{"id":"https://openalex.org/W4401922804","doi":"https://doi.org/10.1017/s0263574724000900","title":"Closed-loop control of a tendon-driven active needle for tip tracking at desired bending angle for high-dose-rate prostate brachytherapy","display_name":"Closed-loop control of a tendon-driven active needle for tip tracking at desired bending angle for high-dose-rate prostate brachytherapy","publication_year":2024,"publication_date":"2024-08-01","ids":{"openalex":"https://openalex.org/W4401922804","doi":"https://doi.org/10.1017/s0263574724000900","pmid":"https://pubmed.ncbi.nlm.nih.gov/39584068"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574724000900","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574724000900","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11581187/pdf/nihms-1993655.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030945910","display_name":"Samuel Lafreniere","orcid":null},"institutions":[{"id":"https://openalex.org/I117965899","display_name":"University of Hawai\u02bbi at M\u0101noa","ror":"https://ror.org/01wspgy28","country_code":"US","type":"education","lineage":["https://openalex.org/I117965899"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samuel Lafreniere","raw_affiliation_strings":["Department of Mechanical Engineering, University of Hawaii at Manoa","Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hawaii at Manoa","institution_ids":["https://openalex.org/I117965899"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI, USA","institution_ids":["https://openalex.org/I117965899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020615048","display_name":"Blayton Padasdao","orcid":null},"institutions":[{"id":"https://openalex.org/I117965899","display_name":"University of Hawai\u02bbi at M\u0101noa","ror":"https://ror.org/01wspgy28","country_code":"US","type":"education","lineage":["https://openalex.org/I117965899"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Blayton Padasdao","raw_affiliation_strings":["Department of Mechanical Engineering, University of Hawaii at Manoa","Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hawaii at Manoa","institution_ids":["https://openalex.org/I117965899"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI, USA","institution_ids":["https://openalex.org/I117965899"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012467528","display_name":"Bardia Konh","orcid":"https://orcid.org/0000-0001-9700-8751"},"institutions":[{"id":"https://openalex.org/I117965899","display_name":"University of Hawai\u02bbi at M\u0101noa","ror":"https://ror.org/01wspgy28","country_code":"US","type":"education","lineage":["https://openalex.org/I117965899"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Bardia Konh","raw_affiliation_strings":["Department of Mechanical Engineering, University of Hawaii at Manoa","Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI, USA"],"raw_orcid":"https://orcid.org/0000-0001-9700-8751","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hawaii at Manoa","institution_ids":["https://openalex.org/I117965899"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI, USA","institution_ids":["https://openalex.org/I117965899"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5012467528"],"corresponding_institution_ids":["https://openalex.org/I117965899"],"apc_list":null,"apc_paid":null,"fwci":0.1767,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46345265,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"42","issue":"8","first_page":"2511","last_page":"2527"},"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/T11291","display_name":"Intraocular Surgery and Lenses","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/2731","display_name":"Ophthalmology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9846000075340271,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/brachytherapy","display_name":"Brachytherapy","score":0.7230057120323181},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6116286516189575},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.4520091116428375},{"id":"https://openalex.org/keywords/prostate","display_name":"Prostate","score":0.44041240215301514},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43742263317108154},{"id":"https://openalex.org/keywords/prostate-cancer","display_name":"Prostate cancer","score":0.43195363879203796},{"id":"https://openalex.org/keywords/dosimetry","display_name":"Dosimetry","score":0.4245832562446594},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3906036615371704},{"id":"https://openalex.org/keywords/radiation-therapy","display_name":"Radiation