{"id":"https://openalex.org/W4401959536","doi":"https://doi.org/10.3390/s24175560","title":"Virtual Needle Insertion with Enhanced Haptic Feedback for Guidance and Needle\u2013Tissue Interaction Forces","display_name":"Virtual Needle Insertion with Enhanced Haptic Feedback for Guidance and Needle\u2013Tissue Interaction Forces","publication_year":2024,"publication_date":"2024-08-28","ids":{"openalex":"https://openalex.org/W4401959536","doi":"https://doi.org/10.3390/s24175560","pmid":"https://pubmed.ncbi.nlm.nih.gov/39275470"},"language":"en","primary_location":{"id":"doi:10.3390/s24175560","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24175560","pdf_url":"https://www.mdpi.com/1424-8220/24/17/5560/pdf?version=1724836150","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/24/17/5560/pdf?version=1724836150","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004022065","display_name":"Mostafa Selim","orcid":"https://orcid.org/0000-0002-5224-4790"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Mostafa Selim","raw_affiliation_strings":["Robotics and Mechatronics Research Group, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, 7500 AE Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-5224-4790","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Research Group, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, 7500 AE Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023470200","display_name":"Douwe Dresscher","orcid":"https://orcid.org/0000-0002-5315-9029"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Douwe Dresscher","raw_affiliation_strings":["Robotics and Mechatronics Research Group, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, 7500 AE Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-5315-9029","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Research Group, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, 7500 AE Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078462752","display_name":"Momen Abayazid","orcid":"https://orcid.org/0000-0003-1857-5921"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Momen Abayazid","raw_affiliation_strings":["Robotics and Mechatronics Research Group, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, 7500 AE Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-1857-5921","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Research Group, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, 7500 AE Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5004022065"],"corresponding_institution_ids":["https://openalex.org/I94624287"],"apc_list":{"value":2600,"currency":"CHF","value_usd":2955},"apc_paid":{"value":2600,"currency":"CHF","value_usd":2955},"fwci":0.4806,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.55303828,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"24","issue":"17","first_page":"5560","last_page":"5560"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9977999925613403,"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":0.9977999925613403,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9976000189781189,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9753000140190125,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.938170313835144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6102651953697205},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5865263342857361},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5115355253219604},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.4333537518978119},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.42202770709991455},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3346557021141052},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2592305541038513},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.20195135474205017},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14722535014152527}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.938170313835144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6102651953697205},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5865263342857361},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5115355253219604},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.4333537518978119},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.42202770709991455},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3346557021141052},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2592305541038513},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.20195135474205017},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14722535014152527},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","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":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":false},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":false},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":false},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":false},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D008099","descriptor_name":"Liver","qualifier_ui":"Q000502","qualifier_name":"physiology","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":"D014057","descriptor_name":"Tomography, X-Ray Computed","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D014057","descriptor_name":"Tomography, X-Ray Computed","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D014057","descriptor_name":"Tomography, X-Ray Computed","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D014057","descriptor_name":"Tomography, X-Ray Computed","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D014584","descriptor_name":"User-Computer Interface","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014584","descriptor_name":"User-Computer Interface","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014584","descriptor_name":"User-Computer Interface","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014584","descriptor_name":"User-Computer Interface","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false}],"locations_count":6,"locations":[{"id":"doi:10.3390/s24175560","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24175560","pdf_url":"https://www.mdpi.com/1424-8220/24/17/5560/pdf?version=1724836150","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:39275470","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39275470","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":"Sensors (Basel, Switzerland)","raw_type":"Journal Article"},{"id":"pmh:oai:pubmedcentral.nih.gov:11397964","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11397964","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11397964/pdf/sensors-24-05560.