{"entities":{"Q1737682":{"pageid":1748423,"ns":120,"title":"Item:Q1737682","lastrevid":53406209,"modified":"2026-01-24T22:07:43Z","type":"item","id":"Q1737682","labels":{"en":{"language":"en","value":"Geometric control of 3D needle steering in soft-tissue"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7047099"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1737682$91944D12-12E9-48EE-9843-21F733C1684F","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"beefd2b9d104ece0bda4e9bc983d05d4a87e8552","datavalue":{"value":{"text":"Geometric control of 3D needle steering in soft-tissue","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1737682$6EAD040F-58FD-4842-8E75-83D2B67283F4","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"37925b95a82ac0c017e759a1826cb0a6bcd79135","datavalue":{"value":"1415.93081","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1737682$54C7D90B-4C9B-4F4B-97D5-DB3D1E507A62","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"f0239db40b253084f2dca21f72c34b0db16b9441","datavalue":{"value":{"entity-type":"item","numeric-id":1737677,"id":"Q1737677"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1737682$3AFC1730-A76D-42D7-8E4E-E3E67E32029A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"85f63b6e4722b19a4d90ca05944e10349b16d1e2","datavalue":{"value":{"entity-type":"item","numeric-id":1737678,"id":"Q1737678"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1737682$24D57F4F-79DF-483B-A793-C2AEB05B294F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e24454ca5a02d7e63021c942579eec434895530a","datavalue":{"value":{"entity-type":"item","numeric-id":1737679,"id":"Q1737679"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1737682$7FA3DBFE-A768-4AE6-8954-1E86DA7D28D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"531188dd1cfa9749e2ef235fc8ea5768a413ca28","datavalue":{"value":{"entity-type":"item","numeric-id":1737680,"id":"Q1737680"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1737682$64333D5B-67CA-484D-85C6-D111700029D2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"3abc8a3774b6091f8c09e1280c7ed1c326e04d19","datavalue":{"value":{"entity-type":"item","numeric-id":1737681,"id":"Q1737681"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1737682$5DE031E2-B1F6-432B-BB19-2CF11C67024E","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"69a11602bb4f474f716dc259849d1837f4cd9e2e","datavalue":{"value":{"entity-type":"item","numeric-id":161901,"id":"Q161901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1737682$97A61562-B902-41F4-AF46-BCAC08522A71","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"a5935bb4f070aa8014d987a25d24fc56c18ba30a","datavalue":{"value":{"time":"+2019-04-24T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1737682$DF34FAD5-C098-4249-94FB-B025114B2061","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"35b92b8344dc327143d1380d8581d7bac679bf18","datavalue":{"value":"https://www.pure.ed.ac.uk/ws/files/78358454/Geometric_control_of_3d_needle_steering_in_soft_tissue.pdf","type":"string"},"datatype":"url"},"type":"statement","id":"Q1737682$0B6BEBFD-B41D-415B-BCA5-B8C515BF1AC7","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"216a608e3fa79d664fb5f28a72edf15852141160","datavalue":{"value":"93B27","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1737682$F7A0233E-7C2C-42A6-966E-EAB5EA73E26C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1737682$60D2F954-D102-4EA7-9BFE-ED3A7B927D69","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0ba2842931f306df7115450868bb0fb7d07d2a0c","datavalue":{"value":"93B17","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1737682$ED9D0927-D3BE-49A6-AC68-DC124728A919","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1737682$CBC3713A-96BA-4CB9-ACC4-707DC40EE667","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"48c3a33115a1e0effb6698ed3ec550f43565a22f","datavalue":{"value":"7047099","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1737682$720BAA03-71F1-4E87-B8A8-406BC4612BE2","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f8147ce19b78ad0cfacadbb5f0152c22fb797a79","datavalue":{"value":"geometric approaches","type":"string"},"datatype":"string"},"type":"statement","id":"Q1737682$BC89C293-2C10-48B1-B76F-C2112E2F1B41","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e6397b2deaca1c5655a9d362ce6cb1394844b12b","datavalue":{"value":"medical