An optical tracker based robot registration and servoing method for ultrasound guided percutaneous renal access
Identifieur interne : 001D87 ( Main/Merge ); précédent : 001D86; suivant : 001D88An optical tracker based robot registration and servoing method for ultrasound guided percutaneous renal access
Auteurs : Dongwen Zhang [République populaire de Chine] ; Zhicheng Li [République populaire de Chine] ; Ken Chen [République populaire de Chine] ; Jing Xiong [République populaire de Chine] ; Xuping Zhang [République populaire de Chine] ; Lei Wang [République populaire de Chine]Source :
- BioMedical Engineering OnLine [ 1475-925X ] ; 2013.
Abstract
Robot-assisted needle steering facilitates the percutaneous renal access (PRA) for their accuracy and consistency over manual operation. However, inaccurate image-robot correspondence and uncertainties in robot parameters make the needle track deviate from the intrarenal target. This paper aims to simplify the image-tracker-robot registration procedure and improves the accuracy of needle alignment for robot assisted ultrasound-guided PRA.
First, a semi-automatic rigid registration is used for the alignment of the preoperative MR volume and the intraoperative orthogonal US slices. Passive markers are mounted both on US probe and robot end-effector, the planned puncture path is transferred from the MR volume frame into optical tracker frame. Tracker-robot correspondence and robot calibration are performed iteratively using a simplified scheme, both position and orientation information are incorporated to estimate the transformation matrix, only several key structural robot parameters and joint zero-positions are calibrated for simplicity in solving the inverse kinematic. Furthermore, an optical tracker feedback control is designed for compensating inaccuracies in robot parameters and tracker-robot correspondence, and improving the accuracy of needle alignment. The intervention procedure was implemented by a telemanipulated 5R1P robot, two experiments were conducted to validate the efficiency of robot-tracker registration method and the optical tracker feedback control, robot assisted needle insertion experiment was conducted on kidney phantom to evaluate the system performance.
The relative positioning accuracy of needle alignment is 0.24 ± 0.08 mm, the directional accuracy is 6.78 ± 1.65 × 10-4rad; the needle-target distance of needle insertion is 2.15 ± 0. 17 mm. The optical tracker feedback control method performs stable against wide range of angular disturbance over (0 ~ 0.4) radians, and the length disturbance over (0 ~ 100) mm.
The proposed optical tracker based robot registration and servoing method is capable of accurate three dimension needle operation for PRA procedure with improved precision and shortened time.
Url:
DOI: 10.1186/1475-925X-12-47
PubMed: 23705678
PubMed Central: 3679870
Links toward previous steps (curation, corpus...)
- to stream Pmc, to step Corpus: 001240
- to stream Pmc, to step Curation: 001240
- to stream Pmc, to step Checkpoint: 001410
- to stream Ncbi, to step Merge: 002697
- to stream Ncbi, to step Curation: 002697
- to stream Ncbi, to step Checkpoint: 002697
Links to Exploration step
PMC:3679870Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">An optical tracker based robot registration and servoing method for ultrasound guided percutaneous renal access</title><author><name sortKey="Zhang, Dongwen" sort="Zhang, Dongwen" uniqKey="Zhang D" first="Dongwen" last="Zhang">Dongwen Zhang</name><affiliation wicri:level="1"><nlm:aff id="I1">Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055</wicri:regionArea><placeName><settlement type="city">Shenzhen</settlement><region type="province">Guangdong</region></placeName></affiliation><affiliation wicri:level="1"><nlm:aff id="I2">University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing 100049, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing 100049</wicri:regionArea><placeName><settlement type="city">Pékin</settlement></placeName></affiliation></author><author><name sortKey="Li, Zhicheng" sort="Li, Zhicheng" uniqKey="Li