":[12,63],"computer":[13],"tomography":[14],"(CT)":[15],"guidance":[16],"as":[17,53],"a":[18,35,58,147,172,182],"target":[19],"for":[20,38,174],"robotization":[22],"of":[23,29,82,122,151,178,190,226],"surgery,":[25,48],"which":[26],"is":[27,34,68,87,154,214],"one":[28],"Interventional":[30],"Radiology":[31],"(IR).":[32],"IR":[33,139],"general":[36],"term":[37],"treatments":[39],"that":[40,162],"use":[41],"devices":[42],"visualize":[44],"patients\u2019":[45],"bodies.":[46],"During":[47],"our":[49],"developed":[50],"robot,":[51],"known":[52],"Zerobot,":[54],"specializes":[55],"in":[56,74,103,206],"inserting":[57],"needle":[59,85,134,143,164,180,191,200,212],"into":[60,135],"patient":[62],"CT":[64],"guidance.":[65],"Its":[66],"surgery":[67,140],"less":[69],"invasive":[70],"and":[71,99],"more":[72],"effective":[73],"treating":[75],"small":[76],"cancer":[77],"tumors":[78],"because":[79],"temperature":[81],"inserted":[84],"tip":[86],"controlled.":[88],"Zerobot":[89,128],"was":[90,129,144],"originally":[91],"designed":[92],"be":[94],"remotely":[95],"controlled":[96],"by":[97,202],"doctors,":[98],"first-in-human":[100],"feasibility":[101],"trials":[102],"2018":[104],"confirmed":[105],"its":[106],"surgical":[107],"capability.":[108],"We":[109,170],"are":[110,186],"currently":[111],"focusing":[112],"automatic":[115],"insertion":[116],"function":[117,159],"reduce":[119],"workload":[121],"doctors.":[123],"an":[125],"animal":[126,137],"experiment,":[127],"unable":[130],"during":[138,168],"if":[141],"bent.":[145],"As":[146],"result,":[148],"goal":[150],"research":[153],"have":[156],"robot":[158],"automatically":[160],"so":[161],"does":[165],"not":[166],"bend":[167],"surgery.":[169],"propose":[171],"method":[173,196],"estimating":[175],"form":[177],"using":[181],"force":[183,207],"sensor.":[184],"There":[185],"three":[187],"different":[188],"types":[189],"forms.":[192],"Next,":[193],"proposed":[195,228],"distinguishes":[197],"between":[198],"these":[199],"forms":[201],"measuring":[203],"difference":[205],"sensor":[208],"data":[209],"when":[210],"root":[213],"moved":[215],"slightly.":[216],"addition,":[218],"conducted":[220],"tests":[221],"confirm":[223],"efficacy":[225],"method.":[229]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}