{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,11]],"date-time":"2026-10-11T13:35:50Z","timestamp":1791725750679,"version":"4.3.4"},"reference-count":31,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2018,11,27]],"date-time":"2018-11-27T00:00:00Z","timestamp":1543276800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"name":"International Neurobionics Foundation"},{"DOI":"10.13039\/501100001659","name":"Forschungsgemeinschaft","doi-asserted-by":"publisher","award":["BU-2935\/1-1"],"award-info":[{"award-number":["BU-2935\/1-1"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J CARS"],"published-print":{"date-parts":[[2019,2]]},"DOI":"10.1007\/s11548-018-1890-8","type":"journal-article","created":{"date-parts":[[2018,11,26]],"date-time":"2018-11-26T22:15:13Z","timestamp":1543270513000},"page":"335-344","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Computer-assisted planning for a concentric tube robotic system in neurosurgery"],"prefix":"10.1007","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5213-6928","authenticated-orcid":false,"given":"Josephine","family":"Granna","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Arya","family":"Nabavi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jessica","family":"Burgner-Kahrs","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2018,11,27]]},"reference":[{"key":"1890_CR1","doi-asserted-by":"publisher","first-page":"1310","DOI":"10.1016\/j.acra.2007.07.016","volume":"14","author":"I Altrogge","year":"2007","unstructured":"Altrogge I, Preusser T, Kr\u00f6ger T, B\u00fcskens C, Pereira P, Schmidt D, Peitgen HO (2007) Multiscale optimization of the probe placement for radiofrequency ablation. Acad Radiol 14:1310\u201324","journal-title":"Acad Radiol"},{"issue":"9","key":"1890_CR2","doi-asserted-by":"publisher","first-page":"1543","DOI":"10.1007\/s11548-016-1517-x","volume":"12","author":"C Audigier","year":"2017","unstructured":"Audigier C, Mansi T, Delingette H, Rapaka S, Passerini T, Mihalef V, Jolly MP, Pop R, Diana M, Soler L, Kamen A, Comaniciu D, Ayache N (2017) Comprehensive preclinical evaluation of a multi-physics model of liver tumor radiofrequency ablation. Int J Comput Assist Radiol Surg 12(9):1543\u20131559","journal-title":"Int J Comput Assist Radiol Surg"},{"key":"1890_CR3","doi-asserted-by":"crossref","unstructured":"Baegert C, Villard C, Schreck P, Soler L (2007) Multi-criteria trajectory planning for hepatic radiofrequency ablation. In: Medical image computing and computer-assisted intervention\u2014MICCAI, pp 676\u2013684","DOI":"10.1007\/978-3-540-75759-7_82"},{"key":"1890_CR4","doi-asserted-by":"crossref","unstructured":"Baykal C, Torres LG, Alterovitz R (2015) Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning. In: IEEE international conference on intelligent robots and systems, pp 4381\u20134387","DOI":"10.1109\/IROS.2015.7353999"},{"key":"1890_CR5","unstructured":"Bedell C, Lock J, Gosline AH, Dupont PE (2012) Design optimization of concentric tube robots based on task and anatomical constraints. In: IEEE international conference on robotics and automation, pp 398\u2013403"},{"issue":"1","key":"1890_CR6","doi-asserted-by":"publisher","first-page":"67","DOI":"10.1109\/TRO.2014.2378431","volume":"31","author":"C Bergeles","year":"2015","unstructured":"Bergeles C, Gosline AH, Vasilyev NV, Codd PJ, del Nido PJ, Dupont PE (2015) Concentric tube robot design and optimization based on task and anatomical constraints. IEEE Trans Robot 31(1):67\u201384","journal-title":"IEEE Trans Robot"},{"key":"1890_CR7","doi-asserted-by":"crossref","unstructured":"Burdette EC, Rucker DC, Prakash P, Diederich CJ, Croom JM, Clarke C, Stolka P, Juang T, Boctor EM, Webster III RJ (2010) The ACUSITT ultrasonic ablator: the first steerable needle with an integrated interventional tool. In: SPIE medical imaging, pp 1\u201310","DOI":"10.1117\/12.845972"},{"key":"1890_CR8","doi-asserted-by":"crossref","unstructured":"Burgner J, Gilbert HB, Webster III RJ (2013) On the computational design of concentric tube robots: incorporating volume-based objectives. In: IEEE international conference on robotics and automation, pp 1193\u20131198","DOI":"10.1109\/ICRA.2013.6630723"},{"issue":"6","key":"1890_CR9","doi-asserted-by":"publisher","first-page":"1261","DOI":"10.1109\/TRO.2015.2489500","volume":"31","author":"J Burgner-Kahrs","year":"2015","unstructured":"Burgner-Kahrs J, Rucker DC, Choset H (2015) Continuum robots for medical applications: a survey. IEEE Trans Robot 31(6):1261\u20131280","journal-title":"IEEE Trans Robot"},{"issue":"2","key":"1890_CR10","doi-asserted-by":"publisher","first-page":"237","DOI":"10.1109\/TBME.2008.2010383","volume":"56","author":"CCR