{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,21]],"date-time":"2026-09-21T14:51:42Z","timestamp":1790002302074,"version":"4.0.1"},"reference-count":32,"publisher":"Springer Science and Business Media LLC","issue":"10","license":[{"start":{"date-parts":[[2018,6,20]],"date-time":"2018-06-20T00:00:00Z","timestamp":1529452800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2018,6,20]],"date-time":"2018-06-20T00:00:00Z","timestamp":1529452800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/100000002","name":"National Institutes of Health","doi-asserted-by":"publisher","award":["R01CA111288"],"award-info":[{"award-number":["R01CA111288"]}],"id":[{"id":"10.13039\/100000002","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000002","name":"National Institutes of Health","doi-asserted-by":"publisher","award":["R01CA166379"],"award-info":[{"award-number":["R01CA166379"]}],"id":[{"id":"10.13039\/100000002","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000002","name":"National Institutes of Health","doi-asserted-by":"publisher","award":["R01EB020667"],"award-info":[{"award-number":["R01EB020667"]}],"id":[{"id":"10.13039\/100000002","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Ann Biomed Eng"],"published-print":{"date-parts":[[2018,10]]},"DOI":"10.1007\/s10439-018-2070-2","type":"journal-article","created":{"date-parts":[[2018,6,20]],"date-time":"2018-06-20T14:15:58Z","timestamp":1529504158000},"page":"1582-1594","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":32,"title":["Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion"],"prefix":"10.1007","volume":"46","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1084-4242","authenticated-orcid":false,"given":"Marek","family":"Wartenberg","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Joseph","family":"Schornak","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Katie","family":"Gandomi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Paulo","family":"Carvalho","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chris","family":"Nycz","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Niravkumar","family":"Patel","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Iulian","family":"Iordachita","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Clare","family":"Tempany","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nobuhiko","family":"Hata","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junichi","family":"Tokuda","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gregory S.","family":"Fischer","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2018,6,20]]},"reference":[{"issue":"2","key":"2070_CR1","doi-asserted-by":"publisher","first-page":"542","DOI":"10.1109\/TRO.2012.2230991","volume":"29","author":"M Abayazid","year":"2013","unstructured":"Abayazid, M., R. J. Roesthuis, R. Reilink, and S. Misra. Integrating deflection models and image feedback for real-time flexible needle steering. IEEE Trans. Rob. 29(2):542\u2013553, 2013.","journal-title":"IEEE Trans. Rob."},{"issue":"4","key":"2070_CR2","doi-asserted-by":"publisher","first-page":"1007","DOI":"10.1016\/j.urology.2010.02.025","volume":"76","author":"B Ahn","year":"2010","unstructured":"Ahn, B., J. Kim, L. Ian, K. Rha, and H. Kim. Mechanical property characterization of prostate cancer using minimally motorized indenter in an ex vivo indentation experiment. Urology 76(4):1007\u20131011, 2010.","journal-title":"Urology"},{"issue":"6","key":"2070_CR3","doi-asserted-by":"publisher","first-page":"953","DOI":"10.1109\/TRO.2004.829483","volume":"20","author":"A Bettini","year":"2004","unstructured":"Bettini, A., S. Land, A. Okamura, and G. Hager. Vision assisted control for manipulation using virtual fixtures. IEEE Trans. Rob. 20(6):953\u2013966, 2004.","journal-title":"IEEE Trans. Rob."