{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,4]],"date-time":"2026-07-04T19:17:08Z","timestamp":1783192628639,"version":"3.54.6"},"reference-count":42,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100017607","name":"Shenzhen Municipal Fundamental Research Program","doi-asserted-by":"publisher","award":["JCYJ20220530153408019"],"award-info":[{"award-number":["JCYJ20220530153408019"]}],"id":[{"id":"10.13039\/501100017607","id-type":"DOI","asserted-by":"publisher"}]},{"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"}]},{"DOI":"10.13039\/501100004791","name":"Shenzhen Graduate School, Peking University","doi-asserted-by":"publisher","award":["CJGJZD20230724093303007"],"award-info":[{"award-number":["CJGJZD20230724093303007"]}],"id":[{"id":"10.13039\/501100004791","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004791","name":"Shenzhen Graduate School, Peking University","doi-asserted-by":"publisher","award":["KJZD20240903101259001"],"award-info":[{"award-number":["KJZD20240903101259001"]}],"id":[{"id":"10.13039\/501100004791","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100017622","name":"Shenzhen Research and Development Program","doi-asserted-by":"publisher","award":["JCYJ20200109114812361"],"award-info":[{"award-number":["JCYJ20200109114812361"]}],"id":[{"id":"10.13039\/501100017622","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100018904","name":"Beijing Xisike Clinical Oncology Research Foundation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100018904","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100015956","name":"Special Project for Research and Development in Key areas of Guangdong Province","doi-asserted-by":"publisher","award":["2025B1111020001"],"award-info":[{"award-number":["2025B1111020001"]}],"id":[{"id":"10.13039\/501100015956","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["clinicalkey.com","clinicalkey.com.au","clinicalkey.es","clinicalkey.fr","clinicalkey.jp","elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Computer Methods and Programs in Biomedicine"],"published-print":{"date-parts":[[2026,9]]},"DOI":"10.1016\/j.cmpb.2026.109452","type":"journal-article","created":{"date-parts":[[2026,5,16]],"date-time":"2026-05-16T00:23:28Z","timestamp":1778891008000},"page":"109452","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["Ultrasound-guided robotic percutaneous puncture for liver tumors with respiratory gating via attention-enhanced Siamese networks"],"prefix":"10.1016","volume":"284","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1880-4202","authenticated-orcid":false,"given":"Tiexiang","family":"Wen","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Quan","family":"Zeng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhengyu","family":"Yang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4510-5984","authenticated-orcid":false,"given":"Ying","family":"Wu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3360-9563","authenticated-orcid":false,"given":"Duanming","family":"Du","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3232-6796","authenticated-orcid":false,"given":"Shoujun","family":"Zhou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"3","key":"10.1016\/j.cmpb.2026.109452_bib0001","first-page":"229","article-title":"Global cancer statistics 2022: GLOBOCAN estimates of incidence and mortality worldwide for 36 cancers in 185 countries","volume":"74","author":"Bray","year":"2024","journal-title":"CA Cancer J. Clin."},{"issue":"15","key":"10.1016\/j.cmpb.2026.109452_bib0002","doi-asserted-by":"crossref","first-page":"1450","DOI":"10.1056\/NEJMra1713263","article-title":"Hepatocellular carcinoma","volume":"380","author":"Villanueva","year":"2019","journal-title":"N. Engl. J. Med."},{"issue":"6","key":"10.1016\/j.cmpb.2026.109452_bib0003","doi-asserted-by":"crossref","first-page":"1752","DOI":"10.1053\/j.gastro.2008.02.090","article-title":"Diagnosis and treatment of hepatocellular carcinoma","volume":"134","author":"El-Serag","year":"2008","journal-title":"Gastroenterology"},{"issue":"3","key":"10.1016\/j.cmpb.2026.109452_bib0004","first-page":"99","article-title":"Innovative techniques for image-guided percutaneous puncture: navigating complex cases for successful outcomes","volume":"9","author":"Yasumoto","year":"2024","journal-title":"Interv. Radiol. (Higashimatsuyama)"},{"issue":"2","key":"10.1016\/j.cmpb.2026.109452_bib0005","doi-asserted-by":"crossref","first-page":"217","DOI":"10.1007\/s11548-022-02766-1","article-title":"Robotic system for accurate percutaneous puncture guided by 3D-2D ultrasound","volume":"18","author":"Lin","year":"2023","journal-title":"Int. J. Comput. Assist. Radiol. Surg."