{"id":"https://openalex.org/W2064982255","doi":"https://doi.org/10.1007/s10846-010-9455-2","title":"Robot-Assisted Needle Steering Using a Control Theoretic Approach","display_name":"Robot-Assisted Needle Steering Using a Control Theoretic Approach","publication_year":2010,"publication_date":"2010-08-31","ids":{"openalex":"https://openalex.org/W2064982255","doi":"https://doi.org/10.1007/s10846-010-9455-2","mag":"2064982255"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-010-9455-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-010-9455-2","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051931146","display_name":"Ali Asadian","orcid":null},"institutions":[{"id":"https://openalex.org/I2800925808","display_name":"London Health Sciences Centre","ror":"https://ror.org/037tz0e16","country_code":"CA","type":"funder","lineage":["https://openalex.org/I2800925808"]},{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Ali Asadian","raw_affiliation_strings":["Canadian Surgical Technologies & Advanced Robotics (CSTAR), London Health Sciences Centre, University Hospital, London, Ontario, Canada, N6A 5A5","Department of Electrical and Computer Engineering, The University of Western Ontario, London, Ontario, Canada, N6A 5B9"],"affiliations":[{"raw_affiliation_string":"Canadian Surgical Technologies & Advanced Robotics (CSTAR), London Health Sciences Centre, University Hospital, London, Ontario, Canada, N6A 5A5","institution_ids":["https://openalex.org/I2800925808"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, The University of Western Ontario, London, Ontario, Canada, N6A 5B9","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018767588","display_name":"Mehrdad R. Kermani","orcid":"https://orcid.org/0000-0003-0513-9485"},"institutions":[{"id":"https://openalex.org/I2800925808","display_name":"London Health Sciences Centre","ror":"https://ror.org/037tz0e16","country_code":"CA","type":"funder","lineage":["https://openalex.org/I2800925808"]},{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mehrdad R. Kermani","raw_affiliation_strings":["Canadian Surgical Technologies & Advanced Robotics (CSTAR), London Health Sciences Centre, University Hospital, London, Ontario, Canada, N6A 5A5","Department of Electrical and Computer Engineering, The University of Western Ontario, London, Ontario, Canada, N6A 5B9"],"affiliations":[{"raw_affiliation_string":"Canadian Surgical Technologies & Advanced Robotics (CSTAR), London Health Sciences Centre, University Hospital, London, Ontario, Canada, N6A 5A5","institution_ids":["https://openalex.org/I2800925808"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, The University of Western Ontario, London, Ontario, Canada, N6A 5B9","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032056508","display_name":"Rajni V. Patel","orcid":"https://orcid.org/0000-0003-3431-4617"},"institutions":[{"id":"https://openalex.org/I2800925808","display_name":"London Health Sciences Centre","ror":"https://ror.org/037tz0e16","country_code":"CA","type":"funder","lineage":["https://openalex.org/I2800925808"]},{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Rajni V. Patel","raw_affiliation_strings":["Canadian Surgical Technologies & Advanced Robotics (CSTAR), London Health Sciences Centre, University Hospital, London, Ontario, Canada, N6A 5A5","Department of Electrical and Computer Engineering, The University of Western Ontario, London, Ontario, Canada, N6A 5B9","Department of Surgery, The University of Western Ontario, London, Ontario, Canada, N6A 4V2"],"affiliations":[{"raw_affiliation_string":"Canadian Surgical Technologies & Advanced Robotics (CSTAR), London Health Sciences Centre, University Hospital, London, Ontario, Canada, N6A 5A5","institution_ids":["https://openalex.org/I2800925808"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, The University of Western Ontario, London, Ontario, Canada, N6A 5B9","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"Department of Surgery, The University of Western Ontario, London, Ontario, Canada, N6A 4V2","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5051931146"],"corresponding_institution_ids":["https://openalex.org/I125749732","https://openalex.org/I2800925808"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":1.5144,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.82477082,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"62","issue":"3-4","first_page":"397","last_page":"418"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/workspace","display_name":"Workspace","score":0.7001760005950928},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6598688960075378},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6474255919456482},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.6005990505218506},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5701969265937805},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.5387225151062012},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5138419270515442},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4562041759490967},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.423709511756897},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.41392430663108826},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39295250177383423},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35203099250793457},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.26122620701789856},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2598065733909607},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2539244294166565},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19871902465820312}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7001760005950928},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6598688960075378},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6474255919456482},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.6005990505218506},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5701969265937805},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.5387225151062012},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5138419270515442},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4562041759490967},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.423709511756897},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.41392430663108826},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39295250177383423},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35203099250793457},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.26122620701789856},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2598065733909607},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2539244294166565},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19871902465820312},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-010-9455-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-010-9455-2","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5600000023841858,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1521799189","https://openalex.org/W1540747714","https://openalex.org/W1979524061","https://openalex.org/W2002444764","https://openalex.org/W2014163332","https://openalex.org/W2036471941","https://openalex.org/W2037017016","https://openalex.org/W2090415875","https://openalex.org/W2097146511","https://openalex.org/W2099002310","https://openalex.org/W2101817128","https://openalex.org/W2104424440","https://openalex.org/W2107550832","https://openalex.org/W2115650576","https://openalex.org/W2118152376","https://openalex.org/W2121272278","https://openalex.org/W2121733891","https://openalex.org/W2138475205","https://openalex.org/W2146593008","https://openalex.org/W2153029808","https://openalex.org/W2165061586","https://openalex.org/W2180065899","https://openalex.org/W2885790575"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W2383775285","https://openalex.org/W2115970849"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}