Z" first="Zhicheng" last="Li">Zhicheng Li</name><affiliation wicri:level="1"><nlm:aff id="I1">Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055</wicri:regionArea><placeName><settlement type="city">Shenzhen</settlement><region type="province">Guangdong</region></placeName></affiliation></author><author><name sortKey="Chen, Ken" sort="Chen, Ken" uniqKey="Chen K" first="Ken" last="Chen">Ken Chen</name><affiliation wicri:level="1"><nlm:aff id="I1">Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055</wicri:regionArea><placeName><settlement type="city">Shenzhen</settlement><region type="province">Guangdong</region></placeName></affiliation></author><author><name sortKey="Xiong, Jing" sort="Xiong, Jing" uniqKey="Xiong J" first="Jing" last="Xiong">Jing Xiong</name><affiliation wicri:level="1"><nlm:aff id="I1">Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055</wicri:regionArea><placeName><settlement type="city">Shenzhen</settlement><region type="province">Guangdong</region></placeName></affiliation></author><author><name sortKey="Zhang, Xuping" sort="Zhang, Xuping" uniqKey="Zhang X" first="Xuping" last="Zhang">Xuping Zhang</name><affiliation wicri:level="1"><nlm:aff id="I1">Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055</wicri:regionArea><placeName><settlement type="city">Shenzhen</settlement><region type="province">Guangdong</region></placeName></affiliation></author><author><name sortKey="Wang, Lei" sort="Wang, Lei" uniqKey="Wang L" first="Lei" last="Wang">Lei Wang</name><affiliation wicri:level="1"><nlm:aff id="I1">Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055</wicri:regionArea><placeName><settlement type="city">Shenzhen</settlement><region type="province">Guangdong</region></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">23705678</idno><idno type="pmc">3679870</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3679870</idno><idno type="RBID">PMC:3679870</idno><idno type="doi">10.1186/1475-925X-12-47</idno><date when="2013">2013</date><idno type="wicri:Area/Pmc/Corpus">001240</idno><idno type="wicri:Area/Pmc/Curation">001240</idno><idno type="wicri:Area/Pmc/Checkpoint">001410</idno><idno type="wicri:Area/Ncbi/Merge">002697</idno><idno type="wicri:Area/Ncbi/Curation">002697</idno><idno type="wicri:Area/Ncbi/Checkpoint">002697</idno><idno type="wicri:Area/Main/Merge">001D87</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">An optical tracker based robot registration and servoing method for ultrasound guided percutaneous renal access</title><author><name sortKey="Zhang, Dongwen" sort="Zhang, Dongwen" uniqKey="Zhang D" first="Dongwen" last="Zhang">Dongwen Zhang</name><affiliation wicri:level="1"><nlm:aff id="I1">Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055</wicri:regionArea><placeName><settlement type="city">Shenzhen</settlement><region type="province">Guangdong</region></placeName></affiliation><affiliation wicri:level="1"><nlm:aff id="I2">University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing 100049, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing 100049</wicri:regionArea><placeName><settlement type="city">Pékin</settlement></placeName></affiliation></author><author><name sortKey="Li, Zhicheng" sort="Li, Zhicheng" uniqKey="Li Z" first="Zhicheng" last="Li">Zhicheng Li</name><affiliation wicri:level="1"><nlm:aff id="I1">Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055</wicri:regionArea><placeName><settlement type="city">Shenzhen</settlement><region type="province">Guangdong</region></placeName></affiliation></author><author><name sortKey="Chen, Ken" sort="Chen, Ken" uniqKey="Chen K" first="Ken" last="Chen">Ken Chen</name><affiliation wicri:level="1"><nlm:aff id="I1">Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055</wicri:regionArea><placeName><settlement type="city">Shenzhen</settlement><region type="province">Guangdong</region></placeName></affiliation></author><author><name sortKey="Xiong, Jing" sort="Xiong, Jing" uniqKey="Xiong J" first="Jing" last="Xiong">Jing Xiong</name><affiliation wicri:level="1"><nlm:aff