{"id":"https://openalex.org/W2146175757","doi":"https://doi.org/10.1109/biorob.2008.4762825","title":"Compensating for torsion windup in steerable needles","display_name":"Compensating for torsion windup in steerable needles","publication_year":2008,"publication_date":"2008-10-01","ids":{"openalex":"https://openalex.org/W2146175757","doi":"https://doi.org/10.1109/biorob.2008.4762825","mag":"2146175757","pmid":"https://pubmed.ncbi.nlm.nih.gov/20640198","pmcid":"https://www.ncbi.nlm.nih.gov/pmc/articles/2905605"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2008.4762825","doi":"https://doi.org/10.1109/biorob.2008.4762825","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2008.4762825","pdf_url":null,"source":{"id":"https://openalex.org/S4363608367","display_name":"IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)","issn_l":"2155-1774","issn":["2155-1774"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/2905605","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037529252","display_name":"Kyle B. Reed","orcid":"https://orcid.org/0000-0003-0848-8971","observed_orcids":["https://orcid.org/0000-0003-0848-8971"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kyle B. Reed","raw_affiliation_strings":["Department of Mechanical Engineering, Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA","Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD#TAB#","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5037529252"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":6.5242,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.97292899,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2008","issue":null,"first_page":"936","last_page":"941"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10704","display_name":"Advancements in Transdermal Drug Delivery","score":0.0010000000474974513,"subfield":{"id":"https://openalex.org/subfields/3003","display_name":"Pharmaceutical Science"},"field":{"id":"https://openalex.org/fields/30","display_name":"Pharmacology, Toxicology and Pharmaceutics"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T14189","display_name":"Intravenous Infusion Technology and Safety","score":0.000699999975040555,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/steerable-needles","display_name":"steerable needles","score":0.9200000166893005},{"id":"https://openalex.org/keywords/needle-steering","display_name":"needle steering","score":0.6100000143051147},{"id":"https://openalex.org/keywords/bevel-tip-needle","display_name":"bevel-tip needle","score":0.8299999833106995},{"id":"https://openalex.org/keywords/needle-insertion","display_name":"needle insertion","score":0.5830000042915344},{"id":"https://openalex.org/keywords/angle-sensor","display_name":"angle sensor","score":0.5080000162124634}],"concepts":[{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.6550847887992859},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41685158014297485},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3289915919303894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1727524697780609},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.13589414954185486},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08150634169578552},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06525459885597229}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/biorob.2008.4762825","doi":"https://doi.org/10.1109/biorob.2008.4762825","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2008.4762825","pdf_url":null,"source":{"id":"https://openalex.org/S4363608367","display_name":"IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)","issn_l":"2155-1774","issn":["2155-1774"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics","raw_type":"proceedings-article"},{"id":"pmid:20640198","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/20640198","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","raw_type":"Journal Article"},{"id":"pmh:oai:pubmedcentral.nih.gov:2905605","doi":null,"is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/2905605","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron","raw_type":"Text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.664.1772","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.664.1772","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://reedlab.eng.usf.edu/publications/reed2008torsion.pdf","raw_type":"text"},{"id":"pmh:oai:digitalcommons.usf.edu:egr_facpub-1118","doi":null,"is_oa":false,"landing_page_url":"https://digitalcommons.usf.edu/egr_facpub/118","pdf_url":null,"source":{"id":"https://openalex.org/S4377196272","display_name":"Digital Commons - University of South Florida (University of South Florida)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I2613432","host_organization_name":"University of South Florida","host_organization_lineage":["https://openalex.org/I2613432"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mechanical Engineering Faculty Publications","raw_type":"conference"},{"id":"pmh:oai:scholarcommons.usf.edu:egr_facpub-1118","doi":null,"is_oa":false,"landing_page_url":"https://scholarcommons.usf.edu/egr_facpub/118","pdf_url":null,"source":{"id":"https://openalex.org/S4377196272","display_name":"Digital Commons - University of South Florida (University of South Florida)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I2613432","host_organization_name":"University of South Florida","host_organization_lineage":["https://openalex.org/I2613432"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mechanical Engineering Faculty Publications","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:2905605","doi":null,"is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/2905605","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron","raw_type":"Text"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[{"display_name":"Affordable and clean energy","score":0.699999988079071,"id":"https://metadata.un.org/sdg/7"}],"study_designs":[],"awards":[{"id":"https://openalex.org/G5591680192","display_name":"Steering Flexible Needles in Soft Tissue","funder_award_id":"R01EB006435","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"}],"funders":[{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W111160664","https://openalex.org/W2015812850","https://openalex.org/W2036471941","https://openalex.org/W2068793240","https://openalex.org/W2069619466","https://openalex.org/W2090415875","https://openalex.org/W2107550832","https://openalex.org/W2109121052","https://openalex.org/W2115650576","https://openalex.org/W2123228603","https://openalex.org/W2154598371","https://openalex.org/W2156701162","https://openalex.org/W2157758913","https://openalex.org/W2180065899"],"related_works":["https://openalex.org/W2104424440","https://openalex.org/W2148809837","https://openalex.org/W4389666002","https://openalex.org/W2154598371","https://openalex.org/W7095912673","https://openalex.org/W2016997157","https://openalex.org/W2199871332","https://openalex.org/W2109090702","https://openalex.org/W2141933910","https://openalex.org/W2884089971"],"abstract_inverted_index":{"Long,":[0],"flexible,":[1],"bevel-tip":[2],"needles":[3],"curve":[4],"during":[5],"insertion":[6],"into":[7],"tissue,":[8],"and":[9,26,40],"rotations":[10,71],"of":[11,56,76],"the":[12,16,24,27,37,53,57,63,74,79,82,91,104,107,113,116],"needle":[13,28,38,58,105,117],"base":[14,39,70],"reorient":[15],"tip":[17,41],"to":[18,50,72,103,120],"steer":[19],"subsequent":[20],"insertions.":[21],"Friction":[22],"between":[23,36],"tissue":[25],"shaft,":[29],"however,":[30],"can":[31],"cause":[32],"a":[33],"severe":[34],"discrepancy":[35],"angles.":[42],"In":[43],"this":[44],"paper,":[45],"I":[46,93],"demonstrate":[47],"an":[48,95],"algorithm":[49,66,111],"properly":[51],"align":[52,73],"entire":[54],"length":[55],"using":[59],"torque":[60,88],"measured":[61],"at":[62],"base.":[64,92],"My":[65,109],"uses":[67],"several":[68],"intermediate":[69],"orientation":[75],"points":[77],"along":[78],"shaft":[80],"with":[81,85,98],"desired":[83],"angle,":[84],"minimal":[86],"remaining":[87],"exerted":[89],"by":[90,118],"performed":[94],"experimental":[96],"validation":[97],"four":[99],"angle":[100],"sensors":[101],"attached":[102],"throughout":[106,115],"tissue.":[108],"compensation":[110],"decreased":[112],"lag":[114],"up":[119],"88%.":[121]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-10-28T10:33:24.094632","created_date":"2016-06-24T00:00:00"}