},{"key":"2070_CR4","doi-asserted-by":"crossref","unstructured":"Elayaperumal, S., J. H. Bae, D. Christensen, M. R. Cutkosky, B. L. Daniel, R. J. Black, J. M. Costa, F. Faridian, and B. Moslehi. MR-compatible biopsy needle with enhanced tip force sensing. IEEE World Haptics Conference, pp. 109\u2013114, 2013.","DOI":"10.1109\/WHC.2013.6548393"},{"key":"2070_CR5","unstructured":"Elayaperumal, S., J. H. Bae, B. L. Daniel, M. R. Cutkosky. Detection of membrane puncture with haptic feedback using a tip-force sensing needle. IEEE International Conference on Intelligent Robots and Systems, pp. 3975\u20133981, 2014."},{"issue":"4","key":"2070_CR6","doi-asserted-by":"publisher","first-page":"1117","DOI":"10.1227\/NEU.0b013e3181ec1551","volume":"67","author":"JA Engh","year":"2010","unstructured":"Engh, J. A., D. S. Minhas, D. Kondziolka, and C. N. Riviere. Percutaneous intercerebral navigation by duty-cycled spinning of flexible bevel tipped needles. Neurosurgery 67(4):1117\u20131123, 2010.","journal-title":"Neurosurgery"},{"issue":"2","key":"2070_CR7","first-page":"98","volume":"12","author":"S Eslami","year":"2015","unstructured":"Eslami, S., W. Shang, G. Li, N. Patel, G. S. Fischer, J. Tokuda, N. Hata, C. M. Tempany, and I. Iordachita. In-bore prostate transperineal interventions with an MRI-guided parallel manipulator: system development and preliminary evaluation. Int. J. Med. Robot. Comput. Assist. Surg. 12(2):98\u2013109, 2015.","journal-title":"Int. J. Med. Robot. Comput. Assist. Surg."},{"key":"2070_CR8","doi-asserted-by":"publisher","first-page":"363","DOI":"10.1007\/3-540-45103-X_50","volume-title":"Image Analysis","author":"G Farneback","year":"2003","unstructured":"Farneback, G. Two-frame motion estimation based on polynomial expansion. In: Image Analysis, edited by J. Bigun, and T. Gustavsson. Heidelberg: Springer, 2003, pp. 363\u2013370."},{"issue":"4\u20135","key":"2070_CR9","first-page":"213","volume":"4","author":"K Hoyt","year":"2001","unstructured":"Hoyt, K., B. Casteneda, M. Zhang, P. Nigwekar, P. A. di Sant\u2019Agnese, J. V. Joseph, J. Strang, D. Rubens, and J. Parker. Tissue elasticity properties as biomarkers for prostate cancer. Cancer Biomark. 4(4\u20135):213\u2013225, 2001.","journal-title":"Cancer Biomark."},{"issue":"4","key":"2070_CR10","doi-asserted-by":"publisher","first-page":"2031","DOI":"10.1118\/1.3692179","volume":"39","author":"N Hungr","year":"2012","unstructured":"Hungr, N., J. Long, V. Beix, and J. Troccaz. A realistic deformable prostate phantom for multimodal imaging and needle-insertion procedures. Med. Phys. 39(4):2031\u20132041, 2012.","journal-title":"Med. Phys."},{"key":"2070_CR11","doi-asserted-by":"publisher","first-page":"329","DOI":"10.3109\/10929080109146302","volume":"6","author":"M Jacopec","year":"2001","unstructured":"Jacopec, M., S. J. Harris, F. Rodrigues y Baena, P. Gomes, J. Cobb, and B. Davies. The first clinical application of a hands-on robotic knee surgery system. Comput. Aided Surg. 6:329\u2013339, 2001.","journal-title":"Comput. Aided Surg."},{"key":"2070_CR12","unstructured":"Li, G. Robotic System Development for Precision MRI-Guided Needle-Based Interventions. PhD Dissertation, Department of Mechanical Engineering, June 2016."},{"key":"2070_CR13","doi-asserted-by":"crossref","unstructured":"Megali, G., O. Tonet, C. Stefanini, M. Boccadoro, V. Papaspyropoulos, L. Angelini, and P. Dario. A computer-assisted robotic ultrasound-guided biopsy system for video-assisted surgery. Medical Image Computing and Computer-Assisted Intervention, (MICCAI), pp. 343\u2013350, 2016.","DOI":"10.1007\/3-540-45468-3_41"},{"key":"2070_CR14","unstructured":"Minhas, D. S., J. A. Engh, M. M. Fenske, and C. N. Riviere. Modeling of needle steering via duty-cycled spinning. IEEE International Conference on Engineering in Medicine and Biology Society (EMBC), pp. 2756\u20132759, 2017."