},{"issue":"1","key":"10.1016\/j.cmpb.2026.109452_bib0006","first-page":"89","article-title":"Evolution of robot-assisted ultrasound-guided breast biopsy systems","volume":"11","author":"Mahmoud","year":"2018","journal-title":"J. Radiat. Res. Appl. Si"},{"key":"10.1016\/j.cmpb.2026.109452_bib0007","doi-asserted-by":"crossref","first-page":"2489","DOI":"10.1007\/s10439-019-02319-9","article-title":"Review of robotic needle guide systems for percutaneous intervention","volume":"47","author":"Kulkarni","year":"2019","journal-title":"Ann. Biomed. Eng."},{"issue":"5","key":"10.1016\/j.cmpb.2026.109452_bib0008","doi-asserted-by":"crossref","first-page":"535","DOI":"10.1016\/j.media.2008.06.002","article-title":"Robotic assistance for ultrasound-guided prostate brachytherapy","volume":"12","author":"Fichtinger","year":"2008","journal-title":"Med. Image Anal."},{"issue":"2","key":"10.1016\/j.cmpb.2026.109452_bib0009","doi-asserted-by":"crossref","first-page":"180","DOI":"10.1002\/rcs.184","article-title":"Three-dimensional ultrasound-guided robotic needle placement: an experimental evaluation","volume":"4","author":"Boctor","year":"2008","journal-title":"Int. J. Med. Robot."},{"issue":"1","key":"10.1016\/j.cmpb.2026.109452_bib0010","doi-asserted-by":"crossref","first-page":"e1952","DOI":"10.1002\/rcs.1952","article-title":"Overlapping radiofrequency ablation planning and robot-assisted needle insertion for large liver tumors","volume":"15","author":"Liu","year":"2019","journal-title":"Int. J. Med. Robot."},{"issue":"6","key":"10.1016\/j.cmpb.2026.109452_bib0011","doi-asserted-by":"crossref","first-page":"3211","DOI":"10.1109\/TMECH.2021.3055902","article-title":"A mechanism-image fusion approach to calibration of an ultrasound-guided dual-arm robotic brachytherapy system","volume":"26","author":"Xiong","year":"2021","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"3","key":"10.1016\/j.cmpb.2026.109452_bib0012","doi-asserted-by":"crossref","first-page":"e2242","DOI":"10.1002\/rcs.2242","article-title":"A multiple closed-loops robotic calibration for accurate surgical puncture","volume":"17","author":"Zheng","year":"2021","journal-title":"Int J Med Robot."},{"issue":"3","key":"10.1016\/j.cmpb.2026.109452_bib0013","doi-asserted-by":"crossref","first-page":"2368","DOI":"10.1109\/TIE.2020.2973893","article-title":"A novel respiratory follow-up robotic system for thoracic-abdominal puncture","volume":"68","author":"Zheng","year":"2021","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"23","key":"10.1016\/j.cmpb.2026.109452_bib0014","doi-asserted-by":"crossref","first-page":"4857","DOI":"10.3390\/electronics12234857","article-title":"A precise calibration method for the robot-assisted percutaneous puncture system","volume":"12","author":"Li","year":"2023","journal-title":"Electronics"},{"issue":"3","key":"10.1016\/j.cmpb.2026.109452_bib0015","first-page":"580","article-title":"An adaptive control method and learning strategy for ultrasound-guided puncture robot","volume":"13","author":"Li","year":"2024","journal-title":"Electronics. (Basel)"},{"key":"10.1016\/j.cmpb.2026.109452_bib0016","doi-asserted-by":"crossref","DOI":"10.1016\/j.cmpb.2023.107995","article-title":"A robotic system for transthoracic puncture of pulmonary nodules based on gated respiratory compensation","volume":"244","author":"Li","year":"2024","journal-title":"Comput. Methods Programs Biomed."},{"issue":"4","key":"10.1016\/j.cmpb.2026.109452_bib0017","doi-asserted-by":"crossref","first-page":"14","DOI":"10.1109\/MSP.2010.936728","article-title":"Three-dimensional tissue deformation recovery and tracking","volume":"27","author":"Mountney","year":"2010","journal-title":"IEEE Signal Process. Mag."},{"issue":"6","key":"10.1016\/j.cmpb.2026.109452_bib0018","doi-asserted-by":"crossref","first-page":"2600","DOI":"10.1002\/mp.13554","article-title":"Two-dimensional ultrasound-computed tomography image registration for monitoring percutaneous hepatic intervention","volume":"46","author":"Pohlman","year":"2019","journal-title":"Med. Phys."