id="I1">Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055</wicri:regionArea><placeName><settlement type="city">Shenzhen</settlement><region type="province">Guangdong</region></placeName></affiliation></author><author><name sortKey="Zhang, Xuping" sort="Zhang, Xuping" uniqKey="Zhang X" first="Xuping" last="Zhang">Xuping Zhang</name><affiliation wicri:level="1"><nlm:aff id="I1">Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055</wicri:regionArea><placeName><settlement type="city">Shenzhen</settlement><region type="province">Guangdong</region></placeName></affiliation></author><author><name sortKey="Wang, Lei" sort="Wang, Lei" uniqKey="Wang L" first="Lei" last="Wang">Lei Wang</name><affiliation wicri:level="1"><nlm:aff id="I1">Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055</wicri:regionArea><placeName><settlement type="city">Shenzhen</settlement><region type="province">Guangdong</region></placeName></affiliation></author></analytic><series><title level="j">BioMedical Engineering OnLine</title><idno type="eISSN">1475-925X</idno><imprint><date when="2013">2013</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><sec><title>Background</title><p>Robot-assisted needle steering facilitates the percutaneous renal access (PRA) for their accuracy and consistency over manual operation. However, inaccurate image-robot correspondence and uncertainties in robot parameters make the needle track deviate from the intrarenal target. This paper aims to simplify the image-tracker-robot registration procedure and improves the accuracy of needle alignment for robot assisted ultrasound-guided PRA.</p></sec><sec><title>Methods</title><p>First, a semi-automatic rigid registration is used for the alignment of the preoperative MR volume and the intraoperative orthogonal US slices. Passive markers are mounted both on US probe and robot end-effector, the planned puncture path is transferred from the MR volume frame into optical tracker frame. Tracker-robot correspondence and robot calibration are performed iteratively using a simplified scheme, both position and orientation information are incorporated to estimate the transformation matrix, only several key structural robot parameters and joint zero-positions are calibrated for simplicity in solving the inverse kinematic. Furthermore, an optical tracker feedback control is designed for compensating inaccuracies in robot parameters and tracker-robot correspondence, and improving the accuracy of needle alignment. The intervention procedure was implemented by a telemanipulated 5R1P robot, two experiments were conducted to validate the efficiency of robot-tracker registration method and the optical tracker feedback control, robot assisted needle insertion experiment was conducted on kidney phantom to evaluate the system performance.</p></sec><sec><title>Results</title><p>The relative positioning accuracy of needle alignment is 0.24 ± 0.08 mm, the directional accuracy is 6.78 ± 1.65 × 10<sup>-4</sup>rad; the needle-target distance of needle insertion is 2.15 ± 0. 17 mm. The optical tracker feedback control method performs stable against wide range of angular disturbance over (0 ~ 0.4) radians, and the length disturbance over (0 ~ 100) mm.</p></sec><sec><title>Conclusions</title><p>The proposed optical tracker based robot registration and servoing method is capable of accurate three dimension needle operation for PRA procedure with improved precision and shortened time.</p></sec></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Bzostek" uniqKey="Bzostek">Bzostek</name></author><author><name sortKey="Schreiner, S" uniqKey="Schreiner S">S Schreiner</name></author><author><name sortKey="Barnes, Ac" uniqKey="Barnes A">AC Barnes</name></author><author><name sortKey="Cadeddu, Ja" uniqKey="Cadeddu J">JA Cadeddu</name></author><author><name sortKey="Roberts, Ww" uniqKey="Roberts W">WW Roberts</name></author><author><name sortKey="Anderson, Jh" uniqKey="Anderson J">JH Anderson</name></author><author><name sortKey="Taylor, Rh" uniqKey="Taylor R">RH Taylor</name></author><author><name sortKey="Kavoussi, L" uniqKey="Kavoussi L">L