},{"key":"2070_CR15","doi-asserted-by":"crossref","unstructured":"Nycz, C. J., R. Gondokaryono, P. Carvalho, N. Patel, M. Wartenberg, J. G. Pilitsis, and G. S. Fischer. Mechanical validation of an MRI compatible stereotactic neurosurgery robot in preparation for pre-clinical trials. International Conference on Intelligent Robots and Systems (IROS), 2017.","DOI":"10.1109\/IROS.2017.8205979"},{"issue":"51","key":"2070_CR16","doi-asserted-by":"publisher","first-page":"1707","DOI":"10.1109\/TBME.2004.831542","volume":"10","author":"AM Okamura","year":"2004","unstructured":"Okamura, A. M., C. Simone, and M. D. O\u2019Leary. Force modeling for needle insertion into soft tissue. IEEE Trans. Biomed. Eng. 10(51):1707\u20131716, 2004.","journal-title":"IEEE Trans. Biomed. Eng."},{"issue":"4","key":"2070_CR17","doi-asserted-by":"publisher","first-page":"551","DOI":"10.1109\/TOH.2014.2360185","volume":"7","author":"C Pacchierotti","year":"2014","unstructured":"Pacchierotti, C., M. Abayazid, S. Misra, and D. Prattichizzo. Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback. IEEE Trans. Haptics 7(4):551\u2013556, 2014.","journal-title":"IEEE Trans. Haptics"},{"key":"2070_CR18","unstructured":"Patel, N. A., T. van Katwijk, G. Li, P. Moreira, W. Shang, S. Misra, and G. S. Fischer. Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance. IEEE International Conference on Engineering in Medicine and Biology Society (EMBC), pp. 6687\u20136690, 2015."},{"issue":"8","key":"2070_CR19","doi-asserted-by":"publisher","first-page":"2915","DOI":"10.1118\/1.2218061","volume":"33","author":"T Podder","year":"2006","unstructured":"Podder, T., D. Clark, J. Sherman, D. Fuller, E. Messing, D. Rubens, J. Strang, R. Brasacchio, L. Liao, W. Ng, and Y. Yu. In vivo motion and force measurement of surgical needle intervention during prostate brachytherapy. Med. Phys. 33(8):2915\u20132922, 2006.","journal-title":"Med. Phys."},{"key":"2070_CR20","doi-asserted-by":"crossref","unstructured":"Prasad, S. K., M. Kitagawa, G. S. Fischer, J. Zand, M. A. Talamini, R. H. Taylor, and A. M. Okamura. A modular 2-DOF force-sensing instrument for laproscopic surgery. Medical Image Computing and Computer Assisted Interventions Conference (MICCAI), pp. 279\u2013286, 2013.","DOI":"10.1007\/978-3-540-39899-8_35"},{"issue":"3","key":"2070_CR21","doi-asserted-by":"publisher","first-page":"637","DOI":"10.1109\/TBME.2016.2565690","volume":"64","author":"C Rossa","year":"2017","unstructured":"Rossa, C., N. Usmani, R. Sloboda, and M. Tavakoli. A hand-held assistant for semiautomated percutaneous needle steering. IEEE Trans. Biomed. Eng. 64(3):637\u2013648, 2017.","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"2070_CR22","unstructured":"Schneider, O., J. Troccaz, O. Chavanon, and D. Blin. PADyC: a synergistic robot for cardiac puncturing. IEEE International Conference on Robotics and Automation (ICRA), pp. 2883\u20132888, 2000."},{"issue":"4","key":"2070_CR23","doi-asserted-by":"publisher","first-page":"1289","DOI":"10.1109\/TMECH.2013.2279775","volume":"19","author":"D Stoianovici","year":"2014","unstructured":"Stoianovici, D., C. Kim, G. Srimathveeravalli, P. Sebrecht, D. Petrisor, J. Coleman, S. B. Solomon, and H. Hricak. MRI-safe robot for endorectal prostate biopsy. IEEE Trans. Mechatron. 19(4):1289\u20131299, 2014.","journal-title":"IEEE Trans. Mechatron."},{"key":"2070_CR24","unstructured":"Swensen, J. P. and N. J. Cowan. Torsional dynamics compensation enhances robotic control of tip-steerable needles. IEEE International Conference on Robotics and Automation (ICRA), pp. 1601\u20131606, 2012."