},{"issue":"2","key":"10.1016\/j.cmpb.2026.109452_bib0019","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1016\/j.cmpb.2010.03.003","article-title":"Bulk modulus and volume variation measurement of the liver and the kidneys in vivo using abdominal kinetics during free breathing","volume":"100","author":"Hostettler","year":"2010","journal-title":"Comput. Methods Programs Biomed."},{"key":"10.1016\/j.cmpb.2026.109452_bib0020","first-page":"60","article-title":"Augmenting intraoperative ultrasound with preoperative magnetic resonance planning models for percutaneous renal access","volume":"11","author":"Li","year":"2012","journal-title":"Biomed. Eng."},{"key":"10.1016\/j.cmpb.2026.109452_bib0021","doi-asserted-by":"crossref","first-page":"58","DOI":"10.1016\/j.neucom.2014.01.059","article-title":"Augmenting interventional ultrasound using statistical shape model for guiding percutaneous nephrolithotomy: initial evaluation in pigs","volume":"144","author":"Li","year":"2014","journal-title":"Neurocomputing"},{"issue":"3","key":"10.1016\/j.cmpb.2026.109452_bib0022","doi-asserted-by":"crossref","first-page":"e2247","DOI":"10.1002\/rcs.2247","article-title":"Target localization during respiration motion based on LSTM: a pilot study on robotic puncture system","volume":"17","author":"Ma","year":"2021","journal-title":"Int. J. Med. Robot."},{"key":"10.1016\/j.cmpb.2026.109452_bib0023","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1016\/j.cmpb.2018.03.027","article-title":"Development of a robust and cost-effective 3D respiratory motion monitoring system using the kinect device: accuracy comparison with the conventional stereovision navigation system","volume":"160","author":"Bae","year":"2018","journal-title":"Comput. Methods Programs Biomed."},{"key":"10.1016\/j.cmpb.2026.109452_bib0024","doi-asserted-by":"crossref","first-page":"48","DOI":"10.1016\/j.ejmp.2020.04.003","article-title":"A CT-guided robotic needle puncture method for lung tumors with respiratory motion","volume":"73","author":"Wei","year":"2020","journal-title":"Phys. Med."},{"issue":"10","key":"10.1016\/j.cmpb.2026.109452_bib0025","doi-asserted-by":"crossref","first-page":"1605","DOI":"10.1007\/s11548-018-1780-0","article-title":"Ultrasound-based liver tracking utilizing a hybrid template\/optical flow approach","volume":"13","author":"Williamson","year":"2018","journal-title":"Int. J. Comput. Assist. Radiol. Surg."},{"key":"10.1016\/j.cmpb.2026.109452_bib0026","unstructured":"Luebke D., Grozea C. MICCAI CLUST 2014\u2014Bayesian real-time liver feature ultrasound tracking. In: MICCAI workshop: Challenge on Liver Ultrasound Tracking 2014, 37\u201344."},{"key":"10.1016\/j.cmpb.2026.109452_bib0027","doi-asserted-by":"crossref","first-page":"4","DOI":"10.1088\/1361-6560\/ac4fa1","article-title":"Fusion Siamese network with drift correction for target tracking in ultrasound sequences","volume":"67","author":"Wu","year":"2022","journal-title":"Phys. Med. Biol."},{"key":"10.1016\/j.cmpb.2026.109452_bib0028","series-title":"Proc. MICCAI workshop: Challenge on Liver Ultrasound Tracking","first-page":"20","article-title":"Motion tracking in 2D ultrasound using vessel models and robust optic-flow","author":"Maxim","year":"2015"},{"issue":"2","key":"10.1016\/j.cmpb.2026.109452_bib0029","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1109\/34.121791","article-title":"A method for registration of 3-D shapes","volume":"14","author":"Besl","year":"1992","journal-title":"IEEE Trans. Patt. Anal. Mach. Intell."},{"issue":"3","key":"10.1016\/j.cmpb.2026.109452_bib0030","doi-asserted-by":"crossref","first-page":"2368","DOI":"10.1109\/TIE.2020.2973893","article-title":"A novel respiratory follow-up robotic system for thoracic-abdominal puncture","volume":"68","author":"Zheng","year":"2021","journal-title":"IEEe Trans. Ind. Electron."},{"issue":"2","key":"10.1016\/j.cmpb.2026.109452_bib0031","doi-asserted-by":"crossref","first-page":"554","DOI":"10.1016\/j.ijrobp.2005.12.042","article-title":"Abdominal organ motion measured using 4D CT","volume":"65","author":"Brandner","year":"2006","journal-title":"Int. J. Radiat. Oncol. Biol. Phys."},{"issue":"4","key":"10.1016\/j.cmpb.2026.109452_bib0032","doi-asserted-by":"crossref","first-page":"939","DOI":"10.1016\/S0360-3016(98)00130-8","article-title":"Improvement of CT-based treatment-planning models of abdominal targets using static exhale imaging","volume":"41","author":"Balter","year":"1998","journal-title":"Int. J. Radiat. Oncol. Biol. Phys."