{"id":"https://openalex.org/W2783512809","doi":"https://doi.org/10.1109/bibe.2017.00-14","title":"Towards a Modular, Customizable Robotic System for Needle-Based Image-Guided Interventions: Preliminary Designs, Implementation, and Testing","display_name":"Towards a Modular, Customizable Robotic System for Needle-Based Image-Guided Interventions: Preliminary Designs, Implementation, and Testing","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2783512809","doi":"https://doi.org/10.1109/bibe.2017.00-14","mag":"2783512809"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/bibe.2017.00-14","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5081271259","display_name":"Nikhil V. Navkar","orcid":"https://orcid.org/0000-0003-1853-1910"},"institutions":[{"id":"https://openalex.org/I49828101","display_name":"Hamad Medical Corporation","ror":"https://ror.org/02zwb6n98","country_code":"QA","type":"nonprofit","lineage":["https://openalex.org/I49828101"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Nikhil V. Navkar","raw_affiliation_strings":["Hamad Medical Corporation, Doha, Ad Dawhah, QA"],"affiliations":[{"raw_affiliation_string":"Hamad Medical Corporation, Doha, Ad Dawhah, QA","institution_ids":["https://openalex.org/I49828101"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077807114","display_name":"Leonardo Carlos Barbosa","orcid":"https://orcid.org/0000-0002-0377-1527"},"institutions":[{"id":"https://openalex.org/I58152225","display_name":"Texas A&M University at Qatar","ror":"https://ror.org/03vb4dm14","country_code":"QA","type":"education","lineage":["https://openalex.org/I58152225","https://openalex.org/I91045830"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Leonardo Barbosa","raw_affiliation_strings":["Texas A&M University at Qatar, Doha, Ad Dawhah, QA"],"affiliations":[{"raw_affiliation_string":"Texas A&M University at Qatar, Doha, Ad Dawhah, QA","institution_ids":["https://openalex.org/I58152225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108061243","display_name":"Shidin Balakrishnan","orcid":"https://orcid.org/0000-0001-6361-4980"},"institutions":[{"id":"https://openalex.org/I49828101","display_name":"Hamad Medical Corporation","ror":"https://ror.org/02zwb6n98","country_code":"QA","type":"nonprofit","lineage":["https://openalex.org/I49828101"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Shidin Balakrishnan","raw_affiliation_strings":["Hamad Medical Corporation, Doha, Ad Dawhah, QA"],"affiliations":[{"raw_affiliation_string":"Hamad Medical Corporation, Doha, Ad Dawhah, QA","institution_ids":["https://openalex.org/I49828101"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055363476","display_name":"Julien Abinahed","orcid":null},"institutions":[{"id":"https://openalex.org/I49828101","display_name":"Hamad Medical Corporation","ror":"https://ror.org/02zwb6n98","country_code":"QA","type":"nonprofit","lineage":["https://openalex.org/I49828101"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Julien Abinahed","raw_affiliation_strings":["Hamad Medical Corporation, Doha, Ad Dawhah, QA"],"affiliations":[{"raw_affiliation_string":"Hamad Medical Corporation, Doha, Ad Dawhah, QA","institution_ids":["https://openalex.org/I49828101"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054742610","display_name":"Walid El Ansari","orcid":"https://orcid.org/0000-0003-0961-1302"},"institutions":[{"id":"https://openalex.org/I49828101","display_name":"Hamad Medical Corporation","ror":"https://ror.org/02zwb6n98","country_code":"QA","type":"nonprofit","lineage":["https://openalex.org/I49828101"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Walid El Ansari","raw_affiliation_strings":["Hamad Medical Corporation, Doha, Ad Dawhah, QA"],"affiliations":[{"raw_affiliation_string":"Hamad Medical Corporation, Doha, Ad Dawhah, QA","institution_ids":["https://openalex.org/I49828101"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044073042","display_name":"Khalid Al\u2010Rumaihi","orcid":"https://orcid.org/0000-0002-9390-4011"},"institutions":[{"id":"https://openalex.org/I49828101","display_name":"Hamad Medical