Kavoussi</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Su, Lm" uniqKey="Su L">LM Su</name></author><author><name sortKey="Stoianovici, D" uniqKey="Stoianovici D">D Stoianovici</name></author><author><name sortKey="Jarrett, Tw" uniqKey="Jarrett T">TW Jarrett</name></author><author><name sortKey="Patriciu, A" uniqKey="Patriciu A">A Patriciu</name></author><author><name sortKey="Roberts, Ww" uniqKey="Roberts W">WW Roberts</name></author><author><name sortKey="Cadeddu, Ja" uniqKey="Cadeddu J">JA Cadeddu</name></author><author><name sortKey="Ramakumar, S" uniqKey="Ramakumar S">S Ramakumar</name></author><author><name sortKey="Solomon, Sb" uniqKey="Solomon S">SB Solomon</name></author><author><name sortKey="Kavoussi, Lr" uniqKey="Kavoussi L">LR Kavoussi</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Lee, Jy" uniqKey="Lee J">JY Lee</name></author><author><name sortKey="Choi, Bi" uniqKey="Choi B">BI Choi</name></author><author><name sortKey="Chung, Ye" uniqKey="Chung Y">YE Chung</name></author><author><name sortKey="Kim, Mw" uniqKey="Kim M">MW Kim</name></author><author><name sortKey="Kim, Sh" uniqKey="Kim S">SH Kim</name></author><author><name sortKey="Han, Jk" uniqKey="Han J">JK Han</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Zhou, Y" uniqKey="Zhou Y">Y Zhou</name></author><author><name sortKey="Thiruvalluvan, K" uniqKey="Thiruvalluvan K">K Thiruvalluvan</name></author><author><name sortKey="Krzeminski, L" uniqKey="Krzeminski L">L Krzeminski</name></author><author><name sortKey="Moore, Wh" uniqKey="Moore W">WH Moore</name></author><author><name sortKey="Xu, Z" uniqKey="Xu Z">Z Xu</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Patriciu, A" uniqKey="Patriciu A">A Patriciu</name></author><author><name sortKey="Solomon, Sb" uniqKey="Solomon S">SB Solomon</name></author><author><name sortKey="Kavoussi, Lr" uniqKey="Kavoussi L">LR Kavoussi</name></author><author><name sortKey="Stoianovici, D" uniqKey="Stoianovici D">D Stoianovici</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Loser, Mh" uniqKey="Loser M">MH Loser</name></author><author><name sortKey="Navab, N" uniqKey="Navab N">N Navab</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hosseini, Mm" uniqKey="Hosseini M">MM Hosseini</name></author><author><name sortKey="Hassanpour, A" uniqKey="Hassanpour A">A Hassanpour</name></author><author><name sortKey="Farzan, R" uniqKey="Farzan R">R Farzan</name></author><author><name sortKey="Yousefi, A" uniqKey="Yousefi A">A Yousefi</name></author><author><name sortKey="Afrasiabi, Ma" uniqKey="Afrasiabi M">MA Afrasiabi</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hong, J" uniqKey="Hong J">J Hong</name></author><author><name sortKey="Dohi, T" uniqKey="Dohi T">T Dohi</name></author><author><name sortKey="Hashizume, M" uniqKey="Hashizume M">M Hashizume</name></author><author><name sortKey="Konishi, K" uniqKey="Konishi K">K Konishi</name></author><author><name sortKey="Hata, N" uniqKey="Hata N">N Hata</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Deng, S" uniqKey="Deng S">S Deng</name></author><author><name sortKey="Jiang, L" uniqKey="Jiang L">L Jiang</name></author><author><name sortKey="Cao, Y" uniqKey="Cao Y">Y Cao</name></author><author><name sortKey="Liang, P" uniqKey="Liang P">P Liang</name></author><author><name sortKey="Ren, H" uniqKey="Ren H">H Ren</name></author><author><name sortKey="Tong, L" uniqKey="Tong L">L Tong</name></author><author><name sortKey="Wang, Y" uniqKey="Wang Y">Y Wang</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Kettenbach, J" uniqKey="Kettenbach J">J Kettenbach</name></author><author><name sortKey="Kronreif, G" uniqKey="Kronreif G">G Kronreif</name></author><author><name sortKey="Figl, M" uniqKey="Figl M">M Figl</name></author><author><name sortKey="Furst, M" uniqKey="Furst M">M Fürst</name></author><author><name sortKey="Birkfellner, W" uniqKey="Birkfellner W">W Birkfellner</name></author><author><name sortKey="Hanel, R" uniqKey="Hanel R">R Hanel</name></author><author><name sortKey="Bergmann, H" uniqKey="Bergmann H">H Bergmann</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Bachta, W" uniqKey="Bachta