therapy","score":0.35350167751312256},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3489757180213928},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.2836093008518219},{"id":"https://openalex.org/keywords/nuclear-medicine","display_name":"Nuclear medicine","score":0.26067569851875305},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.19888311624526978},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1809452474117279},{"id":"https://openalex.org/keywords/cancer","display_name":"Cancer","score":0.136714369058609},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11967039108276367}],"concepts":[{"id":"https://openalex.org/C2777416452","wikidata":"https://www.wikidata.org/wiki/Q896687","display_name":"Brachytherapy","level":3,"score":0.7230057120323181},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6116286516189575},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.4520091116428375},{"id":"https://openalex.org/C2776235491","wikidata":"https://www.wikidata.org/wiki/Q9625","display_name":"Prostate","level":3,"score":0.44041240215301514},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43742263317108154},{"id":"https://openalex.org/C2780192828","wikidata":"https://www.wikidata.org/wiki/Q181257","display_name":"Prostate cancer","level":3,"score":0.43195363879203796},{"id":"https://openalex.org/C75088862","wikidata":"https://www.wikidata.org/wiki/Q2291081","display_name":"Dosimetry","level":2,"score":0.4245832562446594},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3906036615371704},{"id":"https://openalex.org/C509974204","wikidata":"https://www.wikidata.org/wiki/Q180507","display_name":"Radiation therapy","level":2,"score":0.35350167751312256},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3489757180213928},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.2836093008518219},{"id":"https://openalex.org/C2989005","wikidata":"https://www.wikidata.org/wiki/Q214963","display_name":"Nuclear medicine","level":1,"score":0.26067569851875305},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.19888311624526978},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1809452474117279},{"id":"https://openalex.org/C121608353","wikidata":"https://www.wikidata.org/wiki/Q12078","display_name":"Cancer","level":2,"score":0.136714369058609},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11967039108276367},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1017/s0263574724000900","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574724000900","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmid:39584068","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39584068","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,"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":"Robotica","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11581187","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11581187","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11581187/pdf/nihms-1993655.pdf","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,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:11581187","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11581187","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11581187/pdf/nihms-1993655.pdf","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,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","score":0.4099999964237213,"display_name":"Good health and well-being"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401922804.pdf","grobid_xml":"https://content.openalex.org/works/W4401922804.grobid-xml"},"referenced_works_count":68,"referenced_works":["https://openalex.org/W1591462533","https://openalex.org/W1964735557","https://openalex.org/W1975167607","https://openalex.org/W1977296399","https://openalex.org/W1983018249","https://openalex.org/W2010838685","https://openalex.org/W2014163332","https://openalex.org/W2024888248","https://openalex.org/W2035448869","https://openalex.org/W2041921836","https://openalex.org/W2047281197","https://openalex.org/W2064955308","https://openalex.org/W2065686227","https://openalex.org/W2066490690","https://openalex.org/W2080702549","https://openalex.org/W2083573867","https://openalex.org/W2089272575","https://openalex.org/W2101608909","https://openalex.org/W2102643264","https://openalex.org/W2105841579","https://openalex.org/W2107550832","https://openalex.org/W2111704718","https://openalex.org/W2128851696","https://openalex.org/W2130841298","https://openalex.org/W2134670694","https://openalex.org/W2138320929","https://openalex.org/W2146761577","https://openalex.org/W2161368485","https://openalex.org/W2184993170","https://openalex.org/W2207592786","https://openalex.org/W2323973715","https://openalex.org/W2327864658","https://openalex.org/W2498076434","https://openalex.org/W2512402456","https://openalex.org/W2517816123","https://openalex.org/W2522393237","https://openalex.org/W2527135588","https://openalex.org/W2527580702","https://openalex.org/W2561352787","https://openalex.org/W2765518598","https://openalex.org/W2888685646","https://openalex.org/W2947417366","https://openalex.org/W2963068794","https://openalex.org/W3003607036","https://openalex.org/W3033848484","https://openalex.org/W3037285193","https://openalex.org/W3041800407","https://openalex.org/W3047456685","https://openalex.org/W3093819133","https://openalex.org/W3114485450","https://openalex.org/W3133795800","https://openalex.org/W3157172568","https://openalex.org/W3160081677","https://openalex.org/W3208744158","https://openalex.org/W4205735657","https://openalex.org/W4283691170","https://openalex.org/W4283706124","https://openalex.org/W4283713000","https://openalex.org/W4285005723","https://openalex.org/W4297318046","https://openalex.org/W4317402477","https://openalex.org/W4320496178","https://openalex.org/W4380301615","https://openalex.org/W4385952219","https://openalex.org/W4387208134","https://openalex.org/W4393343386","https://openalex.org/W4396599224","https://openalex.org/W6866809337"],"related_works":["https://openalex.org/W2389281101","https://openalex.org/W4399241002","https://openalex.org/W2115968180","https://openalex.org/W3107042173","https://openalex.org/W2411709837","https://openalex.org/W2057864422","https://openalex.org/W2994520346","https://openalex.org/W2016426829","https://openalex.org/W2407572472","https://openalex.org/W2413279076"],"abstract_inverted_index":{"Prostate":[0],"cancer":[1],"is":[2,13,25,203,206],"the":[3,36,45,73,77,87,93,114,118,170,174,184,187,209,227,235],"second":[4],"most":[5],"common":[6],"malignancy":[7],"in":[8,18,51,108,121,147,215,244],"American":[9],"men.":[10],"High-dose-rate":[11],"brachytherapy":[12],"a":[14,20,140,192,222,245],"popular":[15],"treatment":[16],"technique":[17],"which":[19],"large,":[21],"localized":[22],"radiation":[23,46],"dose":[24,84],"used":[26],"to":[27,39,43,58,70,76,86,92,144,220],"kill":[28],"cancer.":[29],"Utilization":[30],"of":[31,53,103,117,139,152,173,183,196],"curvilinear":[32],"catheter":[33],"implantation":[34],"inside":[35,72],"prostate":[37,74,88,246],"gland":[38],"provide":[40],"access":[41],"channels":[42],"host":[44],"source":[47],"has":[48],"shown":[49],"superiority":[50],"terms":[52],"improved":[54,83],"dosimetric":[55],"constraints":[56],"compared":[57],"straight":[59],"needles.":[60],"To":[61],"this":[62,216],"aim,":[63],"we":[64],"have":[65],"introduced":[66],"an":[67,125,129],"active":[68,106,136,175,228],"needle":[69,107,137,176,229],"curve":[71],"conformal":[75],"patient's":[78],"specific":[79],"anatomical":[80],"relationship":[81],"for":[82,237],"distribution":[85],"and":[89,111,160,165,212,240],"reduced":[90],"toxicity":[91],"organs":[94],"at":[95,226],"risk":[96],"(OARs).":[97],"This":[98],"work":[99],"presents":[100],"closed-loop":[101],"control":[102,242],"our":[104],"tendon-driven":[105],"water":[109],"medium":[110],"air":[112],"using":[113,158,180],"position":[115,181],"feedback":[116,182],"tip":[119,230,238],"obtained":[120],"real":[122],"time":[123],"from":[124],"ultrasound":[126],"(US)":[127],"or":[128,186],"electromagnetic":[130],"(EM)":[131],"tracking":[132,189,239],"sensor,":[133],"respectively.":[134],"The":[135],"consists":[138],"compliant":[141],"flexure":[142],"section":[143],"realize":[145,221],"bending":[146,171,193,224],"two":[148,153],"directions":[149],"via":[150],"actuation":[151,210],"internal":[154],"tendons.":[155],"Tracking":[156],"errors":[157],"US":[159,185],"EM":[161,188],"tracker":[162],"are":[163,218],"estimated":[164],"compared.":[166],"Results":[167],"show":[168],"that":[169,208],"angle":[172,194,225],"could":[177],"be":[178],"controlled":[179],"system":[190,211],"with":[191,231],"error":[195],"less":[197],"than":[198],"1.00":[199],"degree,":[200],"when":[201],"delay":[202],"disregarded.":[204],"It":[205],"concluded":[207],"controller,":[213],"presented":[214],"work,":[217],"able":[219],"desired":[223],"reasonable":[232],"accuracy":[233],"paving":[234],"path":[236],"manipulation":[241],"evaluations":[243],"brachytherapy.":[247]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