Corporation","ror":"https://ror.org/02zwb6n98","country_code":"QA","type":"nonprofit","lineage":["https://openalex.org/I49828101"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Khalid Al-Rumaihi","raw_affiliation_strings":["Hamad Medical Corporation, Doha, Ad Dawhah, QA"],"affiliations":[{"raw_affiliation_string":"Hamad Medical Corporation, Doha, Ad Dawhah, QA","institution_ids":["https://openalex.org/I49828101"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038685057","display_name":"Adham Darweesh","orcid":"https://orcid.org/0000-0002-9747-8574"},"institutions":[{"id":"https://openalex.org/I49828101","display_name":"Hamad Medical Corporation","ror":"https://ror.org/02zwb6n98","country_code":"QA","type":"nonprofit","lineage":["https://openalex.org/I49828101"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Adham Darweesh","raw_affiliation_strings":["Hamad Medical Corporation, Doha, Ad Dawhah, QA"],"affiliations":[{"raw_affiliation_string":"Hamad Medical Corporation, Doha, Ad Dawhah, QA","institution_ids":["https://openalex.org/I49828101"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001298748","display_name":"Abdulla Al\u2010Ansari","orcid":"https://orcid.org/0000-0002-6242-5667"},"institutions":[{"id":"https://openalex.org/I49828101","display_name":"Hamad Medical Corporation","ror":"https://ror.org/02zwb6n98","country_code":"QA","type":"nonprofit","lineage":["https://openalex.org/I49828101"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Abdulla Al-Ansari","raw_affiliation_strings":["Hamad Medical Corporation, Doha, Ad Dawhah, QA"],"affiliations":[{"raw_affiliation_string":"Hamad Medical Corporation, Doha, Ad Dawhah, QA","institution_ids":["https://openalex.org/I49828101"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058953622","display_name":"Nikolaos V. Tsekos","orcid":"https://orcid.org/0000-0002-4327-9895"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikolaos V. Tsekos","raw_affiliation_strings":["University of Houston, Houston, TX, US"],"affiliations":[{"raw_affiliation_string":"University of Houston, Houston, TX, US","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001068313","display_name":"Mansour Karkoub","orcid":"https://orcid.org/0000-0002-4287-7260"},"institutions":[{"id":"https://openalex.org/I58152225","display_name":"Texas A&M University at Qatar","ror":"https://ror.org/03vb4dm14","country_code":"QA","type":"education","lineage":["https://openalex.org/I58152225","https://openalex.org/I91045830"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Mansour Karkoub","raw_affiliation_strings":["Texas A&M University at Qatar, Doha, Ad Dawhah, QA"],"affiliations":[{"raw_affiliation_string":"Texas A&M University at Qatar, Doha, Ad Dawhah, QA","institution_ids":["https://openalex.org/I58152225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032837973","display_name":"Mohamed Gharib","orcid":"https://orcid.org/0000-0003-2259-7576"},"institutions":[{"id":"https://openalex.org/I58152225","display_name":"Texas A&M University at Qatar","ror":"https://ror.org/03vb4dm14","country_code":"QA","type":"education","lineage":["https://openalex.org/I58152225","https://openalex.org/I91045830"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Mohamed Gharib","raw_affiliation_strings":["Texas A&M University at Qatar, Doha, Ad Dawhah, QA"],"affiliations":[{"raw_affiliation_string":"Texas A&M University at Qatar, Doha, Ad Dawhah, QA","institution_ids":["https://openalex.org/I58152225"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":0,"max":63},"biblio":{"volume":null,"issue":null,"first_page":"444","last_page":"449"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9999,"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":0.9999,"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":0.997,"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":0.9957,"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/implementation","display_name":"Implementation","score":0.74025834}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8764638},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.74025834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6282535},{"id":"https://openalex.org/C27415008","wikidata":"https://www.wikidata.org/wiki/Q7256382","display_name":"Psychological