},{"issue":"4","key":"2070_CR25","doi-asserted-by":"publisher","first-page":"423","DOI":"10.1002\/rcs.274","volume":"5","author":"J Tokuda","year":"2009","unstructured":"Tokuda, J., G. S. Fischer, X. Papademetris, Z. Yaniv, L. Ibanex, P. Cheng, H. Liu, J. Blevins, J. Arata, A. J. Golby, T. Kapur, S. Pieper, E. C. Burdette, G. Fichtinger, C. M. Tempany, and N. Hata. OpenIGTLink: an open network protocol for image-guided therapy environment. International Journal of Medical Robotics 5(4):423\u2013434, 2009.","journal-title":"International Journal of Medical Robotics"},{"key":"2070_CR26","unstructured":"Tokuda, J., K. Tuncali, G. Li, N. Patel, T. Heffter, G. S. Fischer, I. Iordachita, E. C. Burdette, N. Hata, and C. Tempany. In-Bore MRI-Guided transperineal prostate biopsy using 4-DOF needle-guide manipulator. International Society for Magnetic Resonance in Medicine, 2016."},{"issue":"2","key":"2070_CR27","doi-asserted-by":"publisher","first-page":"101","DOI":"10.1016\/S1361-8415(98)80006-6","volume":"2","author":"J Troccaz","year":"1998","unstructured":"Troccaz, J., M. Peshkin, and B. Davies. Guiding systems for computer aided surgery: introducing synergistic devise and discussing the different approaches. Med. Image Anal. 2(2):101\u2013118, 1998.","journal-title":"Med. Image Anal."},{"issue":"1","key":"2070_CR28","doi-asserted-by":"publisher","first-page":"183","DOI":"10.1109\/TMECH.2011.2113187","volume":"17","author":"ZTH Tse","year":"2012","unstructured":"Tse, Z. T. H., H. Elhawary, M. Rea, B. Davies, I. Young, and M. Lamperth. Haptic needle unit for MR-guided biopsy and its control. IEEE Trans. Mechatron. 17(1):183\u2013187, 2012.","journal-title":"IEEE Trans. Mechatron."},{"key":"2070_CR29","doi-asserted-by":"crossref","unstructured":"Vigaru, B., D. Petrisor, A. Patriciu, D. Mazilu, and D. Stoianovici. MR compatible actuation for medical instrumentation. IEEE International Conference on Automation, Quality and Testing, Robotics, pp. 49\u201352, 2008.","DOI":"10.1109\/AQTR.2008.4588880"},{"issue":"10","key":"2070_CR30","doi-asserted-by":"publisher","first-page":"1361","DOI":"10.1177\/0278364914526627","volume":"33","author":"GJ Vrooijink","year":"2014","unstructured":"Vrooijink, G. J., M. Abayazid, S. Patil, R. Alterovitz, and S. Misra. Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images. Int. J. Robot. Res. 33(10):1361\u20131374, 2014.","journal-title":"Int. J. Robot. Res."},{"key":"2070_CR31","doi-asserted-by":"crossref","unstructured":"Wartenberg, M., J. Schornak, P. Carvalho, N. Patel, I. Iordachita, C. Tempany, N. Hata, J. Tokuda, and G. S. Fischer. Closed-loop autonomous needle steering during cooperatively controlled needle insertions for MRI-guided pelvic interventions. The 10th Hamlyn Symposium on Medical Robotics, pp. 33\u201334, 2017.","DOI":"10.31256\/HSMR2017.17"},{"issue":"5\u20136","key":"2070_CR32","doi-asserted-by":"publisher","first-page":"509","DOI":"10.1177\/0278364906065388","volume":"25","author":"J Webster","year":"2006","unstructured":"Webster, J., J. S. Kim, N. J. Cowan, G. S. Chirikjian, and A. M. Okamura. Nonholonomic modeling of needle steering. Int. J. Robot. Res. 25(5\u20136):509\u2013524, 2006.","journal-title":"Int. J. Robot. Res."}],"container-title":["Annals of Biomedical Engineering"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10439-018-2070-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10439-018-2070-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10439-018-2070-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,5,16]],"date-time":"2020-05-16T20:40:04Z","timestamp":1589661604000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10439-018-2070-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,6,20]]},"references-count":32,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2018,10]]}},"alternative-id":["2070"],"URL":"https:\/\/doi.org\/10.1007\/s10439-018-2070-2","relation":{},"ISSN":["0090-6964","1573-9686"],"issn-type":[{"value":"0090-6964","type":"print"},{"value":"1573-9686","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,6,20]]},"assertion":[{"value":"23 January 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"6 June 2018","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 June 2018","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}