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:ris.utwente.nl:openaire_cris_publications/5034c58a-3ab1-4cc4-93f2-a247bf44284e","is_oa":true,"landing_page_url":"https://research.utwente.nl/files/458502540/sensors-24-05560.pdf","pdf_url":"https://ris.utwente.nl/ws/files/458502540/sensors-24-05560.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Selim, M, Dresscher, D & Abayazid, M 2024, 'Virtual Needle Insertion with Enhanced Haptic Feedback for Guidance and Needle\u2013Tissue Interaction Forces', Sensors, vol. 24, no. 17, 5560. https://doi.org/10.3390/s24175560","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:d7c6c0cef7184ee6bc7e979dc4f0939c","is_oa":false,"landing_page_url":"https://doaj.org/article/d7c6c0cef7184ee6bc7e979dc4f0939c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 17, p 5560 (2024)","raw_type":"article"},{"id":"pmh:oai:ris.utwente.nl:openaire/5034c58a-3ab1-4cc4-93f2-a247bf44284e","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/5034c58a-3ab1-4cc4-93f2-a247bf44284e","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Selim, M, Dresscher, D & Abayazid, M 2024, 'Virtual Needle Insertion with Enhanced Haptic Feedback for Guidance and Needle\u2013Tissue Interaction Forces', Sensors, vol. 24, no. 17, 5560. https://doi.org/10.3390/s24175560","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.3390/s24175560","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24175560","pdf_url":"https://www.mdpi.com/1424-8220/24/17/5560/pdf?version=1724836150","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5600000023841858,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G8618214695","display_name":null,"funder_award_id":"20044","funder_id":"https://openalex.org/F4320313144","funder_display_name":"ITEA"}],"funders":[{"id":"https://openalex.org/F4320313144","display_name":"ITEA","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401959536.pdf","grobid_xml":"https://content.openalex.org/works/W4401959536.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1573750246","https://openalex.org/W1761288624","https://openalex.org/W1971076945","https://openalex.org/W2020255928","https://openalex.org/W2109121052","https://openalex.org/W2134494183","https://openalex.org/W2146840602","https://openalex.org/W2563201162","https://openalex.org/W2590669721","https://openalex.org/W2889672069","https://openalex.org/W2896852914","https://openalex.org/W2909128381","https://openalex.org/W2910094941","https://openalex.org/W2947832279","https://openalex.org/W2976475057","https://openalex.org/W2999481079","https://openalex.org/W3034796677","https://openalex.org/W3117885797","https://openalex.org/W3142938931","https://openalex.org/W4283311522","https://openalex.org/W4285206061","https://openalex.org/W4376269592","https://openalex.org/W4380558866","https://openalex.org/W6634354312","https://openalex.org/W6655422577","https://openalex.org/W6839912049","https://openalex.org/W6927034595"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W4233260495","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W2348224808","https://openalex.org/W4309505616","https://openalex.org/W2731583012","https://openalex.org/W2116848172"],"abstract_inverted_index":{"Interventional":[0],"radiologists":[1],"mainly":[2],"rely":[3],"on":[4,169],"visual":[5,139],"feedback":[6,71,109,136,147,212,250,285],"via":[7,72],"imaging":[8],"modalities":[9,286],"to":[10,34,63,86,102,137,152,183,194,237,268,279,291,299],"steer":[11,185],"a":[12,15,30,52,78,124,178,186,196,201],"needle":[13,56,117,127,187],"toward":[14],"tumor":[16,197],"during":[17,123],"biopsy":[18],"and":[19,57,89,114,121,157,233,253,264,274],"ablation":[20],"procedures.":[21],"In":[22],"the":[23,49,55,58,104,116,133,145,149,154,159,165,176,208,222,234,239,245,260,265,270,289,293],"case":[24],"of":[25,32,51,54,98,106,161,191,221,229,247,262],"CT-guided":[26,126],"procedures,":[27],"there":[28],"is":[29],"risk":[31],"exposure":[33],"hazardous":[35],"X-ray-based":[36],"ionizing":[37],"radiation.":[38],"Therefore,":[39],"CT":[40,162,230],"scans":[41,231,263],"are":[42,82],"usually":[43],"not":[44],"used":[45],"continuously,":[46],"which":[47],"increases":[48],"chances":[50],"misplacement":[53],"need":[59],"for":[60,110,251],"reinsertion,":[61],"leading":[62],"more":[64,168],"tissue":[65],"trauma.":[66],"Interventionalists":[67],"also":[68,131],"encounter":[69],"haptic":[70,135,146,172,249,281,301],"needle-tissue":[73,255],"interaction":[74,112,256],"forces":[75,81,113,257],"while":[76],"steering":[77],"needle.":[79],"These":[80],"useful":[83],"but":[84],"insufficient":[85],"clearly":[87],"perceive":[88],"identify":[90],"deep-tissue":[91],"structures":[92],"such":[93],"as":[94,164],"tumors.":[95],"The":[96,241,283],"objective":[97],"this":[99],"paper":[100],"was":[101,181],"investigate":[103],"effect":[105],"enhanced":[107,134,138,171,248],"force":[108],"sensing":[111,254],"guiding":[115],"when":[118,277],"applied":[119],"individually":[120],"simultaneously":[122],"virtual":[125],"insertion":[128],"task.":[129,240],"We":[130,141],"compared":[132,278,298],"feedback.":[140,173,282,302],"hypothesized":[142],"that":[143,244],"enhancing":[144],"limits":[148],"time":[150,235],"needed":[151,236],"reach":[153,195],"target":[155,198],"accurately":[156],"reduces":[158],"number":[160,228,261],"scans,":[163],"interventionalist":[166],"depends":[167],"real-time":[170],"To":[174],"test":[175],"hypothesis,":[177],"simulation":[179],"environment":[180],"developed":[182],"virtually":[184],"in":[188,200,207,219],"five":[189],"degrees":[190],"freedom":[192],"(DoF)":[193],"embedded":[199],"liver":[202],"model.":[203],"Twelve":[204],"participants":[205],"performed":[206],"experiment":[209],"with":[210],"different":[211],"conditions":[213],"where":[214],"we":[215],"measured":[216],"their":[217],"performance":[218],"terms":[220],"following:":[223],"targeting":[224],"accuracy,":[225],"trajectory":[226],"tracking,":[227],"required,":[232],"finish":[238,269,292],"results":[242],"suggest":[243],"combination":[246],"guidance":[252],"significantly":[258,287],"reduce":[259],"duration":[266,290],"required":[267],"task":[271,294],"by":[272,295],"32.1%":[273],"46.9%,":[275],"respectively,":[276],"nonenhanced":[280,300],"other":[284],"reduced":[288],"around":[296],"30%":[297]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
