{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,28]],"date-time":"2025-03-28T05:42:21Z","timestamp":1743140541019,"version":"3.40.3"},"publisher-location":"Cham","reference-count":15,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030890971"},{"type":"electronic","value":"9783030890988"}],"license":[{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021]]},"DOI":"10.1007\/978-3-030-89098-8_9","type":"book-chapter","created":{"date-parts":[[2021,10,17]],"date-time":"2021-10-17T10:32:10Z","timestamp":1634466730000},"page":"90-99","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Design and Experiment of Actuator for Semi-automatic Human-Machine Collaboration Percutaneous Surgery"],"prefix":"10.1007","author":[{"given":"Leifeng","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Changle","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yilun","family":"Fan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gangfeng","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xuehe","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jie","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2021,10,18]]},"reference":[{"issue":"2","key":"9_CR1","doi-asserted-by":"publisher","first-page":"927","DOI":"10.1007\/s00330-019-06409-z","volume":"30","author":"T Hiraki","year":"2019","unstructured":"Hiraki, T., et al.: Robotic needle insertion during computed tomography fluoroscopy\u2013guided biopsy: prospective first-in-human feasibility trial. Eur. Radiol. 30(2), 927\u2013933 (2019). https:\/\/doi.org\/10.1007\/s00330-019-06409-z","journal-title":"Eur. Radiol."},{"key":"9_CR2","doi-asserted-by":"publisher","first-page":"153","DOI":"10.1109\/10.1354","volume":"35","author":"YS Kwoh","year":"1988","unstructured":"Kwoh, Y.S., Hou, J., Jonckheere, E.A., Hayati, S.: A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery. IEEE Trans. Biomed. Eng. 35, 153\u2013160 (1988). https:\/\/doi.org\/10.1109\/10.1354","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"9_CR3","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1109\/TMRB.2019.2913282","volume":"1","author":"T Haidegger","year":"2019","unstructured":"Haidegger, T.: Autonomy for surgical robots: concepts and paradigms. IEEE Trans. Med. Robot. Bionics 1, 65\u201376 (2019). https:\/\/doi.org\/10.1109\/TMRB.2019.2913282","journal-title":"IEEE Trans. Med. Robot. Bionics"},{"key":"9_CR4","unstructured":"Abedin-Nasab, M.H.: Handbook of Robotic and Image-Guided Surgery. Elsevier, Amsterdam (2019)"},{"key":"9_CR5","doi-asserted-by":"crossref","unstructured":"Podder, T.K., et al.: AAPM and GEC\u2010ESTRO guidelines for image\u2010guided robotic brachytherapy: report of task group 192. Med. Phys. 41 (2014)","DOI":"10.1118\/1.4895013"},{"key":"9_CR6","doi-asserted-by":"publisher","first-page":"4828","DOI":"10.1002\/mp.12435","volume":"44","author":"H Dou","year":"2017","unstructured":"Dou, H., Jiang, S., Yang, Z., Sun, L., Ma, X., Huo, B.: Design and validation of a CT-guided robotic system for lung cancer brachytherapy. Med. Phys. 44, 4828\u20134837 (2017). https:\/\/doi.org\/10.1002\/mp.12435","journal-title":"Med. Phys."},{"key":"9_CR7","unstructured":"Remebot. https:\/\/remebot.com.cn\/index.php\/site\/index"},{"key":"9_CR8","unstructured":"Yi, L.: Research on key technology of radioactive seed implantation robot for prostate (2017)"},{"key":"9_CR9","doi-asserted-by":"publisher","first-page":"140","DOI":"10.1002\/rcs.136","volume":"3","author":"N Abolhassani","year":"2007","unstructured":"Abolhassani, N., Patel, R.V., Ayazi, F.: Minimization of needle deflection in robot-assisted percutaneous therapy.  Int. J. Med. Robot. Comput. Assist. Surg. 3, 140\u2013148 (2007)","journal-title":"The Int. J. Med. Robot. Comput. Assist. Surg."},{"issue":"6","key":"9_CR10","doi-asserted-by":"publisher","first-page":"931","DOI":"10.1007\/s11517-018-1825-0","volume":"56","author":"P Li","year":"2018","unstructured":"Li, P., Yang, Z., Jiang, S.: Needle-tissue interactive mechanism and steering control in image-guided robot-assisted minimally invasive surgery: a review. Med. Biol. Eng. Comput. 56(6), 931\u2013949 (2018). https:\/\/doi.org\/10.1007\/s11517-018-1825-0","journal-title":"Med. Biol. Eng. Comput."},{"key":"9_CR11","doi-asserted-by":"publisher","first-page":"569","DOI":"10.1109\/TMRB.2020.3033670","volume":"2","author":"A Roberti","year":"2020","unstructured":"Roberti, A., Piccinelli, N., Meli, D., Muradore, R., Fiorini, P.: Improving rigid 3-D calibration for robotic surgery. IEEE Trans. Med. Robot. Bionics 2, 569\u2013573 (2020). https:\/\/doi.org\/10.1109\/TMRB.2020.3033670","journal-title":"IEEE Trans. Med. Robot. Bionics"},{"key":"9_CR12","doi-asserted-by":"publisher","first-page":"1707","DOI":"10.1109\/TBME.2004.831542","volume":"51","author":"AM Okamura","year":"2004","unstructured":"Okamura, A.M., Simone, C., O\u2019Leary, M.D.: Force modeling for needle insertion into soft tissue. IEEE Trans. Biomed. Eng. 51, 1707\u20131716 (2004). https:\/\/doi.org\/10.1109\/TBME.2004.831542","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"9_CR13","doi-asserted-by":"publisher","first-page":"38","DOI":"10.3390\/s18020561","volume":"18","author":"CJ Yang","year":"2018","unstructured":"Yang, C.J., Xie, Y., Liu, S., Sun, D.: Force modeling, identification, and feedback control of robot-assisted needle insertion: a survey of the literature. Sensors 18, 38 (2018). https:\/\/doi.org\/10.3390\/s18020561","journal-title":"Sensors"},{"key":"9_CR14","doi-asserted-by":"crossref","unstructured":"Lehmann, T., Rossa, C., Usmani, N., Sloboda, R., Tavakoli, M.: A real-time estimator for needle deflection during insertion into soft tissue based on adaptive modeling of needle-tissue interactions. IEEE\/ASME Trans. Mechatron., 1\u20131 (2016)","DOI":"10.1109\/LRA.2016.2527065"},{"key":"9_CR15","doi-asserted-by":"crossref","unstructured":"Webster, R.J., Cowan, N.J., Chirikjian, G., Okamura, A.M.: Nonholonomic modeling\nof needle steering. Int. J. Robot. Res. 25, 509\u2013525\n(2006)","DOI":"10.1177\/0278364906065388"}],"container-title":["Lecture Notes in Computer Science","Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-89098-8_9","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,17]],"date-time":"2021-10-17T10:41:41Z","timestamp":1634467301000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-030-89098-8_9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021]]},"ISBN":["9783030890971","9783030890988"],"references-count":15,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-89098-8_9","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2021]]},"assertion":[{"value":"18 October 2021","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ICIRA","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Intelligent Robotics and Applications","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Yantai","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"China","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2021","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"22 October 2021","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"25 October 2021","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"14","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"icira2021","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/www.icira2021.org\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}