W">W Bachta</name></author><author><name sortKey="Krupa, A" uniqKey="Krupa A">A Krupa</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Novotny, P" uniqKey="Novotny P">P Novotny</name></author><author><name sortKey="Howe, R" uniqKey="Howe R">R Howe</name></author><author><name sortKey="Dupont, P" uniqKey="Dupont P">P Dupont</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Zhicheng, L" uniqKey="Zhicheng L">L Zhicheng</name></author><author><name sortKey="Kai, L" uniqKey="Kai L">L Kai</name></author><author><name sortKey="Hailun, Z" uniqKey="Hailun Z">Z Hailun</name></author><author><name sortKey="Ken, C" uniqKey="Ken C">C Ken</name></author><author><name sortKey="Jia, G" uniqKey="Jia G">G Jia</name></author><author><name sortKey="Lei, W" uniqKey="Lei W">W Lei</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Zhicheng, L" uniqKey="Zhicheng L">L Zhicheng</name></author><author><name sortKey="Jacob, C" uniqKey="Jacob C">C Jacob</name></author><author><name sortKey="Jia, G" uniqKey="Jia G">G Jia</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Yushkevich, Pa" uniqKey="Yushkevich P">PA Yushkevich</name></author><author><name sortKey="Piven, J" uniqKey="Piven J">J Piven</name></author><author><name sortKey="Hazlett, Hc" uniqKey="Hazlett H">HC Hazlett</name></author><author><name sortKey="Smith, Rg" uniqKey="Smith R">RG Smith</name></author><author><name sortKey="Ho, S" uniqKey="Ho S">S Ho</name></author><author><name sortKey="Gee, Jc" uniqKey="Gee J">JC Gee</name></author><author><name sortKey="Gerig, G" uniqKey="Gerig G">G Gerig</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Besl, Pj" uniqKey="Besl P">PJ Besl</name></author><author><name sortKey="Mckay, Nd" uniqKey="Mckay N">ND McKay</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Walker, Mw" uniqKey="Walker M">MW Walker</name></author><author><name sortKey="Shao, L" uniqKey="Shao L">L Shao</name></author><author><name sortKey="Volz, Ra" uniqKey="Volz R">RA Volz</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Haytai, Sa" uniqKey="Haytai S">SA Haytai</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Wu, C H" uniqKey="Wu C">C-H Wu</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Sunnanbo, A" uniqKey="Sunnanbo A">A Sunnanbo</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Bajracharya, M" uniqKey="Bajracharya M">M Bajracharya</name></author><author><name sortKey="Dicicco, M" uniqKey="Dicicco M">M Dicicco</name></author><author><name sortKey="Backes, P" uniqKey="Backes P">P Backes</name></author><author><name sortKey="Nickels, K" uniqKey="Nickels K">K Nickels</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Wiles, Ad" uniqKey="Wiles A">AD Wiles</name></author><author><name sortKey="Thompson, Dg" uniqKey="Thompson D">DG Thompson</name></author><author><name sortKey="Frantz, Dd" uniqKey="Frantz D">DD Frantz</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Reed, Kb" uniqKey="Reed K">KB Reed</name></author><author><name sortKey="Majewicz, A" uniqKey="Majewicz A">A Majewicz</name></author><author><name sortKey="Kallem, V" uniqKey="Kallem V">V Kallem</name></author><author><name sortKey="Alterovitz, R" uniqKey="Alterovitz R">R Alterovitz</name></author><author><name sortKey="Goldberg, K" uniqKey="Goldberg K">K Goldberg</name></author><author><name sortKey="Cowan, Nj" uniqKey="Cowan N">NJ Cowan</name></author><author><name sortKey="Okamura, Am" uniqKey="Okamura A">AM Okamura</name></author></analytic></biblStruct></listBibl></div1></back></TEI></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Merge
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001D87 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 001D87 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Merge
|type= RBID
|clé= PMC:3679870
|texte= An optical tracker based robot registration and servoing method for ultrasound guided percutaneous renal access
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Merge/RBID.i -Sk "pubmed:23705678" \
| HfdSelect -Kh $EXPLOR_AREA/Data/Main/Merge/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |