Evidence map›Paper›PMID 40958888›Full record

ArticleIEEE robotics and automation letters2025

High-Precision Autonomous Control of Flexible Needles via Real-Time Finite Element Simulation and Cross-Entropy Optimization.

Yanzhou Wang, Chang Chang, Junling Mei, Simon Leonard, Russell Taylor, Iulian Iordachita

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in IEEE robotics and automation letters, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it
0cells of the map it votes in
0citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

6 authors.

Yanzhou WangDepartment of Mechanical Engineering and the Laboratory of Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Chang ChangDepartment of Mechanical Engineering and the Laboratory of Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Junling MeiDepartment of Mechanical Engineering and the Laboratory of Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Simon LeonardDepartment of Computer Science and the Laboratory of Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Russell TaylorDepartment of Computer Science and the Laboratory of Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Iulian IordachitaDepartment of Mechanical Engineering and the Laboratory of Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.

Funding

Open Software Platform for Data-Driven Image-Guided Robotic InterventionsR01EB020667 · NIBIB · BRIGHAM AND WOMEN'S HOSPITAL · PI DIAZ-MERCADO, YANCY, KRIEGER, AXEL · 2015 to 2024
$4.1M
Adaptive Percutaneous Prostate Interventions using Sensorized NeedleR01CA235134 · NCI · BRIGHAM AND WOMEN'S HOSPITAL · PI Nobuhiko Hata, IULIAN IOAN IORDACHITA · 2019 to 2026
$3.6M
Robot-assisted catheter placement with novel shape-sensing stylet to facilitate adaptive image guided pelvic brachytherapyR01EB036015 · NIBIB · BRIGHAM AND WOMEN'S HOSPITAL · PI Robert A. Cormack, IULIAN IOAN IORDACHITA · 2024 to 2026
$1.9M
NCI NIH HHS R01 CA235134NIBIB NIH HHS R01 EB020667NIBIB NIH HHS R01 EB036015
6 · The paper itself

Abstract

This paper presents a unified framework for autonomous flexible needle control in soft tissues using real-time finite element (FE) simulation and cross-entropy (CE) optimization. The method combines a sampling-based model predictive controller (MPC) for trajectory tracking with a kinematic-based bang-bang strategy to coordinate needle insertion, lateral adjustments, and bevel rotations. Sparse electromagnetic (EM) tracking feedback enables needle state reconstruction and compensates for model uncertainties. Experiments in plastisol and

Identifiers

PMID40958888
PMCPMC12435176

What OpenQuestion holds

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Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.