{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,21]],"date-time":"2026-03-21T07:32:12Z","timestamp":1774078332526,"version":"3.50.1"},"reference-count":49,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"name":"Research Grants Council","award":["CUHK 14217822"],"award-info":[{"award-number":["CUHK 14217822"]}]},{"name":"Research Grants Council","award":["CUHK 14207823"],"award-info":[{"award-number":["CUHK 14207823"]}]},{"name":"Research Grants Council","award":["CUHK 14211425"],"award-info":[{"award-number":["CUHK 14211425"]}]},{"name":"Research Grants Council","award":["T45-401\/22-N"],"award-info":[{"award-number":["T45-401\/22-N"]}]},{"name":"Research Grants Council","award":["AoE\/E-407\/24-N"],"award-info":[{"award-number":["AoE\/E-407\/24-N"]}]},{"name":"Innovation and Technology Commission of Hong Kong","award":["ITS\/235\/22"],"award-info":[{"award-number":["ITS\/235\/22"]}]},{"name":"Innovation and Technology Commission of Hong Kong","award":["MHP\/096\/22"],"award-info":[{"award-number":["MHP\/096\/22"]}]},{"name":"Innovation and Technology Commission of Hong Kong","award":["ITS\/224\/23"],"award-info":[{"award-number":["ITS\/224\/23"]}]},{"name":"Innovation and Technology Commission of Hong Kong","award":["ITS\/225\/23"],"award-info":[{"award-number":["ITS\/225\/23"]}]},{"name":"Multi-scale Medical Robotics Center"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2026]]},"DOI":"10.1109\/tro.2026.3661718","type":"journal-article","created":{"date-parts":[[2026,2,6]],"date-time":"2026-02-06T20:53:07Z","timestamp":1770411187000},"page":"1448-1467","source":"Crossref","is-referenced-by-count":0,"title":["A Single Hydraulic Bellows-Based MRI-Safe Robotic Needle Driver Capable of Independent and Coupled Needle Translation and Rotation"],"prefix":"10.1109","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8031-1356","authenticated-orcid":false,"given":"Yufu","family":"Qiu","sequence":"first","affiliation":[{"name":"Department of Mechanical and Automation Engineering and T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6587-2737","authenticated-orcid":false,"given":"Haiyang","family":"Fang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering and T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kwan Kit","family":"Lin","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering and T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9386-5497","authenticated-orcid":false,"given":"Shing Shin","family":"Cheng","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering and T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-bioeng-070909-105249"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1055\/s-0043-110011"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2020.3020926"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2014.2367233"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2015.2476556"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2017.2697766"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2814637"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2969929"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1115\/1.4029506"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2618362"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/s10439-018-2051-5"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10342425"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2959805"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2577608"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2678542"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10801339"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2588884"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2019.8857260"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC48229.2022.9871596"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3007459"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1115\/FPMC2013-4481"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2018-85371"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2023.3322268"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.2226"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.136"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2007.4352899"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3132837"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2307633"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2504981"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1148\/rg.230102"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914526627"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1115\/1.4024832"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1148\/radiology.217.3.r00dc26633"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2013.01.020"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197534"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2012.04.007"},{"key":"ref37","volume-title":"Standard Practice for Marking Medical Devices and Other Items for Safety in the Magnetic Resonance Environment","year":"2013"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1007\/s10439-024-03503-2"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2016.7591879"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-022-07979-2"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2023.3322504"},{"issue":"5\/6","key":"ref42","first-page":"509","article-title":"Nonholonomic modeling of needle steering","volume":"25","author":"III","year":"2006","journal-title":"Int. J. Robot. Res."},{"key":"ref43","article-title":"Determination of signal-to-noise ratio (SNR) in diagnostic magnetic resonance imaging","author":"Association","year":"2001","journal-title":"NEMA Standards Publication MS 1-2001"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2020.2967375"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1016\/B978-0-12-814245-5.00022-0"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.2015.7251445"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3062984"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2004.831542"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2009.2036856"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/11297026\/11373207.pdf?arnumber=11373207","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,21]],"date-time":"2026-03-21T04:32:18Z","timestamp":1774067538000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11373207\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026]]},"references-count":49,"URL":"https:\/\/doi.org\/10.1109\/tro.2026.3661718","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026]]}}}