},{"key":"10.1016\/j.cmpb.2026.109452_bib0033","series-title":"2018 IEEE\/CVF Conference on Computer Vision and Pattern Recognition","first-page":"7132","article-title":"Squeeze-and-excitation networks","author":"Hu","year":"2018"},{"issue":"11","key":"10.1016\/j.cmpb.2026.109452_bib0034","doi-asserted-by":"crossref","first-page":"4986","DOI":"10.1002\/mp.13152","article-title":"Evaluation of 2D and 3D ultrasound tracking algorithms and impact on ultrasound-guided liver radiotherapy margins","volume":"45","author":"De Luca","year":"2018","journal-title":"Med. Phys."},{"issue":"1","key":"10.1016\/j.cmpb.2026.109452_bib0035","first-page":"22","article-title":"Medical image segmentation: a review","volume":"2","author":"Patil","year":"2013","journal-title":"Int. J. Comput. Sci. Mob. Comput."},{"key":"10.1016\/j.cmpb.2026.109452_bib0036","doi-asserted-by":"crossref","unstructured":"Bertinetto L., Valmadre J., Henriques J.F., Vedaldi A., Torr P.H.S. Fully-convolutional Siamese networks for object tracking. Eprint arXiv:1606.09549 2016; 850\u2013865.","DOI":"10.1007\/978-3-319-48881-3_56"},{"issue":"1","key":"10.1016\/j.cmpb.2026.109452_bib0037","doi-asserted-by":"crossref","first-page":"218","DOI":"10.1002\/acm2.13137","article-title":"Accuracy and efficiency of respiratory gating comparable to deep inspiration breath hold for pancreatic cancer treatment","volume":"22","author":"Zeng","year":"2021","journal-title":"J. Appl. Clin. Med. Phys."},{"issue":"10","key":"10.1016\/j.cmpb.2026.109452_bib0038","doi-asserted-by":"crossref","first-page":"1440","DOI":"10.1016\/j.jvir.2018.01.002","article-title":"Evaluation of a CT-guided robotic system for precise percutaneous needle insertion","volume":"29","author":"Ben-David","year":"2018","journal-title":"J. Vasc. Interv. Radiol."},{"issue":"3","key":"10.1016\/j.cmpb.2026.109452_bib0039","doi-asserted-by":"crossref","first-page":"659","DOI":"10.1016\/S0360-3016(02)03941-X","article-title":"Respiratory gating for liver tumors: use in dose escalation","volume":"55","author":"Wagman","year":"2003","journal-title":"Int. J. Radiat. Oncol. Biol. Phys."},{"issue":"1116","key":"10.1016\/j.cmpb.2026.109452_bib0040","doi-asserted-by":"crossref","DOI":"10.1259\/bjr.20200859","article-title":"Intrafractional fiducial marker position variations in stereotactic liver radiotherapy during voluntary deep inspiration breath-hold","volume":"93","author":"Stick","year":"2020","journal-title":"Br. J. Radiol."},{"issue":"2","key":"10.1016\/j.cmpb.2026.109452_bib0041","doi-asserted-by":"crossref","first-page":"203","DOI":"10.1038\/s41592-020-01008-z","article-title":"nnU-Net: a self-configuring method for deep learning-based biomedical image segmentation","volume":"18","author":"Isensee","year":"2021","journal-title":"Nat. Methods"},{"key":"10.1016\/j.cmpb.2026.109452_bib0042","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1002\/mp.17450","article-title":"Multi-stage automatic and rapid ablation and needle trajectory planning method for CT-guided percutaneous liver tumor ablation","volume":"52","author":"Li","year":"2025","journal-title":"Med. Phys."}],"container-title":["Computer Methods and Programs in Biomedicine"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0169260726002063?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0169260726002063?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,7,4]],"date-time":"2026-07-04T19:05:40Z","timestamp":1783191940000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0169260726002063"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9]]},"references-count":42,"alternative-id":["S0169260726002063"],"URL":"https:\/\/doi.org\/10.1016\/j.cmpb.2026.109452","relation":{},"ISSN":["0169-2607"],"issn-type":[{"value":"0169-2607","type":"print"}],"subject":[],"published":{"date-parts":[[2026,9]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Ultrasound-guided robotic percutaneous puncture for liver tumors with respiratory gating via attention-enhanced Siamese networks","name":"articletitle","label":"Article Title"},{"value":"Computer Methods and Programs in Biomedicine","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.cmpb.2026.109452","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Published by Elsevier B.V.","name":"copyright","label":"Copyright"}],"article-number":"109452"}}