Chen","year":"2009","unstructured":"Chen CCR, Miga MI, Galloway RL (2009) Optimizing electrode placement using finite-element models in radiofrequency ablation treatment planning. IEEE Trans Biomed Eng 56(2):237\u2013245","journal-title":"IEEE Trans Biomed Eng"},{"issue":"1","key":"1890_CR11","doi-asserted-by":"publisher","first-page":"138","DOI":"10.1109\/TRO.2015.2504981","volume":"32","author":"DB Comber","year":"2016","unstructured":"Comber DB, Slightam JE, Gervasi VR, Neimat JS, Barth EJ (2016) Design, additive manufacture, and control of a pneumatic MR-compatible needle driver. IEEE Trans Robot 32(1):138\u2013149","journal-title":"IEEE Trans Robot"},{"issue":"1","key":"1890_CR12","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.ejor.2016.04.030","volume":"255","author":"M Delorme","year":"2015","unstructured":"Delorme M, Iori M, Martello S (2015) Bin packing and cutting stock problems: mathematical models and exact algorithms. Eur J Oper Res 255(1):1\u201320","journal-title":"Eur J Oper Res"},{"key":"1890_CR13","unstructured":"Granna J, Graf A, Nabavi A, Burgner-Kahrs J (2017) A manual actuation system for laser induced thermal therapy of malignant brain tumors. In: Proceedings of the annual meeting of the german society for computer- and robot-assisted surgery, pp 125\u2013130"},{"key":"1890_CR14","first-page":"557","volume-title":"Lecture Notes in Computer Science","author":"Josephine Granna","year":"2017","unstructured":"Granna J, Nabavi A, Burgner-Kahrs J (2017) Toward computer-assisted planning for interstitial laser ablation of malignant brain tumors using a tubular continuum robot. In: Medical image computing and computer-assisted intervention\u2014MICCAI, pp 557\u2013565"},{"key":"1890_CR15","doi-asserted-by":"crossref","unstructured":"Graves C, Slocum A, Gupta R, Walsh CJ (2012) Towards a compact robotically steerable thermal ablation probe. In: IEEE international conference on robotics and automation, pp 709\u2013714","DOI":"10.1109\/ICRA.2012.6225365"},{"key":"1890_CR16","doi-asserted-by":"crossref","unstructured":"Ha J, Park FC, Dupont PE (2014) Achieving elastic stability of concentric tube robots through optimization of tube precurvature. In: IEEE\/RSJ international conference on intelligent robots and systems, pp 864\u2013870","DOI":"10.1109\/IROS.2014.6942661"},{"issue":"2","key":"1890_CR17","doi-asserted-by":"publisher","first-page":"155","DOI":"10.1007\/s11548-009-0303-4","volume":"5","author":"LA Kahrs","year":"2010","unstructured":"Kahrs LA, Burgner J, Klenzner T, Raczkowsky J, Schipper J, W\u00f6rn H (2010) Planning and simulation of microsurgical laser bone ablation. Int J Comput Assist Radiol Surg 5(2):155\u2013162","journal-title":"Int J Comput Assist Radiol Surg"},{"key":"1890_CR18","doi-asserted-by":"crossref","unstructured":"Kapoor A, Li M, Wood B (2011) Mixed variable optimization for radio frequency ablation planning. In: SPIE medical imaging, pp 1\u20137","DOI":"10.1117\/12.876499"},{"key":"1890_CR19","doi-asserted-by":"crossref","unstructured":"Kennedy J, Eberhart R (1995) Particle swarm optimization. In: IEEE international conference on neural networks, pp 1942\u20131948","DOI":"10.1109\/ICNN.1995.488968"},{"issue":"4","key":"1890_CR20","doi-asserted-by":"publisher","first-page":"1077","DOI":"10.1109\/TBME.2014.2385307","volume":"62","author":"G Li","year":"2015","unstructured":"Li G, Su H, Cole GA, Shang W, Harrington K, Camilo A, Pilitsis JG, Fischer GS (2015) Robotic system for MRI-guided stereotactic neurosurgery. IEEE Trans Biomed Eng 62(4):1077\u20131088","journal-title":"IEEE Trans Biomed Eng"},{"issue":"3","key":"1890_CR21","doi-asserted-by":"publisher","first-page":"490","DOI":"10.1109\/TITB.2006.872076","volume":"10","author":"ES McCreedy","year":"2006","unstructured":"McCreedy ES, Cheng R, Hemler PF, Viswanathan A, Wood BJ, McAuliffe MJ (2006) Radio frequency ablation registration, segmentation, and fusion tool. IEEE Trans Inf Technol Biomed 10(3):490\u2013496","journal-title":"IEEE Trans Inf Technol Biomed"},{"key":"1890_CR22","doi-asserted-by":"publisher","first-page":"69","DOI":"10.1007\/3-540-28137-1_5","volume":"167","author":"B Mensel","year":"2006","unstructured":"Mensel B, Weigel C, Hosten N (2006) Laser-induced thermotherapy. Recent Res Cancer Res 167:69\u201375","journal-title":"Recent Res Cancer Res"},{"issue":"4","key":"1890_CR23","doi-asserted-by":"publisher","first-page":"892","DOI":"10.1109\/TBME.2012.2218655","volume":"60","author":"JW Motkoski","year":"2013","unstructured":"Motkoski JW, Yang FW, Lwu SHH, Sutherland GR (2013) Toward robot-assisted neurosurgical lasers. IEEE Trans Biomed Eng 60(4):892\u2013898","journal-title":"IEEE Trans Biomed Eng"},{"issue":"6","key":"1890_CR24","doi-asserted-by":"publisher","first-page":"1545","DOI":"10.1109\/TCBB.2014.2323065","volume":"11","author":"A Mukhopadhyay","year":"2014","unstructured":"Mukhopadhyay A, Mandal M (2014) Identifying non-redundant gene markers from microarray data: a multiobjective variable length PSO-based approach. IEEE Trans Comput Biol Bioinform 11(6):1545\u20135963","journal-title":"IEEE Trans Comput Biol Bioinform"},{"issue":"3","key":"1890_CR25","doi-asserted-by":"publisher","first-page":"920","DOI":"10.1109\/JBHI.2013.2287202","volume":"18","author":"H Ren","year":"2014","unstructured":"Ren H, Campos-Nanez E, Yaniv Z, Banovac F, Abeledo H, Hata N, Cleary K (2014) Treatment planning and image guidance for radiofrequency ablation of large tumors. IEEE J Biomed Health Inf 18(3):920\u2013928","journal-title":"IEEE J Biomed Health Inf"},{"issue":"1","key":"1890_CR26","doi-asserted-by":"publisher","first-page":"36","DOI":"10.1016\/j.compbiomed.2014.03.004","volume":"49","author":"H Ren","year":"2014","unstructured":"Ren H, Guo W, Sam Ge S, Lim W (2014) Coverage planning in computer-assisted ablation based on genetic algorithm. Comput Biol Med 49(1):36\u201345","journal-title":"Comput Biol Med"},{"issue":"3","key":"1890_CR27","first-page":"1","volume":"10","author":"M Rezapour","year":"2016","unstructured":"Rezapour M, Leuthardt E, Gorlewicz LJ (2016) Design of a steerable guide for laser interstitial thermal therapy of brain tumors. J Med Dev 10(3):1\u20132","journal-title":"J Med Dev"},{"key":"1890_CR28","doi-asserted-by":"crossref","unstructured":"Su B, Tang J, Liao H (2015) Automatic laser ablation control algorithm for an novel endoscopic laser ablation end effector for precision neurosurgery. In: IEEE international conference on intelligent robots and systems, pp 4362\u20134367","DOI":"10.1109\/IROS.2015.7353996"},{"key":"1890_CR29","doi-asserted-by":"crossref","unstructured":"Swaney PJ, Burgner J, Pheiffer TS, Rucker DC, Gilbert HB, Ondrake JE, Simpson AL, Burdette EC, Miga MI, Webster III RJ (2012) Tracked 3D ultrasound targeting with an active Cannula. In: SPIE medical imaging, pp 1\u20139","DOI":"10.1117\/12.912021"},{"issue":"6","key":"1890_CR30","doi-asserted-by":"publisher","first-page":"1133","DOI":"10.1007\/s11548-016-1398-z","volume":"11","author":"S Tani","year":"2016","unstructured":"Tani S, Tatli S, Hata N, Garcia-Rojas X, Olubiyi OI, Silverman SG, Tokuda J (2016) Three-dimensional quantitative assessment of ablation margins based on registration of pre- and post-procedural MRI and distance map. Int J Comput Assist Radiol Surg 11(6):1133\u20131142","journal-title":"Int J Comput Assist Radiol Surg"},{"issue":"4","key":"1890_CR31","first-page":"1","volume":"42","author":"B Xue","year":"2014","unstructured":"Xue B, Ma X, Wang H, Gu J, Li Y (2014) Improved variable-length particle swarm optimization for structure-adjustable extreme learning machine. Control Intell Syst 42(4):1\u20139","journal-title":"Control Intell Syst"}],"container-title":["International Journal of Computer Assisted Radiology and Surgery"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11548-018-1890-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-018-1890-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-018-1890-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,2,8]],"date-time":"2020-02-08T13:09:19Z","timestamp":1581167359000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11548-018-1890-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,11,27]]},"references-count":31,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2019,2]]}},"alternative-id":["1890"],"URL":"https:\/\/doi.org\/10.1007\/s11548-018-1890-8","relation":{},"ISSN":["1861-6410","1861-6429"],"issn-type":[{"value":"1861-6410","type":"print"},{"value":"1861-6429","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,11,27]]},"assertion":[{"value":"8 February 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"14 November 2018","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 November 2018","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with ethical standards"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"This article does not contain any studies with human participants or animals performed by any of the authors.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}},{"value":"Informed consent was obtained from all individual participants included in the study.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Informed consent"}}]}}