applications","type":"string"},"datatype":"string"},"type":"statement","id":"Q1737682$54E85B6F-8FBA-404B-A2EE-24C9CB575BAC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7ad8e5a485a07d17fc47fb9ee7b40cf5212797e8","datavalue":{"value":"autonomous control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1737682$BA542E7A-2202-4024-AFAE-AF0D7E87189F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"960fc0c758470d5194eed1ddd4e08c3c6a3258cc","datavalue":{"value":"robot control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1737682$1DCE072F-360A-4A50-BC17-2DAF85BB4E1A","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1737682$F463DA56-3587-47B9-9935-A79C2CA1596E","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"51b6fb6a01a3eeb21ed1ec0749b0e1afcf4bd67a","datavalue":{"value":"W2905545599","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1737682$D4198658-8423-4C3D-890C-88B0798E5A99","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"eb668a9ee836cb382fcd317f73577a474cdb4630","datavalue":{"value":{"entity-type":"item","numeric-id":1810402,"id":"Q1810402"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1737682$D9640300-A64D-43E7-ACAB-24BF7FCCDDC4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6fa7b9e8ccd5fbee1ff96136816cf3e2281296c7","datavalue":{"value":{"entity-type":"item","numeric-id":4031519,"id":"Q4031519"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1737682$88C54CA3-A729-43D4-A2ED-7E45F74A1559","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"408ddd20bf57c3863f4b16a72d48d54c185be0b3","datavalue":{"value":{"entity-type":"item","numeric-id":3309568,"id":"Q3309568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1737682$FE736F88-8670-4D8D-A669-5F0878373D13","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"cd50bf2a2f56388087c9ad9c11d315cd912ac8f7","datavalue":{"value":"Q128784014","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1737682$DFA812B8-A55A-4716-BEC4-D7B946B18F60","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"daf588367d0d0ff59bbaf0bfa6119e30752be61c","datavalue":{"value":"10.1016/J.AUTOMATICA.2018.11.018","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1737682$20B24D2D-DA99-4FC2-80E4-570C29DFE0B4","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a3d3ce60cd3850daad6fc59b0191ff23771e5c44","datavalue":{"value":{"entity-type":"item","numeric-id":2193351,"id":"Q2193351"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"cef86ada7018f1c1f495fc9df5e1223cefbb83c1","datavalue":{"value":{"amount":"+0.7432446479797363","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1737682$7DFAD000-51F4-43C2-B254-46DBDAD8C83A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d113dc8cb09fe390e9d748c0840380953dc4fad6","datavalue":{"value":{"entity-type":"item","numeric-id":3020429,"id":"Q3020429"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8224448d640012990b640efa93cc1c179c9f5df9","datavalue":{"value":{"amount":"+0.7382394075393677","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1737682$DEF509DE-AAA1-4850-B811-178A3FABE7E3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"dcd7673fcf8433e7e35a4624b9e7a246724836da","datavalue":{"value":{"entity-type":"item","numeric-id":6161760,"id":"Q6161760"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"37e1dad2289307efa0b1ee98a44c3cd45170cbea","datavalue":{"value":{"amount":"+0.6902080178260803","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1737682$D1040B1C-561D-4CAF-89E8-189387A4D46C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e3e89d49b3ff2ab4ad570afd1320aa978f5cb999","datavalue":{"value":{"entity-type":"item","numeric-id":3079503,"id":"Q3079503"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fe100f256bd86743886afac9bf11e08014d92223","datavalue":{"value":{"amount":"+0.6714560985565186","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1737682$6DCDEE48-61BA-4355-8AD2-F7C1BDBB01AD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5ddc5de79ce88e8da5ba657f0cd51561684a3834","datavalue":{"value":{"entity-type":"item","numeric-id":5861137,"id":"Q5861137"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"76b0d7fad24a59d244d89afe8223f9769279e832","datavalue":{"value":{"amount":"+0.6650366187095642","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1737682$A0104E26-D69F-4E0F-B889-22D643B08926","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1737682","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1737682"}}}}}