{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,29]],"date-time":"2025-12-29T01:12:19Z","timestamp":1766970739655,"version":"3.48.0"},"reference-count":40,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2025,11,13]],"date-time":"2025-11-13T00:00:00Z","timestamp":1762992000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61401451"],"award-info":[{"award-number":["61401451"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Robotics Computer Surgery"],"published-print":{"date-parts":[[2025,12]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Background<\/jats:title>\n                    <jats:p>Percutaneous abdominal interventions require precise and real\u2010time guidance for safe needle placement. Conventional CT or fluoroscopy provides accurate localisation but involves radiation, while ultrasound (US) offers a radiation\u2010free alternative but suffers from limited 3D visualisation.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>We developed a guidance system integrating a needle\u2010guide mechanism with a tracked US probe to achieve real\u2010time radiation\u2010free targeting. The approach reconstructs freehand 3D US volumes at 25 frames per second, enabling path planning and augmenting the needle trajectory onto live B\u2010scan images. Validation was conducted using a mockup, two phantoms, a pig model, and a human volunteer.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>The system completed 3D US acquisition within 10\u00a0s and achieved high accuracy, with mean calibration errors of 0.62\u00a0mm and 0.22\u00b0. Needle tracking yielded angular and positional errors of 0.84\u00a0\u00b1\u00a00.40\u00b0 and 0.76\u00a0\u00b1\u00a00.38\u00a0mm.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>This method enables accurate, rapid, and radiation\u2010free guidance, demonstrating strong potential for clinical application.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/rcs.70120","type":"journal-article","created":{"date-parts":[[2025,11,13]],"date-time":"2025-11-13T10:15:23Z","timestamp":1763028923000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Freehand Three\u2010Dimensional Ultrasound Image\u2010Guided Needle Targeting for Percutaneous Abdominal 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