{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,11]],"date-time":"2026-06-11T14:53:27Z","timestamp":1781189607084,"version":"3.54.1"},"reference-count":30,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2015,8,1]],"date-time":"2015-08-01T00:00:00Z","timestamp":1438387200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"funder":[{"name":"NI Medical Device Industrial Innovation"},{"name":"NSF Graduate Research Fellowship","award":["DGE-0937373"],"award-info":[{"award-number":["DGE-0937373"]}]},{"name":"NIH\/NIGMS Rutgers Biotechnology Training Program","award":["T32 GM008339"],"award-info":[{"award-number":["T32 GM008339"]}]},{"name":"NIH F31 Predoctoral Fellowship","award":["EB018191"],"award-info":[{"award-number":["EB018191"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2015,8]]},"DOI":"10.1109\/tro.2015.2452776","type":"journal-article","created":{"date-parts":[[2015,7,28]],"date-time":"2015-07-28T18:43:02Z","timestamp":1438108982000},"page":"1044-1053","source":"Crossref","is-referenced-by-count":47,"title":["The System Design and Evaluation of a 7-DOF Image-Guided Venipuncture Robot"],"prefix":"10.1109","volume":"31","author":[{"given":"Max L.","family":"Balter","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alvin I.","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Timothy J.","family":"Maguire","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5577-356X","authenticated-orcid":false,"given":"Martin L.","family":"Yarmush","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref30","doi-asserted-by":"crossref","first-page":"215","DOI":"10.1115\/1.4011045","article-title":"A kinematic notation for lower-pair mechanisms based on matrices","volume":"22","author":"denavit","year":"1955","journal-title":"ASME J Appl Mechan"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/365902"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1111\/anae.12294"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1155\/2012\/401613"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1080\/13645700701520735"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.817075"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1522-712X(1995)1:5<266::AID-IGS2>3.0.CO;2-8"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.817072"},{"key":"ref17","doi-asserted-by":"crossref","first-page":"746","DOI":"10.1109\/TMECH.2009.2011357","article-title":"A novel manipulator for percutaneous needle insertion: Design and experimentation","volume":"14","author":"patel","year":"2009","journal-title":"IEEE\/ASME Trans Mechatronics"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1142\/S0219519407002297"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-45468-3_74"},{"key":"ref28","first-page":"130","article-title":"Multiscale vessel enhancement filtering","author":"frangi","year":"1998","journal-title":"Proc Med Image Comput Comput -Assisted Intervention"},{"key":"ref4","doi-asserted-by":"crossref","DOI":"10.4103\/1947-489X.210971","article-title":"Needle stick injuries - an overview of the size of the problem, prevention and management","author":"zaidi","year":"2010"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2014.2322864"},{"key":"ref3","first-page":"10s","article-title":"Intravenous cannulation: Potential complications","volume":"12","author":"campbell","year":"1997","journal-title":"Professional Nurse (London England)"},{"key":"ref6","year":"0","journal-title":"31-9097 Phlebotomists"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/34.295913"},{"key":"ref5","doi-asserted-by":"crossref","first-page":"237","DOI":"10.1177\/216507999904700601","article-title":"Needlestick injuries among health care workers: A literature review","volume":"47","author":"porta","year":"1999","journal-title":"AAOHN J"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1097\/PEC.0b013e318163db5f"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1097\/01.CCM.0000260629.86351.A5"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.2309\/java.13-4-7"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1097\/PEC.0b013e3182037caf"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1309\/EXTW9LBM0CD7P9EV"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/MSPEC.2013.6565554"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.jen.2009.01.014"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1142\/S2339547813500064"},{"key":"ref24","article-title":"Camera calibration toolbox for Matlab","author":"bouguet","year":"2013"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1088\/0022-3727\/38\/15\/004"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1006\/uimg.1994.1006"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/34.879788"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/7177171\/07169572.pdf?arnumber=7169572","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,19]],"date-time":"2022-05-19T10:10:23Z","timestamp":1652955023000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/7169572\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,8]]},"references-count":30,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tro.2015.2452776","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,8]]}}}