intervention","level":2,"score":0.551769},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.43207768},{"id":"https://openalex.org/C160735492","wikidata":"https://www.wikidata.org/wiki/Q31207","display_name":"Health care","level":2,"score":0.42522198},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.39668608},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.37527508},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.34789488},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34227115},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.24193949},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21329796},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14289156},{"id":"https://openalex.org/C118552586","wikidata":"https://www.wikidata.org/wiki/Q7867","display_name":"Psychiatry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/bibe.2017.00-14","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":23,"referenced_works":["https://openalex.org/W1520344654","https://openalex.org/W1809101390","https://openalex.org/W1897713834","https://openalex.org/W1971682321","https://openalex.org/W2012602980","https://openalex.org/W2041949127","https://openalex.org/W2044568771","https://openalex.org/W2059622452","https://openalex.org/W2062642301","https://openalex.org/W2090415875","https://openalex.org/W2099866424","https://openalex.org/W2105223712","https://openalex.org/W2105311301","https://openalex.org/W2123192862","https://openalex.org/W2130978145","https://openalex.org/W2132302857","https://openalex.org/W2140644931","https://openalex.org/W2169616182","https://openalex.org/W2170077907","https://openalex.org/W2208104218","https://openalex.org/W2515578666","https://openalex.org/W2517057696","https://openalex.org/W2737966395"],"related_works":["https://openalex.org/W797688974","https://openalex.org/W4238532390","https://openalex.org/W2977179488","https://openalex.org/W2961779879","https://openalex.org/W2209382646","https://openalex.org/W2188872161","https://openalex.org/W2144453115","https://openalex.org/W2128223750","https://openalex.org/W2120447654","https://openalex.org/W2002978035"],"abstract_inverted_index":{"Needle-based":[0],"image-guided":[1],"interventions":[2,20],"(NB-IGI)":[3],"are":[4,9,35,53,56],"well":[5],"established":[6],"practices":[7],"that":[8,111],"rapidly":[10],"expanding":[11],"to":[12,22,37,75],"a":[13,30,59,93],"wider":[14],"range":[15],"of":[16,32,47,62,71,79,123],"therapeutic":[17],"and":[18,43,64,82,104,107,121,130],"diagnostic":[19],"due":[21],"their":[23],"impact":[24],"on":[25,87],"clinical":[26,77,131],"outcomes.":[27],"In":[28,73],"parallel,":[29],"number":[31,61],"robotic":[33,80,96],"manipulators":[34],"emerging":[36],"increase":[38],"accuracy,":[39],"decrease":[40],"inter-operator":[41],"variabilities,":[42],"reduce":[44,84],"the":[45,48,67,85,124],"duration":[46],"procedure.":[49],"Most":[50],"current":[51],"systems":[52,97],"application-specific,":[54],"thereby":[55],"appropriate":[57],"for":[58],"limited":[60],"procedures":[63],"further":[65],"exacerbating":[66],"already":[68],"rising":[69],"costs":[70],"healthcare.":[72],"order":[74],"expand":[76],"usage":[78],"NB-IGI,":[81],"eventually":[83],"burden":[86],"healthcare":[88],"costs,":[89],"this":[90],"paper":[91],"proposes":[92],"modular,":[94],"customizable":[95],"concept.":[98],"The":[99],"concept":[100],"includes":[101],"simplified":[102],"hardware":[103],"control":[105],"techniques,":[106],"initial":[108],"results":[109],"demonstrate":[110,127],"accuracy":[112],"is":[113],"within":[114],"clinically":[115],"acceptable":[116],"limits.":[117],"Preliminary":[118],"designs,":[119],"implementations,":[120],"assessments":[122],"proposed":[125],"system":[126],"its":[128],"potential":[129],"value.":[132]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2783512809","counts_by_year":[],"updated_date":"2024-12-24T09:14:03.334595","created_date":"2018-01-26"}